Positioning control device

A positioning control device comprising:

• an amplifier that includes
• a converter to rectify and to output an AC power supply to bus-bars,
• a smoothing capacitor to smooth an output of the converter and to generate a bus voltage,
• a regenerative resistance and a regenerative transistor that are connected between the bus-bars, and an inverter to supply a drive current for driving a motor;
• and
• a command generation unit to generate a position command value for a positioning control of a mechanical load connected to the motor, the position command value being generated on the basis of a command pattern that is pattern information of a command velocity and command acceleration, wherein
• the inverter is connected between the bus-bars, and supplies the drive current on the basis of the position command value, and
• the command generation unit
• acquires a regenerative-power-amount estimated value that is estimated from the command pattern before a start of a positioning operation and acquires an energy value that is storable in the smoothing capacitor,
• when the regenerative-power-amount estimated value is greater than the energy value, uses the position command value, by which a peak velocity of the motor is minimized under a condition that an upper-limit value is given to an absolute value of acceleration, in the positioning operation, and
• when the regenerative-power-amount estimated value is equal to or smaller than the energy value, uses the position command value that is on the basis of the command pattern in the positioning operation, uses the position command value that is on the basis of the command pattern in the positioning operation.