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

A servomotor control method for controlling a servomotor controller including:

• a servomotor;
• a driven body configured to be driven by the servomotor;
• and
• a connection mechanism configured to connect the servomotor and the driven body and transfer power of the servomotor to the driven body, the method comprising the steps of:
• generating a position command value for the driven body;
• estimating a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism;
• comparing an absolute value of the first force estimated value and an absolute value of the second force estimated value to select the first or second force estimated value having the larger absolute value;
• compensating the generated position command value on the basis of the selected first or second force estimated value;
• and
• controlling the servomotor using the compensated position command value.

A non-transitory computer-readable recording medium encoded with a servomotor control program that causes a computer to execute servomotor control of a servomotor controller including:

• a servomotor;
• a driven body configured to be driven by the servomotor;
• and
• a connection mechanism configured to connect the servomotor and the driven body and transfer 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 a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism;
• comparing an absolute value of the first force estimated value and an absolute value of the second force estimated value to select the first or second force estimated value having the larger absolute value;
• compensating the generated position command value on the basis of the selected first or second force estimated value;
• and
• controlling the servomotor using the compensated position command value.