Abstract: A motor control device is a motor control device which controls a spindle motor of a machine tool, the device including: a low-pass filter which averages torque command values or drive current values of the spindle motor and calculates averaged load information of the spindle motor; and a time constant calculation unit which calculates, as a time constant of the low-pass filter, a first time constant based on a cut-off frequency according to the rotation number of the spindle driven by the spindle motor, or a second time constant based on a cut-off frequency according to a value produced by multiplying a of cutting tooth number of a tool by the rotation number of the spindle.

Abstract: A system may include a charge pump configured to boost an input voltage of the charge pump to an output voltage greater than the input voltage, a current mode control loop for current mode control of a power amplifier powered by the output voltage of the charge pump, and a controller configured to, in a current-limiting mode of the controller, control an output power of the charge pump to ensure that an input current of the charge pump is maintained below a current limit, control the power amplifier by placing the power amplifier into a high-impedance mode during the current-limiting mode, and control state variables of a loop filter of the current mode control loop during the current-limiting mode.

Abstract: A system and method for online simulation of a controlled machine or process utilizes a simplified model of the system dynamics and may be used with hardware in the loop to evaluate performance of the controlled system or with software in the loop to perform commissioning of the control program prior to completion of the mechanical installation. The simplified model includes dominant order dynamics of the controlled system such as the inertia of the system and a damping factor. Further, the online simulation is scheduled to execute at an update rate slower than the update rate of the control loops within the motor drive. The simplified model and reduced update rate reduce the computational burden on the processor such that the simulation may be performed either on the industrial controller or on the motor drive.

Abstract: Provided is an electric-motor control device, including: a command value calculation unit configured to calculate a command value directed to an electric motor based on a command value and a given moment-of-inertia value; a difference detection unit configured to detect a difference between the moment-of-inertia value and an estimated moment-of-inertia value; a moment-of-inertia value change unit configured to change at least anyone of the moment-of-inertia value and a correction coefficient for the moment-of-inertia value based on the difference; and a change restriction unit configured to restrict a change in the moment-of-inertia value or the correction coefficient when at least any one of the moment-of-inertia value and the correction coefficient is changed to decrease by the moment-of-inertia value change unit.

Abstract: A workpiece-attachment-information reporting device includes a range-setting unit for setting a movable range in a prescribed feed-shaft direction of a work machine, a position-orientation-setting unit for setting the attachment position or orientation of a workpiece, a route-setting unit for setting a tool route on the basis of the attachment position or orientation of a workpiece, a range calculation unit for calculating the operational range in the prescribed feed-shaft direction of a work machine when the tool has moved relative to the workpiece along the tool route, a target-position-orientation calculation unit for obtaining the target attachment position or orientation of the workpiece with the calculated operational range being within the movable range, and a reporting unit for reporting the target attachment position or orientation.

Abstract: An electronic device includes an amplifier which is configured to amplify a sound signal and includes a vacuum tube including a heater configured to heat the vacuum tube; a voltage supply which is configured to supply a first voltage and a second voltage which is higher than the first voltage; and a controller which is configured to control the voltage supply to supply the second voltage to the heater in response to supply of a drive voltage to the amplifier being started and to supply the first voltage to the heater if the vacuum tube reaches a predetermined temperature.

Abstract: An electric motor assembly, mud pulser and a method for transmitting data. The electric motor assembly includes an electric motor having a rotor and a stator that includes one or more windings; one or more sensors on the stator and configured to determine an angular position of the rotor; and a motor control circuitry configured to control a commutation of the electric motor based on signals received from the one or more sensors. The motor control circuitry is configured to determine a total angular rotation of the rotor based on a back emf voltage of the one or more windings and independent of the signals from the one or more sensors.

Abstract: A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).

Abstract: A digital filter is configured to convert, into a digital value, the duty ratio of a control signal subjected to pulse width modulation according to a target toque to be set for a fan motor to be driven. A sampling circuit is configured to perform sampling of the output value of the digital filter at a sampling timing that is asynchronous with respect to the cycle of the control signal, so as to generate a torque instruction value. A driving circuit is configured to drive the fan motor according to the torque instruction value thus generated.

Abstract: A machine tool includes a main axis 30 to which a touch probe 17 is attached, a motor 15 that rotationally drives the main axis 30, a rotation angle position detector 16 that detects a rotation angle position of the motor 15, and a control device 20. The control device, when a measurement mode command for performing measurement of a workpiece by the touch probe 17 is input, multiplies a d-axis current command value Idc by a d-axis current correction coefficient K that is less than 1 to reduce the d-axis current command value Idc to a d-axis current command correction value Idc?, using a d-axis current command correction section 4. Thus, in the machine tool, small rotation vibrations of the main axis, generated when rotating the main axis to which the probe is attached and performing measurements of a workpiece, can be suppressed to thereby increase the measurement accuracy.

Abstract: There are provided a first notch filter disposed in a feedback control system, an oscillation extracting filter for outputting signal x1 containing an oscillation component, a second notch filter for inputting signal x1, a notch control portion for changing a notch center frequency based on signal x1 and second notch filter output signal x2, a notch depth control portion for changing a notch depth of the first notch filter based on signal x1, and a control determining portion for carrying out control to operate either the notch control portion or the notch depth control portion.

Abstract: There are provided an apparatus and a method for controlling a motor. The apparatus includes: a comparing unit comparing a target value and an output value and calculating error values therefrom; and a controlling unit controlling the motor by selecting one of a proportional control and a proportional integral control according to an average error value calculated by averaging the error values for each section having a predetermined interval and adjusting a gain value of the selected control.

Abstract: A digital control section generates a digital drive voltage command signal in response to a digital drive current command value and to a drive current digital sensing signal. A digital-to-analog converter generates an analog drive voltage command signal from the digital drive voltage command signal. In response to the analog drive voltage command signal, a driver output section drives a motor and a sensing resistor. If the digital drive current command value is between a positive threshold voltage and a negative threshold voltage, the computation section generates an internal control signal that is in a first state “1”, and exercises control to place the gain of the drive current sensing amplifier in a first state “H”. If not, the computation section exercises control to place the gain of the drive current sensing amplifier in a second state “L”, namely, in a low state.

Abstract: There are provided: a plurality of notch filters which are arranged inside a control system for feedback-controlling a moving operation of a moving section of a motor and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components in the set frequency bands from a speed detection signal; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filters.

Abstract: A frequency component extracting unit (15) extracts a frequency component included in a control signal at a first frequency step size. A frequency detection unit (16) detects, from the extracted frequency component, a frequency corresponding to a natural frequency of a target object constituted of a motor (3) and a driven member (4). A frequency step size setting unit (17) sets a second frequency step size smaller than the first frequency step size. A center frequency changing unit (18) increases or decreases a center frequency of a variable bandstop filter (13) at the second frequency step size in order to output a control signal after the variable bandstop filter (13) removes a frequency component corresponding to the natural frequency after the change from the control signal.

Abstract: A motor control device includes a vibration-damping-control setting unit to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit to output, based on an operation signal related to a controlled object, a signal for estimation in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit to estimate one resonance frequency from the output signal for estimation. The vibration-damping-control setting unit designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit, each of resonance frequencies estimated by the resonance-characteristic estimating unit related to the individually designated each one candidate frequency.

Abstract: A host apparatus includes a command-pattern changing unit. A detector includes a detector-communication-parameter changing unit. A motor drive control apparatus includes a communication-parameter changing unit and a control-gain changing unit. The command-pattern changing unit, the detector-communication-parameter changing unit, and the communication-parameter changing unit change, based on determination of detector communication by a communication-abnormality determining unit, plural communication parameters, control gains, and command patterns, which are determined in advance, in synchronization with one another to control drive of a motor.

Abstract: A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).

Abstract: A motor-drive circuit includes: a filter circuit to attenuate a frequency band including a resonance frequency of an actuator in a target-current signal, the target-current signal corresponding to a digital signal indicative of a target value of a driving current; a digital-analog converter to convert an output signal of the filter circuit into an analog signal, to be outputted as a current-control signal; and a driving circuit to supply the driving current to the voice-coil motor in accordance with the current-control signal, the filter circuit including: a digital notch filter; and a digital low-pass filter, wherein either one of the digital notch filter and the digital low-pass filter configured to be inputted with the target-current signal, the other one of the digital notch filter and the digital low-pass filter configured to be inputted with an output signal of the one of the digital notch filter or the digital low-pass filter.

Abstract: There are provided: a plurality of notch filters which are arranged inside a control system for feedback-controlling a moving operation of a moving section of a motor and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components in the set frequency bands from a speed detection signal; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filters.

Abstract: A machine tool includes a main axis 30 to which a touch probe 17 is attached, a motor 15 that rotationally drives the main axis 30, a rotation angle position detector 16 that detects a rotation angle position of the motor 15, and a control device 20. The control device, when a measurement mode command for performing measurement of a workpiece by the touch probe 17 is input, multiplies a d-axis current command value Idc by a d-axis current correction coefficient K that is less than 1 to reduce the d-axis current command value Idc to a d-axis current command correction value Idc?, using a d-axis current command correction section 4. Thus, in the machine tool, small rotation vibrations of the main axis, generated when rotating the main axis to which the probe is attached and performing measurements of a workpiece, can be suppressed to thereby increase the measurement accuracy.

Abstract: There are provided: a plurality of notch filters which are arranged inside a control system for feedback-controlling a moving operation of a moving section of a motor and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components in the set frequency bands from a speed detection signal; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filters.

Abstract: A servo motor control apparatus has a feedback loop. When an oscillation detection signal indicates no detection of oscillation, a parameter operating section gives an updating section an operational instruction to set a control parameter in accordance with a supplied set value. When the oscillation detection signal indicates detection of oscillation, the parameter operating section gives the updating section an operational instruction to set such a control parameter as to narrow a frequency band width of the feedback loop.

Abstract: A method for determining gain of a back-electromotive force amplifier may include setting an electric motor into a tri-state function mode and storing a first quasi steady-state value for back-electromotive force from the difference signal, and forcing a reference current through the electric motor and determining a first value of the gain of the amplifier for equaling a difference signal to the first quasi steady-state value. The method may further include setting the electric motor into a tri-state function mode a second time and storing a second quasi steady-state value for back-electromotive force from the difference signal, and increasing the first value of the gain by an amount proportional to a difference between the second quasi steady-state value and the first quasi steady-state value.

Abstract: A machine control device has a position regulator configured to enable modification of the proportional gain during regulation operations, and has proportional gain setting unit, which sends an instruction to modify the proportional gain to the position regulator based on a position instruction value which is an output of a position instruction unit. In the proportional gain setting unit, when the movement velocity based on the position instruction value from the position instruction unit decreases, that is, when the position instruction value is a value at which the movement distance is short, the proportional gain of the position regulator is set high, and when the movement velocity based on the position instruction value increases, that is, when the position instruction value is a value at which the movement distance is long, the proportional gain is set low.

Abstract: A motor-drive circuit includes: a filter circuit to attenuate a frequency band including a resonance frequency of an actuator in a target-current signal, the target-current signal corresponding to a digital signal indicative of a target value of a driving current; a digital-analog converter to convert an output signal of the filter circuit into an analog signal, to be outputted as a current-control signal; and a driving circuit to supply the driving current to the voice-coil motor in accordance with the current-control signal, the filter circuit including: a digital notch filter; and a digital low-pass filter, wherein either one of the digital notch filter and the digital low-pass filter configured to be inputted with the target-current signal, the other one of the digital notch filter and the digital low-pass filter configured to be inputted with an output signal of the one of the digital notch filter or the digital low-pass filter.

Abstract: Even when there is some degree of variation in the characteristics among components constituting a polyphase motor and a driving circuit therefor, current control signals of respective phases being input to the drive circuit have their amplitude finely adjusted by an amplitude control circuit, so that amplitude is uniform among armature currents of respective phases that are ultimately output from the drive circuit. The amplitude adjusting circuit is configured by gain variable amplifiers, for example. Thus, rotation fluctuation and vibration of the polyphase motor can be reduced.

Abstract: A semiconductor device included in a motor driving apparatus for driving a motor is disclosed. The semiconductor device configured to control rotation of the motor by changing the gain of a control loop of the motor driving apparatus. The semiconductor apparatus includes plural gain maintaining parts, each gain maintaining part maintaining at least one gain, and a gain switching part for switching the gains maintained in the gain maintaining parts according to a rotational frequency of the motor.

Abstract: There are provided: a plurality of notch filters which are arranged inside a control system for feedback-controlling a moving operation of a moving section of a motor and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components in the set frequency bands from a speed detection signal; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filters.

Abstract: A method of operating a motor controlled by a closed loop servo control system is provided. The closed loop servo control system employs a digital filter, such as a PID filter, that employs one or more gain coefficients. The method includes temporarily increasing one or more of the gain coefficients by a corresponding first predetermined amount when the motor reaches a coefficient boost motor position that is a predetermined distance before a commanded motor rest position, and decreasing the one or more of the gain coefficients by a corresponding second predetermined amount a predetermined time after the motor reaches the commanded motor rest position.

Abstract: A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

Abstract: A method of configuring a signal for controlling a voice coil motor (VCM) is disclosed. A voltage at an error amplifier of a VCM driver is accessed. A target value at the error amplifier is accessed. A difference value between the target value and the voltage is determined. An impedance value of the variable compensation coupled with the error amplifier is adjusted, based on the difference value.

Abstract: A motor controller includes: a notch filter arranged inside a control system; an oscillation frequency estimating section which estimates an oscillation frequency component in a motor; and a notch control section which controls a notch filter so as to change a notch frequency and a notch width. The notch control section changes a frequency between an oscillation frequency and a notch frequency set in a notch filter as a new notch frequency, while changing a notch width to a new notch width such that the notch width is larger after the change than before the change.

Abstract: A control apparatus of the present invention comprising a control unit outputting a control signal controlling a servo motor and suppressing natural vibration of a controlled object including a motor and a machine driven by the motor while controlling the controlled object, comprising a frequency analysis unit analyzing a frequency component included in a torque command, an analysis control unit controlling the start or stopping of the frequency analysis unit, a detection unit detecting a natural frequency of the controlled object from an analysis result of the frequency analysis unit, a-band rejection filter receiving as input the torque command, stripping the command of the natural frequency component, and outputting the resultant command to the motor through a current control unit and servo amplifier, and a filter characteristic setting unit setting the frequency to be stripped at the filter based on the natural frequency detected by the detection unit.

Abstract: A motor driving device includes an amplifying unit, a noise removing unit, an analog-to-digital converter, a calculating unit, and a motor driving unit. The amplifying unit amplifies an analog frequency signal corresponding to a rotation speed of a direct-current brushless motor. The noise removing unit removes noise from the analog frequency signal after amplification. The analog-to-digital converter converts the analog frequency signal from which noise is removed to a digital frequency signal. The calculating unit calculates a current control amount with respect to each phase of the direct-current brushless motor based on the digital frequency signal. The motor driving unit drives the direct-current brushless motor at a specified speed based on the current control amount.

Abstract: A control system to control a position quantity of a movable object in dependency of signals provided by a sensor representing an actual position quantity of the moveable object, the control system being configured to provide a drive signal to an actuator which is able to apply forces to the moveable object, the control system including a set-point generator to provide a reference signal; a subtractor to provide an error signal, the error signal being the difference between the reference signal and the signals provided by the sensor; a control unit to provide a drive signal to the actuator in dependency of the error signal, wherein the control unit comprises a nonlinear controller to improve a low-frequency disturbance suppression, and wherein the control unit further includes a compensator to at least partially compensate the deterioration of the high-frequency behavior caused by the nonlinear controller.

Abstract: In accordance with the invention, an inverse filter is used to improve scanned images from a scanning probe microscope by removing the effect of the scanning system dynamics from the image data. This may be done in-line or as a post-processing operation.

Abstract: A machine control device has a position regulator configured to enable modification of the proportional gain during regulation operations, and has proportional gain setting unit, which sends an instruction to modify the proportional gain to the position regulator based on a position instruction value which is an output of a position instruction unit. In the proportional gain setting unit, when the movement velocity based on the position instruction value from the position instruction unit decreases, that is, when the position instruction value is a value at which the movement distance is short, the proportional gain of the position regulator is set high, and when the movement velocity based on the position instruction value increases, that is, when the position instruction value is a value at which the movement distance is long, the proportional gain is set low.

Abstract: A servo motor control apparatus having a feedback loop includes: an oscillation detecting section, which detects oscillation of the feedback loop, to output an oscillation detection signal; a parameter operating section, which gives an operational instruction to set a control parameter in the feedback loop based upon the oscillation detection signal; and an updating section, which is supplied with a set value for setting a control parameter, and sets the control parameter in the feedback loop while making an update thereon in accordance with the operational instruction given by the parameter operating section, wherein when the oscillation detection signal indicates no detection of oscillation, the parameter operating section gives the updating section an operational instruction to set a control parameter in accordance with the supplied set value, and when the oscillation detection signal indicates detection of oscillation, parameter operating section gives the updating section an operational instruction to se

Abstract: A method of operating a motor controlled by a closed loop servo control system is provided. The closed loop servo control system employs a digital filter, such as a PID filter, that employs one or more gain coefficients. The method includes temporarily increasing one or more of the gain coefficients by a corresponding first predetermined amount when the motor reaches a coefficient boost motor position that is a predetermined distance before a commanded motor rest position, and decreasing the one or more of the gain coefficients by a corresponding second predetermined amount a predetermined time after the motor reaches the commanded motor rest position.

Abstract: A controller for a die cushion mechanism includes: a spring element that is displaced according to force between the die cushion mechanism and a slide; a force instructor that instructs force; a force detector that detects force; and a speed instruction generator that generates a speed instruction of the servo motor, based on a force instruction value instructed by the force instructor and a force detection value detected by the force detector. The speed instruction generator generates the speed instruction by multiplying a force gain by a force difference determined from a difference between the force instruction value and the force detection value. The speed instruction generator changes the force gain, based on a spring constant corresponding value of the spring element determined from a force indicator that works between the slide and the die cushion.

Abstract: A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

Abstract: A control apparatus of the present invention comprising a control unit outputting a control signal controlling a servo motor and suppressing natural vibration of a controlled object including a motor and a machine driven by the motor while controlling the controlled object, comprising a frequency analysis unit analyzing a frequency component included in a torque command, an analysis control unit controlling the start or stopping of the frequency analysis unit, a detection unit detecting a natural frequency of the controlled object from an analysis result of the frequency analysis unit, a-band rejection filter receiving as input the torque command, stripping the command of the natural frequency component, and outputting the resultant command to the motor through a current control unit and servo amplifier, and a filter characteristic setting unit setting the frequency to be stripped at the filter based on the natural frequency detected by the detection unit.

Abstract: A motor controller includes: a notch filter arranged inside a control system; an oscillation frequency estimating section which estimates an oscillation frequency component in a motor; and a notch control section which controls a notch filter so as to change a notch frequency and a notch width. The notch control section changes a frequency between an oscillation frequency and a notch frequency set in a notch filter as a new notch frequency, while changing a notch width to a new notch width such that the notch width is larger after the change than before the change.

Abstract: It is an object of the present invention to provide a method for extracting a maximum gain of a servo controller in which while a machine is vibrated by raising a control gain, the vibration is rapidly detected so that the machine does not greatly vibrate or noise is not generated. In a method for extracting a maximum gain of a servo controller for driving a servo motor, a simulated disturbance torque is applied to a torque command by a vibrating unit while a control gain is raised and the vibration of a control system is detected by a vibration detecting unit (1). A process for applying the simulated disturbance torque is repeated while the control gain is raised until the vibration of a prescribed level is detected. The control gain when the vibration detecting unit (1) detects the vibration exceeding the prescribed level is set as a maximum gain.

Abstract: A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Abstract: In a method for controlling a positioning device, the positioning device has a stator and mover, the mover being movable relative to the stator; a position sensor configured to generate a position signal indicative of a position of the mover relative to the stator; a controller configured to receive the position signal, compare it to a setpoint signal to obtain an error signal, and generate a mover control signal on the basis of a signal component of the position signal, the controller having a variable gain. The positioning device, including the position sensor and the controller, defines a control loop. For error signals having a magnitude in a predefined range, the gain is selectively set to a value higher than a value for error signals having a magnitude outside the range.

Abstract: A semiconductor device included in a motor driving apparatus for driving a motor is disclosed. The semiconductor device configured to control rotation of the motor by changing the gain of a control loop of the motor driving apparatus. The semiconductor apparatus includes plural gain maintaining parts, each gain maintaining part maintaining at least one gain, and a gain switching part for switching the gains maintained in the gain maintaining parts according to a rotational frequency of the motor.

Abstract: A minute object manipulating apparatus includes a tool which manipulates a manipulation target object, an observation unit capable of changing the magnification for observating the manipulation target object and tool, a display unit which displays magnified images of the manipulation target object and tool, which are observed by the observation unit, a command input unit to cause the operator to input the manipulation command signal of the tool, and a gain arithmetic unit which decides the manipulation gain of the tool on the basis of the magnification of the observation unit and magnified image information or pixel information on the display unit. The tool is driven and controlled on the basis of the manipulation gain and manipulation command signal.

Abstract: This invention relates to a motor controller for driving an object to be controlled by torque from a motor responding to a computed torque command, the object being provided with the motor and a mechanical load. The motor controller includes: a feedback computation unit into which is inputted a positional command signal or a speed command signal, and a motor rotational signal which is a detected value of the motor's rotational angle or speed, the feedback computation unit being for computing the torque command by a computation in which the transfer function for a feedback loop from the motor rotational signal to the torque command includes a pole or a zero point; a response parameter input unit for inputting a response parameter; and a ratio parameter input unit for inputting a ratio parameter. A loop gain which is the gain of the feedback loop is determined based on the response parameter.