It is an object of the present invention to provide an encoder that is easier to use. An encoder 1 used in a numerical control device includes a signal generation unit configured to generate a digital signal, and a configuration information output unit configured to output configuration information that determines operation of the signal generation unit, in which the configuration information output unit includes a voltage level acquisition unit that acquires a voltage level to be input, a configuration information selection unit that selects configuration information according to the acquired voltage level among a plurality of types of configuration information, and a configuration information transmission unit that transmits the selected configuration information to the signal generation unit.

A deterioration degree of a robot body is precisely evaluated. A robot control device 300 includes: a drive control unit 309 controlling operation of a robot body 200; a detection unit 310 detecting a signal used for analysis of a feature amount quantitatively indicating a deterioration degree of the robot body 200 deteriorated over time as the robot body 200 is operated; a determination unit 304 determining whether a data section of the signal includes a constant speed section equal to or greater than a given section; a normalization unit 305 normalizing a signal in a non-constant speed section when the data section of the signal does not include the constant speed section equal to or greater than the given section; an analysis unit 307 analyzing the feature amount; and an estimation unit 308 estimating a remaining life of the robot body 200 based on the feature amount.

It is an object of the present invention to provide an encoder that is easier to use.

An encoder 1 used in a numerical control device includes a signal generation unit configured to generate a digital signal, and a configuration information output unit configured to output configuration information that determines operation of the signal generation unit, in which the configuration information output unit includes a voltage level acquisition unit that acquires a voltage level to be input, a configuration information selection unit that selects configuration information according to the acquired voltage level among a plurality of types of configuration information, and a configuration information transmission unit that transmits the selected configuration information to the signal generation unit.