Servo motor controller, servo motor control method, and non-transitory computer-readable medium storing computer program

A servo motor controller for controlling a servo motor, the servo motor controller comprising:

• a command calculation part for calculating a command for a position or a speed of the servo motor at a predetermined cycle;
• a determining part for determining that the servo motor is performing “reversal” or “movement from stop” at a predetermined cycle;
• an acceleration calculation part for obtaining, when the determining part determines that the servo motor is performing “reversal” or “movement from stop,” the acceleration of the servo motor based on a result of the determination;
• and
• a compensation amount calculation part for calculating a compensation amount for compensation of delay of the servo motor when the servo motor performs “reversal” or “movement from stop,” wherein
• the acceleration calculation part obtains the acceleration even after the servo motor performs “reversal” or “movement from stop,” and
• the compensation amount calculation part calculates the compensation amount at every predetermined time according to the acceleration calculated by the acceleration calculation part, even after the servo motor performs “reversal” or “movement from stop.”