Servomotor control device, servomotor control method, and computer readable recording medium

A servomotor control method for a servomotor control device 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 to 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 force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism;
• deciding on reflection of updating or interruption of updating of the force estimated value based on the position command value, and selecting either of a force estimated value reflecting updating, or a force estimated value of when interrupting updating based on the position command value;
• compensating the position command value thus generated, based on the force estimated value thus selected;
• and
• controlling the servomotor using the position command value thus compensated.

A non-transitory computer readable recording medium encoded with a program for servomotor control that causes a computer to execute servomotor control of a servomotor control device 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 to 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 force estimated value that is a drive force acting on the driven body at a connecting part with the connection mechanism;
• deciding on reflection of updating or interruption of updating of the force estimated value based on the position command value, and selecting either of a force estimated value reflecting updating, or a force estimated value of when interrupting updating based on the position command value;
• compensating the position command value thus generated, based on the force estimated value thus selected;
• and
• controlling the servomotor using the position command value thus compensated.