Servo controller for reducing interference between axes in machining

A servo controller which drives a first electric motor provided on a first axis and a second electric motor provided on a second axis in synchronization with each other, comprising:

• a first axis speed feedback obtaining unit configured to obtain an amount of speed feedback for the first axis;
• a speed conversion unit configured to obtain a conversion coefficient for making the amount of speed feedback for the first axis correspond to an amount of speed feedback for the second axis and converting the amount of speed feedback for the first axis by using the conversion coefficient;
• a second axis differentiation calculating unit configured to differentiate the converted amount of speed feedback for the first axis to multiply the obtained result by a predetermined constant;
• a second axis phase leading filter configured to execute phase adjustment;
• a second axis torque command correcting unit configured to correct a torque command for the second axis based on an obtained torque correction value for the second axis;
• a second axis speed feedback obtaining unit configured to obtain the amount of speed feedback for the second axis synchronizing with the first axis;
• a first axis differentiation calculating unit configured to differentiate the amount of speed feedback for the second axis to multiply the obtained result by a predetermined constant;
• a first axis phase leading filter configured to execute phase adjustment;
• a torque correction value converting unit configured to convert an obtained torque correction value for the first axis by using the conversion coefficient;
• and
• a first axis torque command correcting unit configured to correct a torque command for the first axis by using the converted torque correction value for the first axis.