A numerical controller includes a commanded movement-amount adjustment section, in addition to a position command section and a positional deviation counter but also. The commanded movement-amount adjustment section calculates an adjusted command movement amount based on a commanded movement amount output from the position command section, positional deviation acquired from the positional deviation counter, and an actual velocity of a control axis, and outputs the calculated adjusted command movement amount to the positional deviation counter. When a load acts on a servo motor so that positional deviation is accumulated and the load is abruptly removed, a situation in which the servo motor abruptly accelerates with its maximum torque in an attempt to eliminate the accumulated positional deviation is avoided.

Strapping devices and methods are provided. The strapping device can include a member. The strapping device can include a first actuator coupled with the member to move the member between a first position and a second position. The strapping device can include a sensor to detect an electrical characteristic of the first actuator and to transmit a signal indicative of the electrical characteristic. The strapping device can include a data processing system. The data processing system can receive the signal and determine the member is in contact with a welding component based on the electrical characteristic. The data processing system can determine the second position of the member based on the member being in contact with the welding component. The data processing system can transmit a control signal to the first actuator and a second actuator to initiate a welding cycle with the member at the second position.

Strapping devices and methods are provided. The strapping device can include a member. The strapping device can include a first actuator coupled with the member to move the member between a first position and a second position. The strapping device can include a sensor to detect an electrical characteristic of the first actuator and to transmit a signal indicative of the electrical characteristic. The strapping device can include a data processing system. The data processing system can receive the signal and determine the member is in contact with a welding component based on the electrical characteristic. The data processing system can determine the second position of the member based on the member being in contact with the welding component. The data processing system can transmit a control signal to the first actuator and a second actuator to initiate a welding cycle with the member at the second position.