Output control device for reduction gear system, reduction gear system, and output control method for reduction gear system

摘要

PROBLEM TO BE SOLVED: To highly accurately control output from a reducer.SOLUTION: An output control device 1 includes: a reducer encoder 11 for detecting the rotation of an output shaft of a reducer 2; an error acquisition unit 12 for acquiring an output error that is an error of input to a motor 3 and output from the reducer 2, on the basis of a command signal, output from a motor encoder 4, and output from the reducer encoder 11; and a correction unit 13 for correcting the command signal input to a drive control mechanism 5 on the basis of the output error. The resolution of a motor detection signal is higher than the resolution of a reducer detection signal. The error acquisition unit 12 synchronizes the motor detection signal with the reducer detection signal when a detection pulse signal of the reducer detection signal is input, and, during the period until a detection pulse signal after the reducer detection signal is input, when a detection pulse signal of the motor detection signal is input, the command signal and the motor detection signal are compared to estimate and acquire the output error.SELECTED DRAWING: Figure 1