CONTROL DEVICE

To provide a control device capable of appropriately determining operation abnormality even during execution of an origin return operation after a situation in which recognition accuracy of a current position of a door decreases.SOLUTION: With a torque of a drive motor 2, which is set to a certain value during execution of a homing process, defined as a during-homing reference torque, a determination section 13 executes, during normal opening and closing operation of a door 21, a first abnormality determination process to determine the operation as abnormal when a difference between a torque shown in actual torque information D2 and a torque shown in reference torque information D1 is a first specified value or greater, and executes, while the homing process is being executed, a second abnormality determination process, which determines the operation as abnormal when the difference between the torque shown in the actual torque information D2 and the during-homing reference torque is a second specified value or greater, which is the same or different from the first specified value, only when movement speed of the door 21 is being constant.SELECTED DRAWING: Figure 2 【課題】ドアの現在位置の認識精度が低下する状況になった後の原点復帰動作の実行中にも、動作異常の判定を適切に行うことが可能な制御装置を実現する。【解決手段】原点復帰処理の実行中における、一定の値に設定された駆動モータ２のトルクを復帰中基準トルクとして、判定部１３は、通常のドア２１の開閉動作中は、実トルク情報Ｄ２に示されるトルクと基準トルク情報Ｄ１に示されるトルクとの差が第１規定値以上である場合に動作異常と判定する第１異常判定処理を実行し、原点復帰処理の実行中は、実トルク情報Ｄ２に示されるトルクと復帰中基準トルクとの差が、第１規定値と同じ又は異なる値の第２規定値以上である場合に動作異常と判定する第２異常判定処理を、ドア２１の移動速度が一定である間のみ実行する。【選択図】図２