Abstract: An encoder includes a positional information generation unit configured to generate first positional information based on a detected signal which is output by a sensor unit, and an IIR filter unit configured to output second positional information obtained by performing filtering on the first positional information. In the IIR filter unit, a counter unit stores a predetermined high-order digit of the first positional information as a count value, and an input unit subtracts the count value from the first positional information to thereby generate input information. A computation unit generates an internal computation result based on delay information which is an internal computation result stored in a delay information storage unit, input information, and a predetermined filter coefficient, and generates output information on which filtering is performed. An output unit adds the count value and the output information to thereby generate second positional information.

Abstract: An encoder includes a positional information generation unit that generates first positional information based on a detected signal which is output by a sensor unit, and an IIR filter unit that outputs second positional information obtained by performing filtering on the first positional information and includes a counter unit which stores a predetermined high-order digit of the first positional information as a count value, an input unit which subtracts the count value from the first positional information to thereby generate input information, a computation unit which generates an internal computation result and output information on which filtering is performed, an output unit which adds the count value and the output information to thereby generate second positional information, and a changing unit which changes a value of the delay information when the value of the delay information falls outside of a predetermined range, and changes the count value.