Motor controlling device, motor controlling method and machinery system

A machinery system, comprising:

• a motor controlling device including a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, and a motor drive for driving a motor based on the torque reference;
• a motor driven by the motor controlling device;
• and
• machinery driven by the motor, an acceleration sensor attached to the machinery,
• wherein the motor controlling device further includes:
• an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor;
• and
• a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.