A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.

The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

A servo control system for controlling a plurality of axes of a machine tool, comprises: a plurality of servo control units for controlling the plurality of axes, respectively; a plurality of learning control units that are provided one each in the plurality of servo control units, and each configured to control a cyclic operation highly precisely; a common learning memory for storing correction data which at least a portion of the plurality of learning control units generates; a memory allocation unit for allocating at least a portion of a memory area in the learning memory to the axis that the learning control unit that generated the correction data controls; and a memory amount notifying unit for notifying the memory allocation unit as to the amount of memory that each of the plurality of learning control units of the respective axes requires.

A servo control system for controlling a plurality of axes of a machine tool, comprises: a plurality of servo control units for controlling the plurality of axes, respectively; a plurality of learning control units that are provided one each in the plurality of servo control units, and each configured to control a cyclic operation highly precisely; a common learning memory for storing correction data which at least a portion of the plurality of learning control units generates; a memory allocation unit for allocating at least a portion of a memory area in the learning memory to the axis that the learning control unit that generated the correction data controls; and a memory amount notifying unit for notifying the memory allocation unit as to the amount of memory that each of the plurality of learning control units of the respective axes requires.