| 摘要 |
PROBLEM TO BE SOLVED: To enable machining which does not exceed the cutting permissible load of a machine while taking balance torque in consideration in addition to acceleration torque. SOLUTION: This driving motor torque controller is equipped with a torque command computing means which computes a torque command value to a driving motor according to a position command to the driving motor torque controller and a position feedback quantity and a speed feedback quantity to the driving device, a balance torque storage means which stores the balance torque quantity of the driving motor needed to hold a feed shaft at a stop through the operation of the mass of a driven body as a gravitational force in a moving direction, a torque limit value storage means which stores the driving torque limit value of a feed shaft driving motor, and a torque control means which limits the driving torque of the feed shaft driving motor, and the torque control means performs limitation control over the torque so that the absolute value of the result of subtraction of the balance torque quantity from the computed torque command does not exceed the torque limit value.
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