PROBLEM TO BE SOLVED: To provide a servo controller for a motor by which a rotating speed is securely reduced to zero.;SOLUTION: The servo controller for the motor includes a drive control portion 4, a braking control portion 3, a position detecting means 9, a position control portion 1, a speed detecting means 6, a speed control portion 2, a disturbance torque observer 7 and the like. When a first point of time comes wherein disturbance torque T exceeds an allowable torque value, the braking control portion 3 outputs a maximum allowable target current I1 acting in a direction to stop the motor 8, as a command current I2 instead of the command current I2 based on the target current I1. When a second point of time comes wherein a command switching condition is satisfied after the first point of time, the command current I2 is output based on the target current I1 instead of the maximum allowable target current I1. The position control portion 1 sets a target speed V1 to zero at any point of time between the first point of time and the second point of time. As PI control is applied to the motor 8 according to the target speed of zero, an impact of offset is eliminated, and the rotating speed of the motor 8 is securely reduced to zero.;COPYRIGHT: (C)2008,JPO&INPIT
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