Patent Document ID: 9933759
Application ID: 15492448
Patent Flag: 1

Claim One:
1. A servo control apparatus, comprising: a first subtractor configured to calculate a difference between a first command value being a periodic signal 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 by integrating an output of the first subtractor, and multiplying an integral value thereof by a first coefficient; an internal division processing unit configured to internally divide the first command value by a predetermined period; a second 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 by multiplying an output of the second subtractor by a second coefficient; and a first adder configured to add an output of the integral term creation unit and an output of the proportional term creation unit, and configured to output an additional value thereof as a second command value for controlling the servo motor, wherein a calculation period calculated by way of the proportional term creation unit is shorter than a calculation period calculated by way of the integral term creation unit.