Control apparatus and robot system

A control apparatus controlling driving of a motor of a robot arm, comprising:

• a terminal supplying electric power from an alternating-current power supply;
• a plurality of input/output terminals inputting and outputting electric power to and from the motor;
• a first converter circuit unit converting and outputting an alternating current input from the terminal into a direct current;
• a drive circuit unit converting and outputting the direct current output from the first converter circuit unit into an alternating current to the plurality of input/output terminals, to which regenerative electric power from the motor is input from the plurality of input/output terminals;
• a discharge resistance unit parallel-coupled to the drive circuit unit, to which the regenerative electric power is input from the drive circuit unit, and, when a voltage value of the regenerative electric power exceeds a threshold value, consuming electric power;
• a second converter circuit unit parallel-coupled to the first converter circuit unit and converting and outputting the alternating current input from the terminal into a direct current;
• a first step-down circuit unit stepping down and outputting a voltage of the current output from the second converter circuit unit;
• an energization control circuit unit actuated by the direct current output from the first step-down circuit unit and controlling the drive circuit unit;
• a regenerative electric power supply unit having a regenerative diode coupled to the discharge resistance unit and outputting a direct current of the regenerative electric power to the first step-down circuit unit;
• and
• a power factor corrector unit correcting and outputting a power factor of the electric power supplied from the regenerative electric power supply unit to the first step-down circuit unit, wherein
• the power factor corrector unit has an output voltage setting resistor setting the voltage output to the first step-down circuit unit, and
• resistance precision of the output voltage setting resistor is equal to or less than 1%.