Servo motor - control device, servomotor, - a control method and program for the servo motor controller

摘要

It is a servomotor - control device is provided, through which a precision position control of the driven body is possible. Are provided: a servomotor 50; a driven body 70, which is designed to be driven by the servomotor; a connecting mechanism 60 for connecting of the servo motor and of the driven body, such as power of the servomotor on the driven body; a position command comprises - generating unit 10 for generating a position command value for the driven body; a motor control unit 20 for controlling of the servo motor with the use of the position command value; a force estimation part 302 for estimating a force estimate, the one in the case of a connecting piece to the connecting mechanism drive force acting on the driven body; and a compensation amount - generating part 301 for generating a compensation amount to compensate for the generated by the position command comprises - generating part position command value under the use of a product of the force of a coefficient)} and a physical constant, and wherein the coefficient of the changes of the physical constant by the force of estimated value or an amount of the thus generated indicates compensation amount.n="47"