Motor controller that uses an acceleration/deceleration time constant of the motor

A controller of a motor that drives a driven body, the controller comprising:

• an acceleration/deceleration time constant storing unit that stores an acceleration/deceleration time constant that designates an acceleration or deceleration of the motor;
• a position command creating unit that creates a position command value based on the acceleration/deceleration time constant;
• a position detection unit that detects a rotation position of the motor;
• a speed command creating unit that creates a speed command for the motor based on the position command value and a position detection value detected by the position detection unit;
• an ideal response computing unit that computes an ideal response from the position command value by utilizing a low-pass filter to add a delay of the controller to the position command value;
• and
• a response comparing unit that compares the ideal response with an actual response detected by the position detection unit, wherein the response comparing unit estimates an inertia and changes the acceleration/deceleration time constant stored in the acceleration/deceleration time constant storing unit when it is determined that the ideal response does not match the actual response.