Servo motor control device

Abstract

In a control device for controlling a servo motor driving a robot arm, a target position command signal is input to a first operation section, which generates a speed command value for the speed feedforward. The target position command signal is also input to a delay section. A target position command signal delayed by a time period is obtained by the delay section and supplied to a second operation section. A positional deviation between the target position command signal and a position feedback signal is calculated by the second operation section. The obtained positional deviation is input to a third operation section and generated as a speed compensation command signal. A speed command signal obtained by addition of the speed feedforward signal and the speed compensation command signal is supplied to a servo driver for driving the servo motor. As a result, the time lag in the response of a system of the controlled system after the servo driver can be compensated for and an error in the positional deviation or the speed command signal can be prevented from being increased.

Dependencies are inferred from the claim text.