MOTOR CONTROL DEVICE

Japanese Patent JP3820546

B2

PROBLEM TO BE SOLVED: To provide a motor control device capable of easily determining the magnitude of backlash by properly eliminating backlash, which has to be eliminated in starting the reverse drive of an object to be driven, by setting the magnitude of the backlash to be eliminated to a magnitude that corresponds to the starting position, and by determining the magnitude of the backlash to be eliminated based on magnitudes of backlashes detected in advance at a plurality of positions of the object to be driven. SOLUTION: When a motor 18 is reverse-driven by a servo amplifier 17, a CPU 22 determines the backlash drive time, and after the backlash is eliminated by driving the motor 18 for a period of the drive time, practical control is started. Backlash drive times, measured at a plurality of positions of a driven object driven by the motor 18, are stored in an EEPROM 23. The CPU 22 determines the backlash drive time in reverse-driving, based on the information of the drive time stored in the EEPROM 23.