Abstract: A robot control method of controlling motion of a robot arm by using a servo motor includes adding d-axis electric current to a motor electric current command (steps 15-6, 15-8) if external temperature is less than or equal to a predetermined value (step 15-3), and if an absolute value of the motor electric current command is less than or equal to a predetermined value (step 15-4), and if a value of detected overload is less than or equal to a predetermined value (step 15-5).

Abstract: A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant.

Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.

Abstract: A disclosed motor control device includes: a PI controller which controls a velocity of a motor; an input unit which receives specification information including information of a weight and a center of mass of a tool; a calculation unit which calculates a gravitational torque based on the specification information; a storage which stores the gravitational torque output from the calculation unit and an integral value output from the PI controller, and outputs the gravitational torque and the integral value in response to a break signal; and a selection unit which sets, to the PI controller, the integral value output from the storage, according to a collision sensitivity input from the input unit.

Abstract: A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1·z?1+b2·z?2)/{1?(a1·z?1+a2·z?2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.

Abstract: A first acquisition unit acquires first data on first malfunction of a robot. A second acquisition unit acquires second data on second malfunction of the robot. A first determination unit determines whether or not to store the first data in accordance with the first data. A second determination unit determines whether or not to store the second data in accordance with the second data. A memory stores the first data and the second data. A controller stores the first data in the memory at a first period when the first determination unit determines to store the first data. The controller further stores the second data in the memory at a second period longer than the first period, when the first determination unit determines not to store the first data and the second determination unit determines to store the second data.

Abstract: A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1·z?1+b2·z?2)/{1?(a1·z?1+a2·z?2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.

Abstract: Collision of a robot is detected by the following method. The robot includes a motor, a gear reducer connected to the motor, an encoder detecting a rotation of the motor, a temperature sensor installed to the encoder, and an object which is driven by the motor via the gear reducer. An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of the robot from a torque output to the gear reducer by the motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold. The predetermined collision detection threshold is set to a first value in a case where a temperature detected by the temperature sensor is less than a predetermined temperature threshold.

Abstract: In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of “collision detected” when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.

Abstract: A system construction supporting apparatus searches through, when receiving an input for arranging a component on the system configuration diagram anew, association information in which combinations among components connectable to one another are described and extracts a component connectable to a component selected by the input, connects a display object of the selected component and a display object of the extracted component each other and arranges the display objects, and independently moves, when receiving an input for moving one of a plurality of display objects connected to one another and arranged on the system configuration diagram (Yes at step S53), the display object designated by the input while deforming a connection line connecting the display object designated by the input and another display object connected to the display object while maintaining a connection relation between the display objects by the connection line (steps S60 to S62).

Abstract: A failure of a robot can be determined while a production line is operating by determining when a motor output torque moving average value, which is an average value of N (N is a positive integer) pieces of motor output torque values, exceeds a first failure determination reference value, and an external force torque estimated moving average value, which is an average value of N pieces of external force torque estimated values, exceeds a second failure determination reference value.

Abstract: In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of “collision detected” when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.

Abstract: A system construction supporting apparatus searches through, when receiving an input for arranging a component on the system configuration diagram anew, association information in which combinations among components connectable to one another are described and extracts a component connectable to a component selected by the input, connects a display object of the selected component and a display object of the extracted component each other and arranges the display objects, and independently moves, when receiving an input for moving one of a plurality of display objects connected to one another and arranged on the system configuration diagram (Yes at step S53), the display object designated by the input while deforming a connection line connecting the display object designated by the input and another display object connected to the display object while maintaining a connection relation between the display objects by the connection line (steps S60 to S62).

Abstract: A system design device includes: a storage unit that stores therein configuration diagrams of FA devices designed by the device itself as design-target-unit configuration diagrams and stores therein configuration diagrams of a plurality of FA devices that are not designed by the device itself as a general-purpose-unit configuration diagram that is one configuration diagram; an input unit that has input thereto command information for specifying at least one of the design-target-unit configuration diagrams and the general-purpose-unit configuration diagram; a system-configuration-diagram creation unit that reads a design-target-unit configuration diagram and a general-purpose-unit configuration diagram from the storage unit according to command information input from the input unit and creates a system configuration diagram of the FA system; and a display unit that displays a system configuration diagram created by the system-configuration-diagram creation unit, thereby displaying the plurality of FA devices a

Abstract: The digital still camera 1 has CCD 33 with an electronic shutter for controlling an exposure amount, and a timing generator 34 and a vertical/horizontal driver 35 for driving CCD 33. Under control of a controlling unit 42, the timing generator 34 and a vertical/horizontal driver 35 generate an electronic shutter pulse signal once every time plural periods have come each for reading charge of one line from CCD 33. Power consumption can be reduced in controlling exposure using the electronic shutter.

Abstract: An amplifier control device controls an amplifier which amplifies a first signal supplied from an image-pickup element, and supplies a second signal acquired by amplification of the first signal to a signal processing unit which is a following stage. The amplifier control device comprises a control unit which changes a current supplied to the amplifier depending on whether or not the first signal supplied to the amplifier is used for image data.

Abstract: A digital still camera includes an amplification circuit, a timing generator, sample hold circuits, a differential amplifier, an analog/digital conversion circuit and a control unit. The generator generates a first-pulse signal and a second-pulse signal at different timings. The circuits sample analog video signals outputted from the amplification circuit at timings when the first-pulse signal and second-pulse signal, respectively, are provided and hold levels of the analog video signals. The amplifier acquires a difference between the levels of the analog video signals. The circuit obtains a digital video signal corresponding to the analog video signal on the basis of the difference. The unit changes the timings to provide the first- and second-pulse signals to the first- and second-sample hold circuits, respectively, and a bias current depending on the driving period.

Abstract: The digital still camera 1 has COD 33 with an electronic shutter for controlling an exposure amount, and a timing generator 34 and a vertical/horizontal driver 35 for driving CCD 33. Under control of a controlling unit 42, the timing generator 34 and a vertical/horizontal driver 35 generate an electronic shutter pulse signal once every time plural periods have come each for reading charge of one line from CCD 33. Power consumption can be reduced in controlling exposure using the electronic shutter.

Abstract: A failure can be determined while a production line is operating by determining as a failure when motor output torque average value ?mAA, which is an average value of N (N is a positive integer) pieces of motor output torque values ?mA, exceeds first failure determination reference value ?mth, and external force torque estimated average value ?dAA, which is an average value of N pieces of external force torque estimated values ?dA, exceeds second failure determination reference value ?dth.

Abstract: A digital still camera includes an amplification circuit, a timing generator, sample hold circuits, a differential amplifier, an analog/digital conversion circuit and a control unit. The generator generates a first-pulse signal and a second-pulse signal at different timings. The circuits sample analog video signals outputted from the amplification circuit at timings when the first-pulse signal and second-pulse signal, respectively, are provided and hold levels of the analog video signals. The amplifier acquires a difference between the levels of the analog video signals. The circuit obtains a digital video signal corresponding to the analog video signal on the basis of the difference. The unit changes the timings to provide the first- and second-pulse signals to the first- and second-sample hold circuits, respectively, and a bias current depending on the driving period.