ENCODER, CONTROLLER, MOTOR CONTROL SYSTEM, ROBOT CONTROL SYSTEM, ROBOT, DATA TRANSMISSION METHOD AND ROTATION NUMBER COMPARISON METHOD

摘要

PROBLEM TO BE SOLVED: To duplicate data from an encoder, and suppress a size, weight, and cost in an instrument.SOLUTION: A first disk (44A) and a second disk (44B) of an encoder (40) are attached to a rotation shaft of a motor. A first sensor (45A) is configured to detect a revolution position in one revolution of the first disk (44A), and a second sensor (45B) is configured to detect the fact that the second disk rotates one revolution. A rotation number detection unit (421) is configured to count the rotation number of the second disk (44B) on the basis of an output of the second sensor (45B). A transmission unit (450) is configured to transmit transmission data including the revolution position and the rotation number.SELECTED DRAWING: Figure 3