| 摘要 |
PURPOSE:To make possible detection of abnormality such as disconnection of signal wiring by providing a servo motor, an encoding means, a control means and an abnormality detecting means. CONSTITUTION:When a load 15, e.g. a robot mechanism section, is driven by a servo motor 11 through a control means 13, driving state of the servo motor 11 is detected through an encoding means 12. The driving state is transmitted, in the form of detection signals A, B, Z, on a signal line l to the control means 13. At that time, n-phase detection signals A, B, Z outputted from the encoding means 12 are detected by an abnormality detecting means 14 provided for each signal line L. According to the constitution, abnormality such as disconnection of the signal line L can be detected before the control target position of the control means 13 is shifted, due to movement of the servo motor 11, from a position controlled by the encoding means 12. |
