Abstract: A conduction path structure of a robot in which a conduction path has a simplified structure is provided. A conduction path structure of a robot includes: a structural mechanism which functions as a support and has a conductor portion; an actuator that operates the structural mechanism; and a conduction path through which driving power and/or a control signal is supplied to the actuator, wherein the conduction path also serves as the conductor portion of the structural mechanism.

Abstract: A motor drive apparatus includes: a motor current detection unit; a brake release determination unit that determines that the brake is not released when the motor current detected when the motor is operated under a predetermined load by application of a voltage to a brake coil is larger than a current for when the brake is normally released; a brake coil voltage change unit that changes a voltage applied to the brake coil when it is determined that the brake is not released to a larger value; a change history storage unit that stores the voltage after being changed and change date and time; and a life prediction unit that calculates a predicted life of the brake apparatus based on the voltage after being changed and the change date and time and the previously stored failure-time brake coil voltage.

Abstract: A robot includes a motor drive power source for converting a voltage supplied from a power source to a motor drive unit-grade voltage and outputting it, a motor drive unit for converting a motor drive unit-grade voltage output from the motor drive power source to a motor drive voltage and outputting it, a motor driven to be rotated by a motor drive voltage output by the motor drive unit, a robot arm on which the motor drive unit and the motor are arranged, and a robot controller which is provided independently of the robot arm and on which the motor drive power source is arranged.

Abstract: A motor drive according to the present invention has a dynamic braking circuit. The motor drive includes a motor drive control circuit for applying a voltage to windings of a synchronous motor and the dynamic braking circuit for a predetermined time by switching power transistors connected to a direct current power supply, a current detection circuit for detecting a current value outputted from the power transistor, and a failure determination circuit for determining the presence or absence of a failure in the dynamic braking circuit from the current value detected by the current detection circuit and a predetermined threshold value. When the presence or absence of a failure in the dynamic braking circuit is detected, the resistance of the dynamic braking circuit is changed.

Abstract: A motor drive apparatus includes: a motor current detection unit; a brake release determination unit that determines that the brake is not released when the motor current detected when the motor is operated under a predetermined load by application of a voltage to a brake coil is larger than a current for when the brake is normally released; a brake coil voltage change unit that changes a voltage applied to the brake coil when it is determined that the brake is not released to a larger value; a change history storage unit that stores the voltage after being changed and change date and time; and a life prediction unit that calculates a predicted life of the brake apparatus based on the voltage after being changed and the change date and time and the previously stored failure-time brake coil voltage.

Abstract: A machine learning apparatus includes: a state observation unit that observes a state variable including an error between a position command and an actual position of a rotor, temperature of a motor driving apparatus and the motor, and voltage of each part of the motor driving apparatus; and a learning unit that learns a current feedback offset correction value for correcting an offset in the current feedback value, an inter-current-feedback-phase unbalance correction value for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone for correcting a current command in order to compensate a decreased amount of current due to a dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply are not simultaneously turned on, in accordance with a training data set defined by the state variable.

Abstract: An apparatus with a motor drive device is provided with a support plate including an opening part for supporting the motor drive device. The support plate includes a first edge part around the opening part and a second edge part on the opposite side of the first edge part. The motor drive device includes a first recessed part formed on one end part in a predetermined direction, and a second recessed part formed on the other end part on the opposite side of the one end part. The first edge part is inserted into the first recessed part, and the second edge part is inserted to the second recessed part.

Abstract: A motor driving device includes, a DB current calculation unit which calculates a DB current flowing through a DB circuit, based on the motor rotational speed and intrinsic parameters for a motor and the DB circuit, a Joule heat calculation unit which calculates a Joule heat resulting from a DB current, based on the DB current, a storage unit which stores a table defining the relationship between the DB current at the start of DB and the Joule heat resulting from an arc generated in a relay depending on the DB current, an integration unit which integrates the Joule heat resulting from an arc at the start of DB, the Joule heat resulting from a DB current, or the sum of these Joule heats, every time DB is performed, and a comparison unit which outputs the comparison result between the resultant integration value and a predetermined reference value.

Abstract: A motor drive according to the present invention has a dynamic braking circuit. The motor drive includes a motor drive control circuit for applying a voltage to windings of a synchronous motor and the dynamic braking circuit for a predetermined time by switching power transistors connected to a direct current power supply, a current detection circuit for detecting a current value outputted from the power transistor, and a failure determination circuit for determining the presence or absence of a failure in the dynamic braking circuit from the current value detected by the current detection circuit and a predetermined threshold value. When the presence or absence of a failure in the dynamic braking circuit is detected, the resistance of the dynamic braking circuit is changed.

Abstract: A first switching element is connected to one end of a brake and switches from the off state to the on state when a switch command is input to cause a brake drive current to flow through the brake. A second switching element is connected to the other end of the brake and switches from the off state to the on state when the switch command is input to cause a brake drive current to flow through the brake. A voltage detection unit detects a brake voltage being applied to the brake. A switch command delay unit delays the switch command input to the first switching element. A short circuit determination unit determines whether or not a short circuit has occurred in the first switching element based on the brake voltage and the switch command delayed by the switch command delay unit.

Abstract: A brake abnormality diagnosis device which diagnoses an abnormality in a brake of a brake-equipped motor provided in a robot or a machine tool, includes: an abnormality diagnosis unit which performs a diagnosis as to whether or not there is an abnormality in the brake, while the motor is excited and the brake is activated; and an output unit which, if it is diagnosed that there is an abnormality in the brake, notifies the abnormality in the brake without interrupting the excitation of the motor and without releasing the brake.

Abstract: A first switching element is connected to one end of a brake and switches from the off state to the on state when a switch command is input to cause a brake drive current to flow through the brake. A second switching element is connected to the other end of the brake and switches from the off state to the on state when the switch command is input to cause a brake drive current to flow through the brake. A voltage detection unit detects a brake voltage being applied to the brake. A switch command delay unit delays the switch command input to the first switching element. A short circuit determination unit determines whether or not a short circuit has occurred in the first switching element based on the brake voltage and the switch command delayed by the switch command delay unit.

Abstract: A brake abnormality diagnosis device which diagnoses an abnormality in a brake of a brake-equipped motor provided in a robot or a machine tool, includes: an abnormality diagnosis unit which performs a diagnosis as to whether or not there is an abnormality in the brake, while the motor is excited and the brake is activated; and an output unit which, if it is diagnosed that there is an abnormality in the brake, notifies the abnormality in the brake without interrupting the excitation of the motor and without releasing the brake.

Abstract: A motor driving apparatus for driving and braking a motor equipped with a brake comprises a motor/brake driving DC power supply which is used both as a motor driving power supply and as a brake driving power supply, wherein when the motor/brake driving DC power supply is being used as the motor driving power supply, a voltage conversion circuit via which a voltage supplied from the motor/brake driving DC power supply is applied to the brake feedback-controls the voltage applied to the brake. This configuration serves to reduce the loss (due to temperature rise) in the brake coil of the motor being driven to move a robot arm.

Abstract: A motor driving apparatus for driving and braking a motor equipped with a brake comprises a motor/brake driving DC power supply which is used both as a motor driving power supply and as a brake driving power supply, wherein when the motor/brake driving DC power supply is being used as the motor driving power supply, a voltage conversion circuit via which a voltage supplied from the motor/brake driving DC power supply is applied to the brake feedback-controls the voltage applied to the brake. This configuration serves to reduce the loss (due to temperature rise) in the brake coil of the motor being driven to move a robot arm.