Plural Servomotors Patents (Class 318/625)
  • Patent number: 10464208
    Abstract: A computer-implemented method for setting device identification includes: a main control circuit sending a first identification to a first device coupled to the main control circuit to set the first identification on the first device. The main control circuit sends a second identification to a second device coupled to the main control circuit to set the second identification on the second device. The first identification is different from the second identification when the kind of the first device is the same as that of the second device, and the first identification is the same as or different from the second identification when the kind of the first device is different from that of the second device. A main control circuit and a robot for performing the setting method are also provided.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: November 5, 2019
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Wei He, Youjun Xiong
  • Patent number: 10469013
    Abstract: A motor control device at least includes a speed control part for controlling a motor rotation speed. The motor control device includes a torque correction means for suppressing variation in torque constant due to individual differences of motors. In addition, the motor control device corrects the torque constant by using a correction torque coefficient calculated based on an unloaded speed when a fixed voltage is applied. Alternatively, the torque constant is corrected using the correction torque coefficient calculated based on the motor applied voltage when the motor speed is fixed.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: November 5, 2019
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Mitsuhiro Sakamoto, Yasuyuki Yokouchi, Daisuke Sonoda, Ryuta Sasaki
  • Patent number: 10361060
    Abstract: An automated workpiece processing apparatus including a processing section including a processing module configured for processing a workpiece at a process location, a transport module including a first shuttle stage, a second shuttle stage independent of the first stage, and an end effector connected to at least one of the first and second stages, the end effector being configured to hold and transport the workpiece into and out of the processing module, and having a range of motion, defined by a combination of the first and second stage, extending from a workpiece holding station outside the processing module to the processing location inside the processing module so the end effector defines a processing stage of the processing module, and an automated loading and transport section including a load port module through which workpieces are loaded into the automated loading and transport section, and being communicably connected to the transport module.
    Type: Grant
    Filed: September 1, 2016
    Date of Patent: July 23, 2019
    Assignee: Howard Hughes Medical Institute
    Inventors: John H. Price, Dravida Bock
  • Patent number: 10270377
    Abstract: A motor control device at least includes a speed control part for controlling a motor rotation speed. The motor control device includes a torque correction means for suppressing variation in torque constant due to individual differences of motors. In addition, the motor control device corrects the torque constant by using a correction torque coefficient calculated based on an unloaded speed when a fixed voltage is applied. Alternatively, the torque constant is corrected using the correction torque coefficient calculated based on the motor applied voltage when the motor speed is fixed.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: April 23, 2019
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Mitsuhiro Sakamoto, Yasuyuki Yokouchi, Daisuke Sonoda, Ryuta Sasaki
  • Patent number: 10133249
    Abstract: A servomotor controller includes a first and a second converter circuit that perform conversion between AC power of a power supply and DC power, a first inverter circuit that performs conversion between the DC power on the DC side of the first converter circuit and AC power on the side of a first motor, a second inverter circuit that performs conversion between the DC power on the DC side of the second converter circuit and AC power on the side of a second motor, and a power calculation unit that calculates an amount of power of the first motor, wherein control is performed so that the regenerative power of the first motor is supplied to the second motor through the power supply or the regenerative power of the second motor is supplied to the first motor through the power supply, on the basis of the amount of power.
    Type: Grant
    Filed: January 17, 2017
    Date of Patent: November 20, 2018
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Ikai, Kenichi Takayama
  • Patent number: 9917362
    Abstract: An antenna positioner, and methods of positioning using the antenna positioner, that may track a satellite are described. An antenna positioner may include a base and a mount rotatably coupled to the base to turn the mount about an azimuth axis. The mount may support an antenna element so that the antenna element can rotate about the elevation axis with respect to the mount. A center drive shaft for the elevation drive may pass through the hollow portion of the mount along the azimuth axis to drive a bevel gear set, a first gear of the set being coupled to the drive shaft and a second gear of the set being coupled to the antenna element, to rotate the antenna element about the elevation axis. Drive compensation is provided to counteract elevation rotation resulting from cross-coupling of the azimuth and elevation axes by the bevel gear set during azimuth rotation.
    Type: Grant
    Filed: July 20, 2015
    Date of Patent: March 13, 2018
    Assignee: ViaSat, Inc.
    Inventors: Kurt A. Zimmerman, Kevin M. Skinner, James W. Maxwell, Cole Dobson
  • Patent number: 9776331
    Abstract: A method for setting identification code of smart motors and a multi-axis control apparatus using the same are provided. The method suitable for setting identification codes of a plurality of smart motors includes following steps: entering an identification setting mode when the smart motors receive an identification code setting command; detecting a shaft rotation angle of each smart motor under the identification setting mode, so as to determine whether the shaft rotation angle of each smart motor is larger than a setting value; and when one of the smart motors determines its shaft rotation angle is larger than the setting value, setting the identification code of the smart motor from a preset identification code to a first identification code.
    Type: Grant
    Filed: December 29, 2015
    Date of Patent: October 3, 2017
    Assignees: Kinpo Electronics, Inc., Cal-Comp Electronics & Communications Company Limited
    Inventors: Wei-Shun Yu, Chi-Chang Tung, Jing-Yi Chen, Ting-Shuo Chen
  • Patent number: 9772564
    Abstract: An exposure apparatus is equipped with a first and second stage that are movable independently from each other within a predetermined plane and each have a table with a grating positioned under a surface where a wafer is mounted, and a third stage that is movable independently from the first and second stages within a predetermined plane and includes a light-receiving plane that receives an energy beam via an optical system. An optical member is provided that is at least a part of a measurement device, which performs a measurement related to exposure based on a light-receiving result of the energy beam received via the light-receiving plane. In an exposure station and measurement station, a first and second measurement system are respectively provided that measure the position of the tables by irradiating the grating of the first or second stage from below with a measurement beam.
    Type: Grant
    Filed: December 26, 2012
    Date of Patent: September 26, 2017
    Assignee: NIKON CORPORATION
    Inventor: Yasushi Yoda
  • Patent number: 9732977
    Abstract: An actuator in a HVAC system includes a mechanical transducer, an input data connection, a feedback data connection, and a processing circuit. The processing circuit is configured to use a master-slave detection signal communicated via the feedback data connection to select an operating mode for the actuator from a set of multiple potential operating modes including a master operating mode and a slave operating mode. The processing circuit is configured to operate the mechanical transducer in response to a control signal received via the input data connection according to the selected operating mode.
    Type: Grant
    Filed: September 2, 2014
    Date of Patent: August 15, 2017
    Assignee: Johnson Controls Technology Company
    Inventors: Robert K. Alexander, Christopher Merkl, Gary A. Romanowich, Bernard Clement, Kevin Weiss
  • Patent number: 9720334
    Abstract: The present invention provides a stage apparatus including a stage being movable, comprising a driving unit configured to drive the stage by providing thrust to the stage, a measuring unit configured to measure a position of the stage, and a control unit configured to control the position of the stage by supplying, to the driving unit, a signal composed of a first signal for reducing a deviation between a current position of the stage and a target position, and a second signal for reducing vibration of the stage caused by a thrust ripple included in the thrust.
    Type: Grant
    Filed: June 16, 2015
    Date of Patent: August 1, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Satoshi Maruyama, Mitsuo Hirata
  • Patent number: 9579797
    Abstract: Methods and systems are provided for operating various robotic systems. The methods and systems involve applications of platforms that enable multiple-input teleoperation and a high degree of immersiveness for the user. The robotic systems may include multiple arms for manipulators and retrieving information from the environment and/or the robotic system. The robotic methods may include control modification modules for detecting that an operation of a robotic device based on the control commands fails to comply with one or more operational parameters; identifying the non-compliant control command; and generating a modifier for the secondary device to adjust the non-compliant control command to comply with the set of operational parameters.
    Type: Grant
    Filed: April 10, 2015
    Date of Patent: February 28, 2017
    Assignee: QUANSER CONSULTING INC.
    Inventors: Agop Jean Georges Apkarian, Amir Haddadi, Gilbert Ming Yeung Lai, Hervé Jean-Pierre Lacheray, Paul Karam, David Ryan Erickson
  • Patent number: 9546042
    Abstract: A rack storage system 1 and a method for controlling the movement path of a storage and retrieval device in a rack storage system, including at least one storage and retrieval device with at least two movement axes x, y which can be controlled independently of one another and are operated by electric motors, to carry out a movement from a starting point to a target point 4 to transfer stored goods within the rack storage system and/or into or out of the rack storage system, having a control unit for controlling the motors of the movement axes x, y and an electric intermediate circuit for exchanging fed-back electrical energy between the motors.
    Type: Grant
    Filed: October 9, 2015
    Date of Patent: January 17, 2017
    Assignee: KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG
    Inventors: Armin Stolzer, Christoph Mutschler
  • Patent number: 9442052
    Abstract: A torsion tester including a plurality of driving units configured to connect with and rotate three or more input/output shafts of a test body, respectively, and a controller configured to control the plurality of driving units to be driven with one of individually-set rotational frequencies and individually-set torques, respectively.
    Type: Grant
    Filed: March 28, 2014
    Date of Patent: September 13, 2016
    Assignee: Kokusai Keisokuki Kabushiki Kaisha
    Inventors: Sigeru Matsumoto, Hiroshi Miyashita, Kazuhiro Murauchi, Masanobu Hasegawa, Tomotaka Sakagami
  • Patent number: 9346163
    Abstract: A robot having joints includes a position information acquiring section that acquires time series information about a robot position, speed information, or acceleration information, a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between dynamics parameters including dynamics parameter of the robot gripping no object and dynamics parameter including the object gripped by the robot which robot arm gripping the object, and a desired torque calculation section that outputs a desired robot joint torque value as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the robot position, the speed information, or the acceleration information acquired by the position information acquiring section. The robot controls an operation of the robot based on an output from the desired torque calculation section.
    Type: Grant
    Filed: January 2, 2014
    Date of Patent: May 24, 2016
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventor: Yasunao Okazaki
  • Patent number: 9317028
    Abstract: An electric motor control device for performing tandem control for driving one movable component includes, for each electric motor, a position controller, a speed controller, and a current controller. Further, each electric motor also has a preload controller for adding a preload torque to a torque command Tm calculated by the speed controller, and to a torque command Ts calculated by the speed controller. The preload controller calculates a minimum necessary preload torque for eliminating backlash in accordance with a position of the movable component.
    Type: Grant
    Filed: April 11, 2014
    Date of Patent: April 19, 2016
    Assignee: OKUMA CORPORATION
    Inventors: Takeshi Sakai, Akiyoshi Satake
  • Patent number: 9300235
    Abstract: A motor driver includes at least two terminals suitable for being coupled to a motor controller and to receive a motor command signal and transmit a motor status signal when the motor driver is controlling a motor. A serial data communication circuit may be configured to send and receive serial data over the at least two terminals when the at least two terminals are idle.
    Type: Grant
    Filed: March 27, 2013
    Date of Patent: March 29, 2016
    Assignee: Allegro Microsystems, LLC
    Inventors: Chee-Kiong Ng, Christopher Alger, Timothy Reynolds
  • Patent number: 9230764
    Abstract: A first-fail-safe electromotive furniture drive includes at least one drive unit having at least one motor; at least one actuating device having at least two actuating units, each of which includes a motor contact element and a safety contact element; at least one supply unit; and at least one safety device. The furniture drive is equipped with a reporting device for displaying the functioning and a failure of the at least two actuating units and the safety device. The furniture drive includes at least one safety actuating device.
    Type: Grant
    Filed: July 14, 2010
    Date of Patent: January 5, 2016
    Assignee: DEWERTOKIN GMBH
    Inventor: Armin Hille
  • Patent number: 9166512
    Abstract: A motor control device for controlling a motor which drives a control target, includes: a speed feedback control unit which generates a pre-correction torque command for controlling such that an actual speed of the control target follows a speed command which is input; an inverse model calculation unit which calculates a coefficient of an inverse model with a transfer function inversed from a transfer function of the control target by using the speed command and the pre-correction torque command; a torque correction value generating unit which generates a torque correction value by using the speed command and the coefficient of the inverse model; and a torque command generating unit which generates a torque command for the motor which drives the control target by using the pre-correction torque command and torque correction value.
    Type: Grant
    Filed: July 3, 2014
    Date of Patent: October 20, 2015
    Assignee: FANUC CORPORATION
    Inventor: Naoto Sonoda
  • Patent number: 9164495
    Abstract: In a motor controller according to the present invention, a speed control unit 24m includes an integrator calculating an integrated value Sm of a speed error ?m-?m? between a speed command value ?m and a rotation speed ?m? and generates a torque command value Tm based on ?m-?m?, a predetermined value, a proportional gain and an integration gain. A speed control unit 24s includes an integrator calculating an integrated value Ss of a speed error ?s-?s? between a speed command value ?s and a rotation speed ?s? and generates a torque command value Ts based on ?s-?s?, the predetermined value, a proportional gain and an integration gain. An integrated value selecting unit 28 selects any one of Sm and Ss as the predetermined value, depending on a drive status of a main motor 6m and a sub motor 6s.
    Type: Grant
    Filed: July 17, 2014
    Date of Patent: October 20, 2015
    Assignee: FANUC CORPORATION
    Inventor: Kazuomi Maeda
  • Patent number: 9152142
    Abstract: A servo controller (10) includes a reversal change calculating part (24) which uses the position of a moving member (19) as the basis to calculate the amount of change of the position of the moving member, a distance calculating part (25) which uses a position of the moving member as the basis to calculate a distance from the servo motor to the moving member, an approximation equation determining part (26) which uses the amount of change of the position of the moving member, distance, and the torque command as the basis to calculate a position correction amount which corrects delay of the servo motor due to reversal of the servo motor, and a position correction calculating part (27) which uses the approximation equation as the basis to calculate the position correction amount.
    Type: Grant
    Filed: December 9, 2013
    Date of Patent: October 6, 2015
    Assignee: FANUC CORPORATION
    Inventors: Junichi Tezuka, Hajime Ogawa
  • Patent number: 9144818
    Abstract: A dispenser, configured to dispense material on a substrate, includes a dispensing unit having a housing with a chamber, a piston disposed in the chamber and axially movable within the chamber, and a nozzle coupled to the housing. The nozzle has an orifice co-axial with the chamber of the housing. The dispenser further includes an actuator coupled to the dispensing unit and configured to drive the up- and down movement of the piston, and a compliant assembly coupled to the actuator and the piston. The compliant assembly is configured to permit limited relative travel between the actuator and the piston. A method of dispensing is further disclosed.
    Type: Grant
    Filed: March 13, 2013
    Date of Patent: September 29, 2015
    Assignee: Illinois Tool Works Inc.
    Inventors: Dennis G. Doyle, Ronald J. Forget, Thomas C. Prentice, Patsy A. Mattero
  • Patent number: 9088242
    Abstract: A daughter circuit board of an electronically commutated motor for interface signal conversion, including circuit units integrated on the daughter circuit board and five ports for communicating with a control system of a user terminal. The five ports include: a R/T port, a Vcc port, a Common port, a Vsp port, and an FG port.
    Type: Grant
    Filed: February 27, 2013
    Date of Patent: July 21, 2015
    Assignee: Zhongshan Broad-Ocean Motor Manufacturing Co., Ltd.
    Inventor: Yong Zhao
  • Patent number: 9041319
    Abstract: A system incorporating an actuator connected to a polarity-insensitive two-wire communications bus. The actuator may have an electromechanical mover, a processor connected to the electromechanical mover, and a potentiometer, having a number of address settings, connected to the processor. A setting of the number of settings of the potentiometer may be a selection of an address for the actuator on the communications bus. There may be additional actuators and a controller connected to the communications bus. Each actuator may have an address which is different from an address of the other actuators connected to the communications bus. If an actuator is substituted with a replacement actuator, then a setting of a plurality of settings on a potentiometer of the replacement actuator may be selected to obtain an address that is the same as the address of the actuator which is substituted.
    Type: Grant
    Filed: November 9, 2011
    Date of Patent: May 26, 2015
    Assignee: Honeywell International Inc.
    Inventors: Cory Grabinger, Scott McMillan, Nathan Carlson, Daniel Waseen, Torrey William McNallan
  • Patent number: 9030148
    Abstract: An electronic control module is provided. The electronic control module includes an input device, and a processor coupled to the input device. The processor is configured to generate a command signal in response to an input supplied by the input device, and transmit the command signal to a plurality of motors, wherein the command signal controls an operating point of each of the plurality of motors.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: May 12, 2015
    Assignee: Regal Beloit America, Inc.
    Inventors: Guy Bonner, Jr., Scott A. Coonrod, Gregory P. Sullivan, Harry Robert Wilson
  • Patent number: 9019205
    Abstract: A method includes user actuating X and Y transducers (16, 17, 38A, 39A, 66, 422A, 704A) to selective X and Y positions; producing x and y electrical signals as functions of the positions; moving a cursor (388) of a display (390) at velocities that are functions of the x and y electrical signals; clicking the cursor (388); correcting initialization errors in one of the transducers; providing a deadband (288A, 288B) in which the moving step is obviated; selectively adjusting the deadband (288A, 288B); delaying transmission of one of the electrical signals to the cursor (388); and stopping the moving step irrespective of the delaying step. The clicking step comprises user actuating one of the transducers (16, 17, 38A, 39B, 66, 422A, 704A) more rapidly; user actuating a manual switch (372, 550, 551); user actuating a sound pressure switch (432); user actuating a voice recognition IC (394), or user actuating an another switching device (384).
    Type: Grant
    Filed: November 14, 2006
    Date of Patent: April 28, 2015
    Assignee: Intelpro LLC
    Inventor: John Lyle Lautzenhiser
  • Publication number: 20150102760
    Abstract: An injection molding machine has a first servo amplifier configured to operate with a first voltage, a second servo amplifier configured to operate with a second voltage, and a transformer which has a primary side terminal and a secondary side terminal and transforms voltages mutually in a predetermined voltage ratio. A main power supply is connected to a primary side terminal or a secondary side terminal of the transformer, depending on whether a voltage of the main power supply supplied to the injection molding machine is equal to the first voltage or the second voltage, respectively. The first or the second servo amplifier is connected to a terminal of the transformer on the side where the main power supply is not connected.
    Type: Application
    Filed: October 9, 2014
    Publication date: April 16, 2015
    Inventor: Hideki KOYAMA
  • Publication number: 20150062554
    Abstract: A multi-stage system includes a stator including a plurality of electric coils; a first stage including a first magnet assembly, the first stage moveable relative to the stator; a second stage including a second magnet assembly, the second stage moveable relative to the stator; a controller configured to position the first and the second stage relative to the stator by activating, respectively, a first subset of the plurality of electric coils to interact with the first magnet assembly and a second subset of the plurality of electric coils to interact with the second magnet assembly, the controller adapted to prevent at least one electric coil, to be simultaneously shared by the first and the second subset to position the first and the second stage on the stator, from activating.
    Type: Application
    Filed: November 14, 2014
    Publication date: March 5, 2015
    Applicant: ASML NETHERLANDS B.V.
    Inventors: Hans BUTLER, Johannes Petrus Martinus Bernardus VERMEULEN
  • Patent number: 8947036
    Abstract: To provide a parallel drive system that can reduce vibrations of an arm member and can realize positioning at a high speed even when a slave servomotor does not have a position detector, at a low cost. To achieve this object, a parallel drive system of the invention includes: a master servomotor and a slave servomotor that include linearly-moving movable units that are arranged in parallel to each other, respectively; and an arm member that forms a bridge between the two movable units. The system includes: a position detector detecting position information on the movable unit of the master servomotor; an acceleration sensor detecting acceleration information on the movable unit of the slave servomotor; a master servo amplifier controlling the master servomotor based on the position information; and a slave servo amplifier controlling the slave servomotor based on the position information and the acceleration information.
    Type: Grant
    Filed: February 17, 2010
    Date of Patent: February 3, 2015
    Assignee: Mitsubishi Electric Corporation
    Inventors: Shigeo Amigasaya, Hiroyuki Sekiguchi, Hidetoshi Ikeda
  • Publication number: 20140375829
    Abstract: The invention disclosed herein provides a small-format image-shake correction apparatus and an imaging apparatus incorporating the same.
    Type: Application
    Filed: September 9, 2014
    Publication date: December 25, 2014
    Applicant: OLYMPUS CORPORATION
    Inventors: Rintaro NISHIHARA, Takashi ISHIKAWA, Masanori SHIMOYAMA
  • Patent number: 8890461
    Abstract: An actuator assembly includes a first motor having a first transmission mechanism, a second motor having a second transmission mechanism, and a drive shaft operatively coupled to the first transmission mechanism of the first motor and the second transmission mechanism of the second motor. The actuator assembly includes a torque application system disposed in operative communication with the first motor and the second motor, the torque application system configured to direct an application of a translation torque and a preload torque between the first motor and the first transmission mechanism and between the second motor and the second transmission mechanism.
    Type: Grant
    Filed: March 22, 2012
    Date of Patent: November 18, 2014
    Assignee: Bose Corporation
    Inventors: Lawrence D. Knox, Dariusz A. Bushko, Marco Giovanardi
  • Patent number: 8878466
    Abstract: An electro-mechanical linear actuator unit comprising an actuator housing that accommodates at least two electric drives, each of which, when actuated by a control device, sets an associated drive of a respective spindle drive into rotation for adjusting linear movement of the associated spindle drive in order to produce relative linear adjustment of a control rod. The two electric drives are located in the actuator housing in such manner that relative adjustment can be produced by simultaneous actuation of the two electric drives, as the sum of the adjustment movements of the associated spindle drives, or by actuating a single electric drive, as the adjustment movement of the associated spindle drive. A respective brake is provided, in an area of each of the two electric drives, which can be selectively actuated by the control device to then prevent the adjustment movement of the respective associated spindle drive.
    Type: Grant
    Filed: June 30, 2010
    Date of Patent: November 4, 2014
    Assignee: ZF Friedrichshafen AG
    Inventors: Andre Hausberg, Carsten Wintjen, Werner Pfluegen
  • Publication number: 20140306644
    Abstract: An electric motor control device for performing tandem control for driving one movable component includes, for each electric motor, a position controller, a speed controller, and a current controller. Further, each electric motor also has a preload controller for adding a preload torque to a torque command Tm calculated by the speed controller, and to a torque command Ts calculated by the speed controller. The preload controller calculates a minimum necessary preload torque for eliminating backlash in accordance with a position of the movable component.
    Type: Application
    Filed: April 11, 2014
    Publication date: October 16, 2014
    Applicant: OKUMA Corporation
    Inventors: Takeshi Sakai, Akiyoshi Satake
  • Publication number: 20140292251
    Abstract: In the first synchronous system of the synchronous control unit (1), movement commands of the first motor (23) and the second motor (13) made by the movement command making section (9), which are synchronized with each other, are respectively supplied to the first amplifier (22) and the second amplifier (12) through the first communication path (11) and the second communication path (21). In the second synchronous system switched from the first synchronous system, the first motor (23) is decelerated by a deceleration command made by the deceleration making section (29) and the second motor (13) is decelerated synchronously with the first motor by a movement command made by the position feedback value controlled by the first motor (23) supplied to the second amplifier (12) through the third communication path (31).
    Type: Application
    Filed: March 28, 2014
    Publication date: October 2, 2014
    Applicant: FANUC CORPORATION
    Inventor: Tadashi OKITA
  • Patent number: 8794610
    Abstract: A coordinate measuring machine includes a three-dimension precision transfer equipment and a measuring equipment that measures an object. The three-dimension precision transfer equipment includes a movable body, first to third driving bodies, first to third drive mechanisms that drive to move the first to third driving bodies forward and backward in a first direction, a second direction and a vertical direction that are mutually orthogonal, and first to third laser interferometers that detect a displacement of the movable body. The first to third driving bodies include first to third joints that forms a static-pressure clearance between the first to third driving bodies and the movable body. Laser paths of the first to third laser interferometers extend in a manner to respectively penetrate the first to third driving bodies and the first to third joints.
    Type: Grant
    Filed: September 13, 2012
    Date of Patent: August 5, 2014
    Assignee: Mitutoyo Corporation
    Inventor: Hisayoshi Sakai
  • Patent number: 8793001
    Abstract: The invention relates to a method for monitoring an output driver that can be parameterized and is suitable for controlling actuators in industrial automation technology, for applying analog signals to an output channel, with the following steps: determining resulting internal leakage power based on the parameterization data provided for parameterizing the output driver, comparing the leakage power relative to a leakage power limiting value, and, dependent functionally on the comparison result, stopping the application of an analog signal on the output channel corresponding to the parameterization data provided for parameterizing the output driver. The invention further relates to an analog signal output device, suitable for controlling actuators in industrial automation technology and in accordance with the aforementioned method, comprising at least one output driver and a monitoring device.
    Type: Grant
    Filed: May 9, 2008
    Date of Patent: July 29, 2014
    Assignee: Phoenix Contact GmbH & Co. KG
    Inventors: Klaus Brand, Stephan Grewe, Hubertus Lohre
  • Patent number: 8751051
    Abstract: A switch control system for controlling an electrically conductive fluid supply to a tank, includes a detection circuit, a gate circuit, a control circuit and a switch circuit. The detection circuit detects a fluid level in the tank and outputs a voltage level signal. The gate circuit receives the voltage level signal and outputs control signals accordingly. The control circuit receives the control signals and outputs a first voltage and a second voltage accordingly. The switch circuit receives the first voltage and the second voltage and turns on and turns off the electrically conductive fluid supply to the tank in accordance with the first voltage and the second voltage.
    Type: Grant
    Filed: August 17, 2011
    Date of Patent: June 10, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Xiang Yu, Xiao-Yong Ma, Qi Chen
  • Patent number: 8749182
    Abstract: An actuator system having an actuator with an auxiliary switch. Make and break connection positions of the auxiliary switch relative to a rotative position of an output shaft coupling may be adjusted electronically according to an adjustment signal. The adjustment signal may be conveyed to the actuator from a computer or controller via a two-wire polarity insensitive bus. The adjustment signal may instead be provided an auxiliary potentiometer.
    Type: Grant
    Filed: November 8, 2011
    Date of Patent: June 10, 2014
    Assignee: Honeywell International Inc.
    Inventors: Cory Grabinger, Torrey William McNallan, Daniel Waseen, Adrienne Thomle, Scott McMillan
  • Publication number: 20140152230
    Abstract: A controller of an injection molding machine stores used/unused information in relation to each of the maximum number of controllable servo amplifiers, outputs an interruption request signal requesting power interruption in a lump to apart of or all of these plurality of servo amplifiers, and receives a power interruption confirmation signal confirming that the motor power of the servo amplifiers is interrupted. Further, the controller determines, on the basis of the interruption request signal, the power interruption confirmation signal and the used/unused information, whether or not interruption driving the servo motor is normally operated.
    Type: Application
    Filed: November 15, 2013
    Publication date: June 5, 2014
    Applicant: FANUC CORPORATION
    Inventors: Yuichi HOSOYA, Hideki KOYAMA
  • Patent number: 8742711
    Abstract: An active user interface system includes a gimbal assembly that is configured as a dual-input/single-output differential mechanism. The differential mechanism implements a speed reduction from the inputs of the differential mechanism to the output of the differential mechanism. Speed reduction enables the maximum drive torque that is supplied to the user interface about one rotational axis to be greater than the maximum drive torque that is supplied to the user interface about another, perpendicular axis.
    Type: Grant
    Filed: September 22, 2011
    Date of Patent: June 3, 2014
    Assignee: Honeywell International Inc.
    Inventors: Casey Hanlon, Donald Jeffrey Christensen
  • Patent number: 8698442
    Abstract: If it is predicted that the sum of the output of a servo motor and the output of a spindle motor exceeds power supplied by a rectifier unit, during a cutting operation, a motor drive control device controls alternating-current power of a first inverter unit so as to reduce the feed speed of at least one feed axis and controls alternating-current power of a second inverter unit so as not to limit torque of the spindle motor. Further, if it is predicted that the sum of the output of the servo motor and the output of the spindle motor exceeds power supplied by the rectifier unit, during an operation other than the cutting operation, the motor drive control device controls the alternating-current power of the second inverter unit so as to limit the torque so as not to reduce the feed speed.
    Type: Grant
    Filed: January 11, 2013
    Date of Patent: April 15, 2014
    Assignee: FANUC Corporation
    Inventors: Tadashi Okita, Daisuke Tajima
  • Publication number: 20140097783
    Abstract: A conveying system includes: a linear induction motor including a stator provided with a plurality of primary coils arranged along a conveying path and a mover provided movably along the conveying path; one or more first inverters that are provided corresponding to at least one of the primary coils in one or more areas requiring positioning on the conveying path to perform vector control with a sensor; one or more second inverters that are provided corresponding to at least of the primary coils in one or more areas requiring no positioning on the conveying path to perform V/F control; and a controller that is configured to output a speed reference to the first second inverters to control electric supply to the primary coils and to output the speed reference based on a feedback position received from a detector to the first inverter, to perform position control.
    Type: Application
    Filed: December 13, 2013
    Publication date: April 10, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Koji HARA
  • Patent number: 8688261
    Abstract: Disclosed are a transport apparatus that holds and transports an object on a predetermined transport track using a transport portion provided at the leading end of an arm and is capable of acquiring the teaching information of a transport position using a normal transport operation, a position teaching method, and a sensor jig. A transmissive sensor (32) is provided in a sensor jig (30) such that the projection segments of an optical axis (41) and an optical axis (42) on a projection plane intersect with each other and neither the project segment of the optical axis (41) nor the projection segment of the optical axis (42) is aligned with the X-direction and the Y-direction. During a position teaching operation, the sensor jig (30) is provided so as to be held by a wafer transport portion (24), thereby detecting target members (51, 52).
    Type: Grant
    Filed: May 19, 2009
    Date of Patent: April 1, 2014
    Assignee: Rorze Corporation
    Inventor: Kenji Hirota
  • Patent number: 8686680
    Abstract: Certain embodiments of a system for reducing backlash include a member geared for rotation in first and second directions. In various implementations, a first motor causes rotation in the first direction with an output biased to preclude space between mating gear components in the first direction, and a second motor, which is mechanically independent of the first motor, causes rotation in the second direction with an output biased to preclude space between mating gear components in the second direction.
    Type: Grant
    Filed: June 13, 2011
    Date of Patent: April 1, 2014
    Assignee: Rethink Robotics, Inc.
    Inventor: Patrick Deegan
  • Patent number: 8680804
    Abstract: A method according to an example of the present invention is a servo control method to be applied to a feed drive mechanism configured to drive an object to be driven by using a plurality of motors, in which velocity control of the object to be driven is carried out by using a signal obtained by mixing velocity feedback signals of the motors with each other, and a torque instruction obtained by the velocity control is used for drive of all the motors. By this example, there is provided a servo control system capable of preventing a phenomenon in which a transfer function changes depending on the position of the object to be driven, and the phase abruptly lags to make the operation unstable, thereby making it difficult to increase the gain, from occurring.
    Type: Grant
    Filed: March 30, 2011
    Date of Patent: March 25, 2014
    Assignee: Toshiba Kikai Kabushiki Kaisha
    Inventor: Jun Fujita
  • Patent number: 8680805
    Abstract: A control device that drives one driven object by a first motor and a second motor. A first processor has a first correction amount calculation unit configured to calculate an amount of correction for a torque command to the first motor based on a speed value difference between a speed value of the first motor and a speed value of the second motor in order to suppress vibrations. A second processor has a second correction amount calculation unit configured to calculate an amount of correction for a torque command to the second motor based on a speed value difference between a speed value of the first motor and a speed value of the second motor in order to suppress vibrations.
    Type: Grant
    Filed: June 13, 2012
    Date of Patent: March 25, 2014
    Assignee: Fanuc Corporation
    Inventors: Naoto Sonoda, Yasusuke Iwashita
  • Patent number: 8674645
    Abstract: A drive for providing high dynamics for a machine, such as a production machine, includes a short-stroke motor, and a pulse-decoupling device for decoupling pulses of the short-stroke motor from the machine using closed-loop control. The pulse-decoupling device has at least one component for use as a working-point adjustment device for adjusting a working point of the short-stroke motor. The pulse-decoupling device is thus able to assume the function of pulse decoupling and in addition, at least partially, the function of working point adjustment.
    Type: Grant
    Filed: August 1, 2011
    Date of Patent: March 18, 2014
    Assignee: Siemens Aktiengesellschaft
    Inventor: Markus Knorr
  • Publication number: 20140062377
    Abstract: An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_?_cntrl calculated according to the equation: m_?—cntrl=M·(I?mEff)?1·(dd?—cntrl?mEff·dd?—cntrl—p)+C—cmpn from a target angular acceleration dd?_cntrl, a preceding target angular acceleration dd?_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.
    Type: Application
    Filed: August 29, 2013
    Publication date: March 6, 2014
    Applicant: HONDA MOTOR CO., LTD.
    Inventor: Atsuo Orita
  • Patent number: 8598832
    Abstract: A control system of multi-shaft servo motor comprises a position loop module (400) for receiving a position loop given value and a position feedback value of respective shelves and figuring out a velocity loop given value; a velocity loop module (500) for receiving the velocity loop given value and a velocity feedback value of respective shelves and figuring out a current loop given value; a current loop module (200) for receiving the current loop given value and a current feedback value of respective shelves and outputting a current loop output value; a PWM signal generation module (300) for receiving the current loop output value from the current loop module (200) and generating a PWM signal for controlling respective shelves of the servo motor; and a multi-shaft time sequence control module (700).
    Type: Grant
    Filed: November 11, 2008
    Date of Patent: December 3, 2013
    Assignee: Shenzhen Academy of Aerospace Technology
    Inventors: Zhaoyong Zhou, Yajing Liu, Tiecai Li, Yan Zhang, Guijie Yang, Hongpeng Wang
  • Patent number: 8587247
    Abstract: A synchronous control apparatus to synchronously control a plurality of motors with respect to a control subject includes a command device and a plurality of motor control devices. The control subject includes the motors, a plurality of position detectors configured to detect a plurality of position information of the motors respectively, and at least one coupler connecting movable axes of the motors. The command device includes a first position controller which is configured to compute a work position based on the position information detected by the position detectors and which is configured to compute, based on a difference between a position command and the work position, a new position command. Each of the motor control devices includes a second position controller configured to compute commands to drive the plurality of motors based on a difference between the new position command and the position information.
    Type: Grant
    Filed: January 12, 2011
    Date of Patent: November 19, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yasufumi Yoshiura, Yasuhiko Kaku
  • Publication number: 20130249464
    Abstract: An actuator assembly includes a first motor having a first transmission mechanism, a second motor having a second transmission mechanism, and a drive shaft operatively coupled to the first transmission mechanism of the first motor and the second transmission mechanism of the second motor. The actuator assembly includes a torque application system disposed in operative communication with the first motor and the second motor, the torque application system configured to direct an application of a translation torque and a preload torque between the first motor and the first transmission mechanism and between the second motor and the second transmission mechanism.
    Type: Application
    Filed: March 22, 2012
    Publication date: September 26, 2013
    Applicant: Bose Corporation
    Inventors: Lawrence D. Knox, Dariusz A. Bushko, Marco Giovanardi