| 摘要 |
Provided is a cable system (A) capable of preventing slack in a cable (3) such as when a travelling body (2) completely ascends, begins to descend, or completely descends a stair, a step, or the like. The cable system (A) is provided with the cable (3) for connecting a base device (1) and the travelling body (2), a reel device (10) mounted on the travelling body (2), a motor controller (40) for controlling a motor (15) of the reel device (10), and an acceleration sensor (50) for detecting the vertical acceleration of the travelling body (2). The motor controller (40) basically leaves the motor in a free state when the reel (12) is rotating in the pay-out direction, and basically grants rotational torque in the take-up direction to the reel (12) when the reel (12) is rotating in the take-up direction. Furthermore, even if the reel (12) is rotating in the pay-out direction, when an end point of a sudden change in orientation of the travelling body, such as the front or rear of the travelling body (30) suddenly descending, is detected on the basis of vertical acceleration information from the acceleration sensor (50), rotational torque in the take-up direction is granted to the reel (12). |
