PURPOSE: To accurately position by eliminating influence of a friction of a load.

CONSTITUTION: The servo controller comprises torque command detecting means 1-1 for detecting a torque command when an open loop system is formed, a predetermined torque command is applied to a servo motor and a load starts moving, and friction compensating means 1-12 for applying the detected command as a friction compensating torque command to a feedback control system. The controller further comprises hunting preventing means 1-3 for stopping the friction compensating torque command when the load reaches within a predetermined position from a target position.