| 摘要 |
A door device comprises a door control device (10), and the door control device (10) has a speed command unit (11) that generates a door opening and closing speed command, a parameter storage unit (21) that stores parameters pertaining to the door, a sensor (15) that detects the rotation of a motor (9), a belt vibration detection unit (18) that detects the vibration of a belt attached to the door on the basis of a signal from the sensor (15) and outputs the door position and the motor (9) driving force when vibration is detected, and a belt tension measurement unit (19) that measures the tension of the belt on the basis of the door position and the driving force of the motor. |
