Abstract: A motor control apparatus includes a position detector for detecting the position of a rotor of a motor, a speed detection unit for calculating a speed detection value based on a position detection value detected by the position detector, a speed command generation unit for generating a speed command which commands a rotation speed of the rotor of the motor, a correction amount calculation unit for calculating a correction amount based on the position detection value detected by the position detector, a correction processing unit for correcting the speed detection value by using the correction amount, and a torque command generation unit for generating a torque command which commands a rotational torque of the motor based on the speed command and the speed detection value corrected by the correction processing unit.

Abstract: A servo control apparatus includes a subtractor configured to calculate a difference between a first command value for controlling a servo motor, and a first detection value from the servo motor; an integral term creation unit configured to create an integral term based on an output of the subtractor; an internal division processing unit configured to internally divide the first command value; a subtractor configured to calculate a difference between an output of the internal division processing unit and the first detection value; a proportional term creation unit configured to create a proportional term based on the subtractor; and a adder configured to add an output of the integral term creation unit and an output of the proportional term creation unit, in which a calculation period calculated by the proportional term creation unit is shorter than a calculation period calculated by the integral term creation unit.

Abstract: A servomotor control device includes a torque command creation part for creating a torque command value for driving a servomotor. The torque command creation part includes a proportional gain part and an integral gain part. An integral gain is set as a value calculated by multiplying an initial value, by a ratio J/Jm of total inertia of a machine relative to rotor inertia of the servomotor, and a value set smaller than the square of a velocity gain magnification according to delay time of the velocity control loop. A proportional gain is a value calculated by adding a value according to a difference in calculation cycle between the integral term and the proportional term, and the integral gain, to a value calculated by multiplying an initial value by the ratio J/Jm and the velocity gain magnification.

Abstract: A servomotor control device includes a torque command creation part for creating a torque command value for driving a servomotor. The torque command creation part includes a proportional gain part and an integral gain part. An integral gain is set as a value calculated by multiplying an initial value, by a ratio J/Jm of total inertia of a machine relative to rotor inertia of the servomotor, and a value set smaller than the square of a velocity gain magnification according to delay time of the velocity control loop. A proportional gain is a value calculated by adding a value according to a difference in calculation cycle between the integral term and the proportional term, and the integral gain, to a value calculated by multiplying an initial value by the ratio J/Jm and the velocity gain magnification.

Abstract: A servo control device includes a velocity command creation part configured to create a velocity command value for driving a servomotor; a velocity detection part configured to detect velocity of the servomotor; and a torque command creation part configured to create a torque command value using a difference between the velocity command value and the velocity detection value. The torque command creation part has an integral gain part and a proportional gain part, an integral gain and a proportional gain are obtained by multiplying a value calculated by multiplying an initial value by a ratio of load inertia of a machine relative to rotor inertia of the servomotor, by an integral gain magnification and a proportional gain magnification, respectively, and the integral gain magnification is set to a value smaller than the square of the proportional gain magnification according to a delay time of a velocity control loop.

Abstract: A servo control apparatus includes a subtractor configured to calculate a difference between a first command value for controlling a servo motor, and a first detection value from the servo motor; an integral term creation unit configured to create an integral term based on an output of the subtractor; an internal division processing unit configured to internally divide the first command value; a subtractor configured to calculate a difference between an output of the internal division processing unit and the first detection value; a proportional term creation unit configured to create a proportional term based on the subtractor; and a adder configured to add an output of the integral term creation unit and an output of the proportional term creation unit, in which a calculation period calculated by the proportional term creation unit is shorter than a calculation period calculated by the integral term creation unit.

Abstract: A controller and a laser processing device having the controller, capable of reducing time for switching feedback control to gap control, and capable of moving a processing nozzle relative to a workpiece so that an amount of change in acceleration when switching is minimized. The controller has: a deceleration start distance calculating part which calculates a deceleration start distance corresponding to a distance between the nozzle and the workpiece when deceleration of approach motion of the nozzle is started; a first velocity command generating part which generates a first velocity command value based on the deceleration start distance, a predetermined maximum approach velocity and deceleration rate; a second velocity command generating part which generates a second velocity command value based on a gap target value and a feedback value; and a velocity command switching part which selects one of the first and second velocity command values.

Abstract: A motor control apparatus comprises a position detector for detecting the position of a rotor of a motor, a speed detection unit for calculating a speed detection value based on a position detection value detected by the position detector, a speed command generation unit for generating a speed command which commands a rotation speed of the rotor of the motor, a correction amount calculation unit for calculating a correction amount based on the position detection value detected by the position detector, a correction processing unit for correcting the speed detection value by using the correction amount, and a torque command generation unit for generating a torque command which commands a rotational torque of the motor based on the speed command and the speed detection value corrected by the correction processing unit.