An encoder apparatus includes a detection unit, a scale disposed to oppose the detection unit and relatively rotatable with respect to the detection unit, and a processor configured to process an output signal output from the detection unit to obtain a relative position of the scale with respect to a standard position and thus detect an absolute position of the scale. The processor is configured to execute a setting process in which a position where a deviation amount of the scale in a predetermined direction with respect to a rotation axis is equal to or smaller than a threshold value is set as the standard position, the deviation amount changing in accordance with relative rotation of the scale with respect to the detection unit.

A device for processing rotation-dependent measured values includes a data converter, a sequencing control, and an output interface. Series of measured values, which are a function of the rotation of a shaft and of which at least one is an angle value that indicates the angular position of the shaft, are conveyable to the data converter at constant time intervals of a measuring interval. The data converter is adapted to subdivide a rotation of the shaft into sectors and, using one of the angle values as a reference angle value, to allocate received measured values to a sector, and per rotation of the shaft, to ascertain for each series of measured values precisely one result value for each sector. The result values are able to be output to the output interface.

A control system includes an encoder and a control device that controls a target object. The encoder includes a position information generating unit that generates position information made of a predetermined amount of data and including absolute position data of an object to be detected; a configuration information generating unit that generates configuration information representing a ratio of the absolute position data in the amount of data during serial communication; and a transmission unit that transmits, to the control device, the position information and the configuration information as serial data. The control device includes a reception unit that receives the position information and the configuration information transmitted from the encoder; a storage unit that stores the received configuration information; and a notification unit that performs notification of a configuration mismatch when the stored configuration information does not match the next received configuration information.

An encoder apparatus includes a detection unit, a scale disposed to oppose the detection unit and relatively rotatable with respect to the detection unit, and a processor configured to process an output signal output from the detection unit to obtain a relative position of the scale with respect to a standard position and thus detect an absolute position of the scale. The processor is configured to execute a setting process in which a position where a deviation amount of the scale in a predetermined direction with respect to a rotation axis is equal to or smaller than a threshold value is set as the standard position, the deviation amount changing in accordance with relative rotation of the scale with respect to the detection unit.

The present disclosure relates to a method for controlling zero-return of a servo of a robot, and a servo and a robot with enhanced zero-return. The method includes: outputting an activation command to a motor, and reading a default zero-point of the motor (w1) and a default zero-point of an output shaft of the speed reducer (w2). The output shaft of the motor (w1) is driven to return until the default zero-point of the output shaft of the speed reducer (w2) is the same with the current position of the output shaft of the speed reducer (w4) in response to the default zero-point of an output shaft of the speed reducer (w2) being not the same with the current position of the output shaft of the speed reducer (w4).

A control system includes an encoder and a control device that controls a target object. The encoder includes a position information generating unit that generates position information made of a predetermined amount of data and including absolute position data of an object to be detected; a configuration information generating unit that generates configuration information representing a ratio of the absolute position data in the amount of data during serial communication; and a transmission unit that transmits, to the control device, the position information and the configuration information as serial data. The control device includes a reception unit that receives the position information and the configuration information transmitted from the encoder; a storage unit that stores the received configuration information; and a notification unit that performs notification of a configuration mismatch when the stored configuration information does not match the next received configuration information.

The present disclosure relates to a method for controlling zero-return of a servo of a robot, and a servo and a robot with enhanced zero-return. The method includes: outputting an activation command to a motor, and reading a default zero-point of the motor (w1) and a default zero-point of an output shaft of the speed reducer (w2). The output shaft of the motor (w1) is driven to return until the default zero-point of the output shaft of the speed reducer (w2) is the same with the current position of the output shaft of the speed reducer (w4) in response to the default zero-point of an output shaft of the speed reducer (w2) being not the same with the current position of the output shaft of the speed reducer (w4).