Servomotor control device, servomotor control method, and computer-readable recording medium

A servomotor control method for controlling a servomotor in a servomotor control device including the servomotor;

• a driven body adapted to be driven by the servomotor;
• and
• a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body, the method comprising the steps of:
• generating a position command value for the driven body;
• estimating drive force acting on the driven body at a connecting part with the connection mechanism;
• switching from an estimated first force estimated value to a second force estimated value which is a fixed value, in a case of a command speed or command acceleration of the position command value being no more than a predetermined value or being rapid traverse;
• compensating the position command value thus generated, based on the second force estimated value that was switched to;
• and
• controlling the servomotor using the position command value thus compensated.

A non-transitory computer-readable recording medium encoded with a program for controlling a servomotor which causes a computer to execute servomotor control in a servomotor control device including the servomotor;

• a driven body adapted to be driven by the servomotor;
• and
• a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body,
• the program causing the computer to execute processing of:
• generating a position command value for the driven body;
• estimating drive force acting on the driven body at a connecting part with the connection mechanism;
• switching from an estimated first force estimated value to a second force estimated value which is a fixed value, in a case of a command speed or command acceleration of the position command value being no more than a predetermined value or being rapid traverse;
• compensating the position command value thus generated, based on the second force estimated value that was switched to;
• and
• controlling the servomotor using the position command value thus compensated.