| 摘要 |
A driving apparatus includes a plurality of driving devices; a plurality of malfunction detectors for detecting a malfunction of the driving devices; a plurality of electric current setting devices for setting electric currents through the driving devices; a controller for controlling the plurality of driving devices, malfunction detectors and the electric current setting devices, wherein the controller is effective to set standard electric currents, maximum tolerable electric currents, standard speeds, minimum rotatable speeds and maximum tolerable speeds of the plurality of driving devices, and a total current applied to the plurality of driving devices, wherein the driving devices are given priorities depending on influential ranges of functions of the driving devices, wherein when the malfunction detector detects a malfunction of the driving devices, the electric current setting device raises the setting of the electric current of the driving device at which the malfunction is detected within the maximum tolerable current and the total current, wherein when the malfunction detector detects a malfunction of a the driving device, and when the maximum tolerable current is exceeded by increasing the electric current of the driving device at which the malfunction is detected, the electric current setting device sets the speed of the driving device within a range higher than the minimum rotatable speed of the driving device at which the malfunction is detected, and a speed of another driving device selected in accordance with an order of the priorities within a range lower than the maximum tolerable speed, and the setting of the electric current is raised in accordance with the set speed, so that a productivity of a system with which the driving apparatus is used is maintained.
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