A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.

A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.

A controller capable of transmitting and receiving an input signal from a drive circuit corresponding to a moving device, a mounting head, or the like of an electronic component mounting machine or an output signal to the drive circuit for each predetermined period (A/2), in which the controller computes an output signal based on an input signal which is received before the predetermined period, stores the output signal for a time greater than or equal to the predetermined period, and subsequently transmits the output signal to the drive circuit. It becomes possible to set a time (a delay time) from when an input signal is output until an output signal reaches a drive circuit to an arbitrary length by adjusting the storage time.