| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem of the prior art that sufficient compensation is impossible for torque ripple including large fluctuation for motor like a cogging torque because a compensation amount of torque ripple is stored in the amplifier side. SOLUTION: This servo controller is provided with a storage device 21 which is loaded to the motor side to store an information of cogging torque of motor, a compensator 6 for receiving the cogging torque information stored in the storage device 21 when the power switch is turned ON and calculating amount of compensation from such cogging torque information and a mechanical angle as the output of an encoder 2 connected to the motor, and an adder 7 for adding the amount of compensation as the output of the compensator 6 to a torque command. |
