CONTROL DEVICE FOR CONTROLLING ROTATION OF ROBOTIC JOINT

摘要

The robotic joint is provided with a drive motor (1), a speed reducer (8) that reduces the speed of rotation of the output shaft of the motor (1), and an arm (9) that is connected to the speed reducer (8). Said joint also is provided with an input encoder (10) that detects the rotation position of the motor (1) and an output encoder (17) that detects the rotation position of the arm (9). A controller (23) controls the motor (1) on the basis of data (EC values) representing the rotation positions of the motor (1) and the arm (9) detected by the input encoder (10) and the output encoder (17). A register (31) for latching and storing an input EC value is disposed in the input encoder (10). The output encoder (17) is provided with a register (32) for latching and storing an output EC value and an edge pulse output unit (35), which outputs an edge pulse to both registers (31) and (32) each time the output EC value changes. In response to said edge pulse, the two registers (31) and (32) output EC values to the controller (23) with the same timing.