| 摘要 |
PROBLEM TO BE SOLVED: To eliminate with simple structure, chattering of an encoder output which is caused by motor vibration and noise penetrating into an encoder and cope properly with states of the stop and reverse rotation of a motor which are caused by some kind of external force. SOLUTION: The levels of pulse signals of phase-A and phase-B which are outputted by an encoder are monitored (S1-S3). A time (t2-t0), in which the low level or high level of the signal of, for instance, the phase-A is continued, is calculated. The calculated time is compared with a prescribed value Terr (S4). As a comparison result, if the calculated time is smaller than the prescribed value, it is deemed that noise penetration, etc., is occurring in the encoder and a processing for eliminating the noise, etc., is conducted (S5). |
