CPC G05B 19/402 (2013.01) [B25J 9/12 (2013.01); G05B 2219/34465 (2013.01); G05B 2219/39001 (2013.01)] | 8 Claims |
1. A motor control angle sensor assembly comprising:
a housing;
a sensor element housed in the housing, the sensor element being configured to output a signal according to driving of a motor, the motor having a drive shaft, the drive shaft having first and second ends opposite to each other;
an arithmetic processor housed in the housing;
a motion history temporary buffer housed in the housing, and
a motion history memory housed in the housing, wherein
the arithmetic processor is configured to:
generate position information data containing a position of the motor acquired based on the signal output from the sensor element and a time when the position is acquired;
repeal processing of storing the generated position information data in the motion history temporary buffer several times; and
store the position information data stored in the motion history temporary buffer in the motion history memory when an abnormality is sensed or a signal reporting an abnormality is received from an external apparatus, and
the motor control angle sensor is disposed at the first end of the drive shaft of the motor, and a robot arm is disposed at the second end of the drive shaft of the motor.
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