| 摘要 |
PROBLEM TO BE SOLVED: To prevent vibration which is likely to be generated at the time of stopping the rotation of a servo motor. SOLUTION: This system is provided with an arithmetic part 8 for calculating torque command fluctuation from a speed command and speed feedback, a torque command fluctuation gain multiplying part 10 for multiplying the torque command fluctuation calculated from the arithmetic part by a gain, and an integrating part 12 for integrating the value outputted from the multiplying part. Also, this system is provided with a control loop for defining the value stored in the integrating part as the toque command, a counter 18 for measuring the lapse of a time since the change value of the position command is turned into zero until a count limit value, a count limit value setting unit 19 for deciding the count limit value of the counter by using the change value of the position command just before the change value of the position command is turned into zero and the torque command, and a toque command variation gain switching unit 22 for setting and switching the gain by which the torque command variation should be multiplied by using the count value and the count limit set value.
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