Lens apparatus, image pickup apparatus, method of controlling lens apparatus and program

An image pickup apparatus comprising:

• a lens apparatus;
• and
• an image pickup element for picking up an image formed by the lens apparatus,
• wherein the lens apparatus comprises:
• a first lens unit;
• a first lens barrel holding the first lens unit and movable in an optical axis direction;
• a second lens unit;
• a second lens barrel holding the second lens unit and movable in the optical axis direction;
• an actuator configured to move the second lens barrel in the optical axis direction;
• a controller configured to control the actuator by a feedback control;
• a first sensor that detects a position of the first lens barrel;
• and
• a second sensor that detects a relative position of the second lens barrel relative to the first lens barrel,
• wherein the first lens barrel is movable by a manual operation of a user or by an external actuator not included in the lens apparatus,
• wherein the controller determines, based on outputs of the first and second sensors, whether the first and second lens barrels are in:
• a contact state in which the first and second lens barrels are in contact with each other;
• or
• a noncontact state in which the first and second lens barrels are not in contact with each other,
• wherein in a case where the first and second lens barrels are determined to be in the contact state, the controller performs, in the feedback control of the actuator, any one among:
• a control in which an upper limit value is set to a deviation to be input;
• a control of the actuator with a speed lower than that in the noncontact state;
• and
• a control of the actuator with an acceleration lower than that in the noncontact state, and
• wherein in a case where the first and second lens barrels are determined to be in the non-contact state, the controller performs the feedback control of the actuator differently from the feedback control of the actuator during the contact state.

A method of controlling a lens apparatus by a controller of the lens apparatus,

• wherein the lens apparatus comprises:
• a first lens unit;
• a first lens barrel holding the first lens unit and movable in an optical axis direction;
• a second lens unit;
• a second lens barrel holding the second lens unit and movable in the optical axis direction;
• an actuator configured to move the second lens barrel in the optical axis direction;
• a controller configured to control the actuator by a feedback control;
• a first sensor that detects a position of the first lens barrel;
• and
• a second sensor that detects a relative position of the second lens barrel relative to the first lens barrel,
• wherein the first lens barrel is movable by a manual operation of a user or by an external actuator not included in the lens apparatus,
• wherein the method comprises:
• determining, with the controller, based on outputs of the first and second sensors, whether the first and second lens barrels are in:
• a contact state in which the first and second lens barrels are in contact with each other;
• or
• a noncontact state in which the first and second lens barrels are not in contact with each other;
• performing, with the controller, in the feedback control of the actuator, in a case where the first and second lens barrels are determined to be in the contact state, any one among:
• a control in which an upper limit value is set to a deviation to be input;
• a control of the actuator with a speed lower than that in the noncontact state;
• and
• a control of the actuator with an acceleration lower than that in the noncontact state;
• and
• performing, with the controller, in a case where the first and second lens barrels are determined to be in the non-contact state, the feedback control of the actuator differently from the feedback control of the actuator during the contact state.