| 摘要 |
PURPOSE:To provide hardware constitution where multiple wirings required for transmitting a necessary phase detection signal with the small number of wirings in a robot using an AC motor. CONSTITUTION:At least more than one AC motor 1, a three phase encoder 2 which is pivoted on the driving shaft of the AC motor 1 and detects a rotary phase, an encoder output selection part 40 which sequentially selects the outputs of the three phase encoder 2 at every unit time which is previously decided and a transmission driver 41 which electrically drives a transmission line 44 for transmitting the output of the encoder output selection part 40 are provided in a robot main body. On the other hand, a numerical controller is provided with a transmission receiver 43 which converts an electric level and an encoder output reproduction part 42 which is connected to the output and sequentially distributes input at every unit time. The transmission lines 44 connecting the transmission driver 41 and the transmission receiver 43 can be realized with a small number. |
