ENCODER, DRIVING DEVICE AND ROBOTIC DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a driving device and robotic device that can highly accurately detect information and the like about rotation of a power transmission unit such as a deceleration device and the like connected to a motor, and to provide an encoder, driving device and robotic device that can contribute to downsizing of devices.SOLUTION: An encoder comprises: a first scale that has a first index part; a second scale that has a second index part; a first detection unit that outputs a first signal based on the first index part for first relative rotation between a stationary member and a first rotation member; a second detection unit that outputs a second signal based on the second index part for second relative rotation between the stationary member and a second rotation member; and a signal processing unit that calculates information about the first relative rotation on the basis of the first signal, and calculates information about the second relative rotation on the basis of the second signal.SELECTED DRAWING: Figure 1