Servo control apparatus that performs learning control by changing reference axis

1. A servo control apparatus for a machine that performs machining by driving and controlling a servomotor on the basis of a position command and by causing a plurality of synchronizing axes to operate cooperatively in synchronized relationship with a plurality of reference axes, the servo control apparatus comprising:

a processor to perform the following steps:

calculating a position error between the position command and a detected position of the servomotor;

acquiring positions of a plurality of reference axes;

selecting one reference axis on the basis of a machining condition of a driven body from among the plurality of reference axes whose positions have been acquired, a machine condition is acquired by using a workpiece changing signal; and

a plurality of learning control processors for performing learning control using an angle synchronization method, on the basis of the position error and the position of the selected reference axis,

wherein the plurality of learning control processors performs the following steps:

sampling the position error at a predetermined sampling frequency;

converting the position error from time reference to position reference;

filtering the converted position error;

storing the filtered position error in a delay memory;

converting the position error stored in the delay memory from position reference to time reference; and

outputting the position error as correction value,

wherein the plurality of learning control processors is changed in synchronized fashion when the reference axis is changed by selecting a different one of the plurality of reference axes from the reference axis previously selected, and

wherein the plurality of learning control processors correspond to the plurality of reference axes.

2. The servo control apparatus according to claim 1 ,

wherein the machining condition is acquired either from the machine or from a host control apparatus.