Control apparatus and control method therefor

A control method for a control apparatus that drives a movable part using a motor, the control method comprising:

• receiving absolute position information on an output shaft that is a rotation axis of the movable part;
• receiving relative position information on a motor shaft that is a rotation axis of the motor;
• generating correction data corresponding to a plurality of positions of the output shaft based on the absolute position information and the relative position information;
• setting an origin position of the relative position information based on the absolute position information;
• and
• generating a drive signal for the motor using the relative position information based on the origin position, wherein
• in the setting, the origin position is set based on corrected position information in which the absolute position information is corrected based on the correction data.

A non-transitory computer-readable recording medium storing a program that, when executed by a computer, causes the computer to perform a control method for a control apparatus that drives a movable part using a motor, the control method comprising:

• receiving absolute position information on an output shaft that is a rotation axis of the movable part;
• receiving relative position information on a motor shaft that is a rotation axis of the motor;
• generating correction data corresponding to a plurality of positions of the output shaft based on the absolute position information and the relative position information;
• setting an origin position of the relative position information based on the absolute position information;
• and
• generating a drive signal for the motor using the relative position information based on the origin position, wherein
• in the setting, the origin position is set based on corrected position information in which the absolute position information is corrected based on the correction data.