| 摘要 |
PURPOSE:To accurately know the operating condition of each joint driving motor with a simple circuit, by connecting an electric quantity storage element to each joint driving motor in parallel or in series. CONSTITUTION:An electric quantity storage element 3 is connected to a motor M in series. A current detecting section 9 is constituted of a resistance R1 and generates a voltage proportional to an electric current flowing to the motor M. When transistors T2 and T3 are turned on, an electric current flows to the motor M and the motor M starts to rotate. At the same time, the current flows to the resistance R1 and voltage is impressed upon the electric quantity storage element 3 in accordance with the voltage drop which occurs at the resistance R1. When the voltage proportional to the voltage drop at the resistance R1, namely, proportional to the electric currnt flowing to the motor M is impressed upon the element 3, an electrochemical actional phenomenon occurs at the element 3 and, by watching the indicator of the element 3, the degree of the electrochemical action can be known. Since, as time passes, the electrochemical action advances, the operating condition of the motor M can be known by utilizing the element 3. |
