| 摘要 |
PROBLEM TO BE SOLVED: To provide a speed reducer capable of rotating an output shaft with high precision and without performing high accuracy processing of a speed reduction mechanism.SOLUTION: Since a control part 17 controls a motor shaft 16 on teh basis of the detection value K of an encoder 20 for detecting the rotation of an output shaft 9, there is no influence of the angular transmission error of a speed reduction mechanism. Therefore, it is not necessary to process the speed reduction mechanism with high precision and inexpensive encoder 20 can be used, being advantageous in cost. No shift occurs between a command value S from the control part 17 and the actual rotation angle of the output shaft 9. |
