| 主权项 |
1. A control apparatus comprising:
a motor; a driving body configured to rotate around a rotational axis by the motor; a rotary encoder including a disk and a sensor, the disk being fixed to the driving body in a state of being eccentric to the rotational axis of the driving body; and being configured to rotate with the driving body, and the sensor being configured to read a scale of the disk and to output a pulse signal depending on rotation of the disk; a detector configured to detect a rotation position and a rotation velocity of the disk based on the pulse signal outputted from the sensor; and a controller, wherein the controller is configured to perform:
a data generation process of controlling the motor to make the driving body turn at least one rotation and generating velocity data based on the rotation position and the rotation velocity which are detected by the detector during the at least one rotation of the driving body, the velocity data indicating a locus of the rotation velocity with respect to the rotation position;a phase specifying process of specifying a position-phase relation, which is a correspondence relation between the rotation position of the disk and a rotation phase of the driving body, by detecting a phase, of a periodic velocity component of the locus indicated by the velocity data, with respect to the rotation position, the periodic velocity component corresponding to a rotation period of the driving body; anda main control process of controlling at least one of the rotation of the driving body and displacement of an object, which is displaced by action from the driving body, by driving the motor based on the position-phase relation specified by the phase specifying process. |
