Abstract: When first arm is connected to a base at a joint point J0, a second arm is connected to the first arm at a joint point J1, a third arm is connected to the second arm at a joint point J2, a hand is connected to the third arm at a joint point J3, a target position of the joint point J3 is designated, and a robot is moved, the joint point J2 is set on a virtual travel axis passing through the joint point J0, an angle formed by a reference direction (X-axis) and the virtual travel axis is defined as a virtual travel axis angle, and respective motors of axes are driven using the virtual travel axis angle and the target position.

Abstract: A robot system includes a robot controller and an object robot including a first storage part storing a hardware identifier, individual discrimination data, and device specific data including an individual difference parameter. The same hardware identifier is assigned to the object robot having the same mechanism. The robot controller includes a second storage part storing common configuration information corresponding to the hardware identifier and the individual discrimination data and the individual difference parameter of the object robot, and a control part configured, in a case that the hardware identifier corresponding to the common configuration information stored in the second storage part and the hardware identifier assigned to the object robot are collated and matched with each other, to create hardware definition information of the object robot based on the common configuration information stored in the second storage part and the individual difference parameter read from the first storage part.

Abstract: In a robot stopping method, if a shaft that moves at least a part of the robot in the gravity direction is defined as a Z shaft and a time at which the occurrence of the a power failure has been detected is set as a reference time, a first control is performed if the occurrence of the power failure has been detected when the Z shaft is in a state of ascent, in which based on an ascending speed of the Z shaft at the reference time, a time until a speed of the Z shaft reaches zero as a result of deceleration by a gravitational acceleration is calculated as a deceleration time, the Z shaft is driven so as to decelerate and stop ascent of the Z shaft by spending the deceleration time.

Abstract: A robot system may include a robot controller; and a target robot. The target robot may include a first memory to store device specific data including individual identification data; and an individual difference parameter unique to the target robot. The robot controller may include a second memory structured to store the individual identification data and the individual difference parameter of the target robot connected to the robot controller; and a controller to control the target robot on the basis of model configuration information the individual difference parameter stored in the second memory. The controller may check the individual identification data read from the first memory unit against the individual identification data stored in the second memory unit and, in accordance with a checking result, update the individual difference parameter stored in the second memory unit with the individual difference parameter read from the first memory unit.

Abstract: A robot system may include a robot controller; a target robot; and a host device. The target robot may include a first memory to store device specific data comprising information on the model of the target robot; individual identification data used to identify the target robot; and an individual difference parameter unique to the target robot. The robot controller may include a second memory to store information on the model of the target robot connected to the robot controller, the model configuration information, the individual identification data, and the individual difference parameter; and a controller to control the target robot on the basis of the model configuration information and the individual difference parameter stored in the second memory unit. The controller may read the model configuration information of the model and store the model configuration information in the second memory unit.

Abstract: A rotary encoder may include a magnet, a magnetic sensor, and a control part configured to calculate a rotation position of the rotor body based on an output signal outputted from the magnetic sensor. The control part includes a temperature detecting section configured to detect temperature of the magnetic sensor, an offset voltage calculation section configured to calculate an offset voltage of the magnetic sensor based on the output signal from the magnetic sensor, and a storage section which stores a slope and an intercept of a primary approximate expression calculated by a relationship between temperatures previously detected by the temperature detecting section and the offset voltages previously calculated by the offset voltage calculation section. The control part executes offset voltage estimate processing based on the slope and the intercept stored in the storage section and correction processing which corrects the output signal from the magnetic sensor.

Abstract: A robot system includes a robot controller and an object robot including a first storage part storing a hardware identifier, individual discrimination data, and device specific data including an individual difference parameter. The same hardware identifier is assigned to the object robot having the same mechanism. The robot controller includes a second storage part storing common configuration information corresponding to the hardware identifier and the individual discrimination data and the individual difference parameter of the object robot, and a control part configured, in a case that the hardware identifier corresponding to the common configuration information stored in the second storage part and the hardware identifier assigned to the object robot are collated and matched with each other, to create hardware definition information of the object robot based on the common configuration information stored in the second storage part and the individual difference parameter read from the first storage part.

Abstract: A rotary encoder may include a first sensor unit including a first magnet, and a first magnetosensitive unit facing the first magnet; a second sensor unit including a second magnet with a plurality of pairs of N poles and S poles alternately magnetized, and a second magnetosensitive unit facing the second magnet; a circuit to generate pulses for counting from an output of the second sensor unit; and a counter to count the pulses. During activation, an angle position of the rotating body is calculated based on outputs of a first and second sensor unit, and after activation, pulse counting is counted by a counter.

Abstract: A rotary encoder may include a first sensor unit comprising a first magnet, and a first magnetosensitive unit facing the first magnet; a second sensor unit comprising a second magnet, and a second magnetosensitive unit facing the second magnet; a circuit to generate pulses; a counter to count the pulses; a first arithmetic unit to calculate a first angle value based on an output of the first magnetosensitive unit; and a second arithmetic unit to calculate a second angle value based on an output of the second magnetosensitive unit. One of the first magnet and the first magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body. One of the second magnet and the second magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body.

Abstract: A rotary encoder includes a control part having a storage section storing a plurality of parameters regarding error signal components at a reference rotation speed, the error signal components respectively being superposed on an “A”-phase signal and a “B”-phase signal in proportion to a rotation speed of a rotor body, and a rotation speed calculation section structured to measure a reception interval of a requirement signal and calculate a current rotation speed of the rotor body. The control part is structured to convert a parameter stored in the storage section to a value at the current rotation speed based on a ratio between the reference rotation speed and the current rotation speed, correction processing correcting the “A”-phase signal and the “B”-phase signal is executed based on the value converted, and the rotation position of the rotor body is calculated by using a corrected “A”-phase signal and a corrected “B”-phase signal.

Abstract: A robot system may include a robot controller; a target robot; and a host device. The target robot may include a first memory to store device specific data comprising information on the model of the target robot; individual identification data used to identify the target robot; and an individual difference parameter unique to the target robot. The robot controller may include a second memory to store information on the model of the target robot connected to the robot controller, the model configuration information, the individual identification data, and the individual difference parameter; and a controller to control the target robot on the basis of the model configuration information and the individual difference parameter stored in the second memory unit. The controller may read the model configuration information of the model and store the model configuration information in the second memory unit.

Abstract: A robot system may include a robot controller; and a target robot. The target robot may include a first memory to store device specific data including individual identification data; and an individual difference parameter unique to the target robot. The robot controller may include a second memory structured to store the individual identification data and the individual difference parameter of the target robot connected to the robot controller; and a controller to control the target robot on the basis of model configuration information the individual difference parameter stored in the second memory. The controller may check the individual identification data read from the first memory unit against the individual identification data stored in the second memory unit and, in accordance with a checking result, update the individual difference parameter stored in the second memory unit with the individual difference parameter read from the first memory unit.

Abstract: A rotary encoder may include a magnet, a magnetic sensor, and a control part configured to calculate a rotation position of the rotor body based on an output signal outputted from the magnetic sensor. The control part includes a temperature detecting section configured to detect temperature of the magnetic sensor, an offset voltage calculation section configured to calculate an offset voltage of the magnetic sensor based on the output signal from the magnetic sensor, and a storage section which stores a slope and an intercept of a primary approximate expression calculated by a relationship between temperatures previously detected by the temperature detecting section and the offset voltages previously calculated by the offset voltage calculation section. The control part executes offset voltage estimate processing based on the slope and the intercept stored in the storage section and correction processing which corrects the output signal from the magnetic sensor.

Abstract: A rotary encoder includes a control part having a storage section storing a plurality of parameters regarding error signal components at a reference rotation speed, the error signal components respectively being superposed on an “A”-phase signal and a “B”-phase signal in proportion to a rotation speed of a rotor body, and a rotation speed calculation section structured to measure a reception interval of a requirement signal and calculate a current rotation speed of the rotor body. The control part is structured to convert a parameter stored in the storage section to a value at the current rotation speed based on a ratio between the reference rotation speed and the current rotation speed, correction processing correcting the “A”-phase signal and the “B”-phase signal is executed based on the value converted, and the rotation position of the rotor body is calculated by using a corrected “A”-phase signal and a corrected “B”-phase signal.

Abstract: A rotary encoder may include a first sensor unit including a first magnet, and a first magnetosensitive unit facing the first magnet; a second sensor unit including a second magnet with a plurality of pairs of N poles and S poles alternately magnetized, and a second magnetosensitive unit facing the second magnet; a circuit to generate pulses for counting from an output of the second sensor unit; and a counter to count the pulses. During activation, an angle position of the rotating body is calculated based on outputs of a first and second sensor unit, and after activation, pulse counting is counted by a counter.

Abstract: A rotary encoder may include a first sensor unit comprising a first magnet, and a first magnetosensitive unit facing the first magnet; a second sensor unit comprising a second magnet, and a second magnetosensitive unit facing the second magnet; a circuit to generate pulses; a counter to count the pulses; a first arithmetic unit to calculate a first angle value based on an output of the first magnetosensitive unit; and a second arithmetic unit to calculate a second angle value based on an output of the second magnetosensitive unit. One of the first magnet and the first magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body. One of the second magnet and the second magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body.