Patent ID: 9304504
Filing Date: 2016-04-05
CPC Classification: G05B

Claim Text:
1. A servo controller which drives a first electric motor provided on a first axis and a second electric motor provided on a second axis in synchronization with each other, comprising: a first axis speed feedback obtaining unit configured to obtain an amount of speed feedback for the first axis; a second axis speed feedback obtaining unit configured to obtain an amount of speed feedback for the second axis synchronizing with the first axis; a speed conversion unit configured to obtain a conversion coefficient for making the amount of speed feedback for the first axis correspond to the amount of speed feedback for the second axis and converting the amount of speed feedback for the first axis by using the conversion coefficient; a speed difference calculating unit configured to calculate a speed difference between the converted amount of speed feedback for the first axis and the amount of speed feedback for the second axis; a torque correction calculating unit configured to calculate a torque correction value for vibration damping by using the speed difference; a second axis torque command correcting unit configured to correct a torque command for the second axis by using the torque correction value; a torque correction value converting unit configured to convert the torque correction value by using the conversion coefficient in order to correct a torque command for the first axis; and a first axis torque command correcting unit configured to correct the torque command for the first axis by using the converted torque correction value.