Abstract: A controller controls a substrate transfer robot whose joint axis is oriented in a vertical direction. The joint motor that drives the joint is switchable in a direction of rotation. The controller corrects a position of a hand in at least one of the cases of picking a substrate and placing a substrate based on positional misalignment information. The controller controls the hand to pass through a relay position before the hand reaches a corrected position that is the position of the hand after correction. The controller controls the hand to reach the relay position by driving the joint in one direction by the joint motor, and the hand to reach the corrected position from the relay position by driving the joint in the same one direction only by the joint motor.

Abstract: A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm, and a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition while changing the position of the base.

Abstract: A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm; a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition; a display that displays at least one of the movement trajectory of the arm or the movement trajectory of the hand, the movement trajectories being derived by the deriver; and a corrector that corrects the movement trajectory displayed on the display according to user's input operation.

Abstract: A video confirmation computer for confirming video related to robot operation includes a storage unit and a processor. The storage unit stores information on the position of the electric motor that drives a link body of the robot received from the controller of the robot and information on the video obtained by a camera attached to the robot. The processor makes at least one of the video confirmation computer itself and a computer connected to the video confirmation computer display a model area and a video area side by side. In the model area, a two-dimensional or three-dimensional model reproducing the posture of the robot is displayed by computer graphics. In the video area, the video is displayed.

Abstract: A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate. The robot includes a robotic arm having at least one joint axis, and an end effector provided to a tip end of the robotic arm and configured to hold the substrate. A position and a posture of the end effector are defined by values of N variables. A value of at least one of the N variables that define a holding position and a holding posture of the end effector for holding the substrate placed on the installation position by the end effector is independent from a value of the corresponding variable among the N variables that define a withdrawn position and a withdrawn posture of the end effector after retreating the end effector in the holding position and the holding posture from the installation position.

Abstract: A substrate mapping device 4 maps a plurality of substrates 10 inside a container where the substrates 10 are accommodated so as to be arrayed in a given arrayed direction. The substrate mapping device 4 includes a sensor 16 configured to detect a state of the substrate 10, a manipulator 14 configured to move the sensor 16, and a control device 18 configured to control the manipulator 14 to move the sensor 16 along a mapping course. The control device 18 sets a first mapping position and a second mapping position different in the position in the arrayed direction of the substrates 10 from the first mapping position, and sets the mapping course based on the first mapping position and the second mapping position.

Abstract: A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate is provided. The substrate becomes in a first state where an end effector holds the substrate and the substrate is not placed at an installation position, when the end effector positions at a first teaching point above the installation position. The substrate becomes in a second state where the end effector does not hold the substrate and the substrate is placed at the installation position, when the end effector positions at a second teaching point below the installation position. The first and second states can be switched by causing the robot to perform a first operation to move the end effector from either one of the first teaching point and the second teaching point to the other one of the first teaching point and the second teaching point.

Abstract: A robot controlling part (41) of a substrate transferring robot performs an operation regulating control when a substrate is placed on a substrate placing part (12a). The operation regulating control is a control in which a hand (12) is moved in accordance with an operation plan that regulates the movement of the hand in a regulation target section (A) where the hand is moved to have a vertical acceleration component exceeding a given first threshold (L1), the movement of the hand including at least one of a horizontal velocity component exceeding a given second threshold (L2) and an acceleration component exceeding a given third threshold.

Abstract: A robot controlling device capable of preventing a rapid change in posture of a robotic arm due to a singular point. The robot controlling device brings a third rotational axis to on a circumference of a circle which is on a first rotational axis with a radius at a difference between a distance from the first rotational axis to a second rotational axis and a distance from the second rotational axis to the third rotational axis while changing posture of a horizontal robot to be holdable of a workpiece in an accommodating device, and moves the third rotational axis across a line connecting the first rotational axis and the second rotational axis, and moves the second rotational axis and the third rotational axis divided at the second straight line, connecting a center point of the workpiece accommodated in the accommodating device and the first rotational axis.

Abstract: A control unit of a substrate conveying robot makes a robot arm and a substrate holding device execute a blade member advancing operation, a substrate receiving operation, and a substrate placing operation. The substrate holding device is configured to be capable of being switched between a first working state that a pair of blade members are arranged in the vertical direction and a second working state that a pair of blade members are arranged in a position out of the vertical direction and a single blade member can be advanced into a substrate placing structure.

Abstract: A battery cell (10) with two battery cell terminals (11, 12) which are contactable from inside and/or outside the battery cell (10), and an electrochemical part (20) comprising at least one separator. Upon the achievement of a predefined temperature, the at least one separator is at least partially impermeable to ions which can be generated in the electrochemical part (20). The battery cell (10) has a rapid discharge unit (30), which is connectable between the battery cell terminals (11, 12) and which, in a switched-in and consequently activated state, has a predefined resistance value. The predefined resistance value is selected such that, with the rapid discharge unit (30) switched-in, the at least one separator achieves the predefined temperature.

Abstract: Provided is an energy storage device including a container with high productivity and satisfactory corrosion resistance. In the energy storage device including the container housing an electrode assembly having a positive electrode and a negative electrode, and electrolyte solution, the container is made of stainless steel including 0.09% by weight or more aluminum and has welded portions and where the stainless steel is welded.

Abstract: A battery cell (10) with two battery cell terminals (11, 12) which are contactable from inside and/or outside the battery cell (10), and an electrochemical part (20) comprising at least one separator. Upon the achievement of a predefined temperature, the at least one separator is at least partially impermeable to ions which can be generated in the electrochemical part (20). The battery cell (10) has a rapid discharge unit (30), which is connectable between the battery cell terminals (11, 12) and which, in a switched-in and consequently activated state, has a predefined resistance value. The predefined resistance value is selected such that, with the rapid discharge unit (30) switched-in, the at least one separator achieves the predefined temperature.

Abstract: A control unit of a substrate conveying robot makes a robot arm and a substrate holding device execute a blade member advancing operation, a substrate receiving operation, and a substrate placing operation. The substrate holding device is configured to be capable of being switched between a first working state that a pair of blade members are arranged in the vertical direction and a second working state that a pair of blade members are arranged in a position out of the vertical direction and a single blade member can be advanced into a substrate placing structure.

Abstract: A condition estimation device includes a voltage measurement circuit, memory, and a controller. The voltage measurement circuit measures an open circuit voltage (OCV) of an electric storage device. The memory is configured to store first information on a correlation between a positive electrode potential and an electric storage capacity and second information on a correlation between a negative electrode potential and an electric storage capacity. The controller is configured to: measure an OCV under charge or discharge; calculate an electric storage capacity of the electric storage device having the OCV equal to a reference voltage; correct at least one of the first information and the second information such that a potential difference at the calculated capacity is equal to the reference voltage; and generate an OCV characteristic based on the first and the second information after the at least one of the first and the second information is corrected.

Abstract: The present disclosure is directed to methods and systems for evaluating wafer size handling capabilities of wafer handling robots and wafer stations in a wafer processing environment. In one embodiment, a method is provided in which size parameters for each of one or more wafer stations and one or more robot hands of a wafer handling robot are set based on user input. A user command identifying a desired robot hand and a desired wafer station is received. A first size parameter of the desired robot hand is compared to a second size parameter of the desired wafer station. If the first size parameter is equal to the second size parameter, or if the second size parameter is an all-size parameter, the user command is executed. If the first size parameter is not equal to the second size parameter, an error is generated.

Abstract: Provided is an energy storage device including a container with high productivity and satisfactory corrosion resistance. In the energy storage device including the container housing an electrode assembly having a positive electrode and a negative electrode, and electrolyte solution, the container is made of stainless steel including 0.09% by weight or more aluminum and has welded portions and where the stainless steel is welded.

Abstract: The present disclosure is directed to methods and systems for evaluating wafer size handling capabilities of wafer handling robots and wafer stations in a wafer processing environment. In one embodiment, a method is provided in which size parameters for each of one or more wafer stations and one or more robot hands of a wafer handling robot are set based on user input. A user command identifying a desired robot hand and a desired wafer station is received. A first size parameter of the desired robot hand is compared to a second size parameter of the desired wafer station. If the first size parameter is equal to the second size parameter, or if the second size parameter is an all-size parameter, the user command is executed. If the first size parameter is not equal to the second size parameter, an error is generated.

Abstract: A nonaqueous electrolyte secondary battery includes: a positive electrode containing a first positive active material having an average particle size of 12 ?m or more and 30 ?m or less, which is represented by a general formula LiaMn2-bAbO4 and a second positive active material having an average particle size of 0.5 ?m or more and 7?m or less, which is represented by a general formula LidNixCoyMnzMaO2; and a negative electrode containing 50 mass % or more of a negative active material having an average particle size of 3 ?m or more and 18 ?m or less, and the mass mixing ratio between the first positive active material and the second positive active material meets the mass of the first positive active material: the mass of the second positive active material=20:80 to 80:20.

Abstract: A condition estimation device includes a voltage measurement circuit, memory, and a controller. The voltage measurement circuit measures an open circuit voltage (OCV) of an electric storage device. The memory is configured to store first information on a correlation between a positive electrode potential and an electric storage capacity and second information on a correlation between a negative electrode potential and an electric storage capacity. The controller is configured to: measure an OCV under charge or discharge; calculate an electric storage capacity of the electric storage device having the OCV equal to a reference voltage; correct at least one of the first information and the second information such that a potential difference at the calculated capacity is equal to the reference voltage; and generate an OCV characteristic based on the first and the second information after the at least one of the first and the second information is corrected.