Numerical controller

A numerical controller in which a position deviation is obtained by a position deviation counter based on a command position and a detected actual position, a position loop control is carried out based on the obtained position deviation, and a servomotor which drives and controls a control axis is controlled, the numerical controller comprising

• actual speed obtaining means for obtaining an actual speed of said control axis,
• storing means for storing, every predetermined period, an actual speed obtained by said actual speed obtaining means in a state in which no current is applied to the servomotor,
• means for predicting, by calculation, an actual speed assumed when a state in which no current is applied to the servomotor is switched over to a state in which current is applied to the servomotor, from one or more actual speed data sets which have been stored previously in said storing means,
• position command means for obtaining a command movement amount by using said predicted actual speed as an initial speed when a state in which no current is applied to the servomotor is switched over to a state in which current is applied to the servomotor, and outputting the obtained command movement amount to said position deviation counter, and
• means for outputting a position deviation amount corresponding to said initial speed to said position deviation counter in a first move command outputting period subsequent to said switchover.

A numerical controller in which a position deviation is obtained by a position deviation counter based on a command position and a detected actual position, a position loop control is carried out based on the obtained position deviation, and a servomotor which drives and controls a control axis is controlled, the numerical controller comprising

• actual speed obtaining means for obtaining an actual speed of the control axis,
• maximum speed detecting means for detecting that an actual speed obtained by said actual speed obtaining means reaches a speed close to a maximum speed in a state in which no current is applied to the servomotor, and outputs a switchover command for switching the state of the servomotor to a state in which current is applied to the servomotor,
• position command means for obtaining a command movement amount using, as an initial speed, an actual speed detected by said maximum speed detecting means when a state in which no current is applied to the servomotor is switched over to a state in which current is applied to the servomotor, and outputting the obtained command movement amount to said position deviation counter, and
• means for outputting a position deviation amount corresponding to said initial speed to said position deviation counter in a first move command outputting period subsequent to said switchover.