| 摘要 |
[Problems to be Solved] To provide a rotary encoder capable of carrying out self-calibration for a horizontal encoder as well as a vertical encoder without requiring special equipment and simply and inexpensively with a high degree of accuracy while reducing the burden on a worker. [Means for Solving the Problems] In a rotary encoder including: a rotary disk (1) with an angle code (11); a light source that irradiates the angle code; a CCD linear sensor (3) that reads the angle code; and a processing unit that acquires a reading value f(&thetas;) based on the angle code read by the CCD linear sensor, every time the rotary disk is rotated by a predetermined angle, where a rotation angle of the rotary disk is provided as &thetas; and an angle from the rotation angle &thetas; is provided as &phgr;, based on a change in a difference g(&thetas;,&phgr;) between reading values f(&thetas;+&phgr;) and f(&thetas;) within a reading range on the CCD linear sensor, the difference g(&thetas;,&phgr;) is determined as a Fourier series, and self-calibration of the reading value f(&thetas;) of 0 to 360° is carried out based on the result.
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