| 摘要 |
PROBLEM TO BE SOLVED: To surely reduce quadrant projections by repeating torque correction while updating corrected torque until a responding error goes into a prescribed threshold value to automatically obtain properly corrected torque. SOLUTION: The arithmetic part 36 of a torque correcting part 28 calculates the responding error and a threshold value to be the judging reference of the update of the corrected torque from a difference between a motor rotating position fetched from a biaxial signal mixing device 24 and a command position. In addition, the value of the corrected torque is calculated from a detected torque command and compares the responding error generated at the time of the inversion of a servo motor and the threshold value. A mobile object is made to perform circular arc interpolation sending movement under the same condition and at the time of detecting the inversion of the servo motor, a command torque commanding to the servo motor is corrected based on an updated torque. When the responding error is larger than the threshold value, the corrected torque is updated and until the responding error becomes not larger than a reference value, the correction of the torque command and the update of the corrected torque are repeated. |
