| 摘要 |
PURPOSE:To eliminate the necessity of processing such as resetting of an origin by detecting the absolute position of a rotor over a plurality of rotations of a brushless motor to control the switching of the direction of an exciting current and controlling the rotating speed and position. CONSTITUTION:Absolute encoders 24, 34, 44 for detecting the rotating positions of brushless motors 22, 32, 42 over a plurality of rotations are respectively provided in the motors 22, 32, 42, the output signals of the encoders 24, 34, 44 are processed by a host computer 20, and the computer 20 performs the switching of the directions of the exciting currents of the motors 22, 32, 42, the rotating speeds of the motors 22, 32, 42, and the rotating positions over a plurality of rotations. Accordingly, when a robot starts operating or at recovering time after the power interruption, it is not necessary to operate the setting of the origin at every time. |
