Patent ID: 9733137
Date: 2017-08-15
CPC Classifications: F16H,G01L,H02K,H02P

Claim:
1. A rotary driver comprising: a speed reducer located between a motor and a load, the reducer reducing a rotary speed of a rotary shaft at a side of the motor, the reducer transmitting the reduced rotary speed to a rotary shaft at a side of the load; a first encoder for detecting a rotation of the rotary shaft at the side of the motor; a second encoder for detecting a rotation of the rotary shaft at the side of the load; a section for detecting difference that obtains a difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder; and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference; wherein the section for detecting the tooth-skipping compares the difference with a predetermined threshold; and wherein the section for detecting the tooth-skipping detects tooth-skipping of the speed reducer if the difference is greater than the threshold or if the difference is equal to, or greater than, the threshold.