Plural Servomotors Patents (Class 318/625)
  • 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: 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
  • 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
  • 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: 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: 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: 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
  • Patent number: 8525460
    Abstract: An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives.
    Type: Grant
    Filed: February 2, 2010
    Date of Patent: September 3, 2013
    Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Matthew J. Reiland, Brian Hargrave, Robert Platt, Muhammad E. Abdallah, Frank Noble Permenter
  • Patent number: 8478439
    Abstract: A numerical control device includes a primary distribution pulse calculator that calculates primary distribution pulses obtained by distributing movement amounts in first and second directions included in a movement command of a work or a tool for each of predetermined calculation cycles. A secondary distribution pulse calculator calculates, for each movement direction, secondary distribution pulses obtained by distributing the primary distribution pulses of each calculation cycle calculated by the primary distribution pulse calculator, before and after corresponding calculation cycles within ranges of distribution sections across the corresponding calculation cycles and having an acceleration-deceleration time constant of the corresponding movement direction as a section width, and then accumulating the primary distribution pulses for each calculation cycle.
    Type: Grant
    Filed: July 3, 2009
    Date of Patent: July 2, 2013
    Assignee: Shin Nippon Koki Co., Ltd.
    Inventor: Nobutaka Nishibashi
  • Patent number: 8459922
    Abstract: A substrate processing system including a housing for housing at least part of a processing device, at least one target affixed to the processing device, the processing device having a first processing device reference point in a known relationship with the at least one target, at least one transmitter located within the housing and configured to transmit an identification signal identifying the at least one transmitter to the at least one target and a controller operably connected to the at least one target and the at least one transmitter, the controller being configured to receive data signals, based on the identification signal, from one of the at least one target and the at least one transmitter and control an operational characteristic of the processing device, based on the data signals.
    Type: Grant
    Filed: December 31, 2009
    Date of Patent: June 11, 2013
    Assignee: Brooks Automation, Inc.
    Inventor: Martin Hosek
  • Publication number: 20130134919
    Abstract: A motor control apparatus for synchronously controlling a master axis motor for driving a master axis and a slave axis motor for driving a slave axis, includes: a master axis position detector which outputs position data of the master axis and a reference signal with a predetermined fixed period; a master axis receiving circuit which receives the position data and the reference signal output from the master axis position detector; a master axis computation circuit which computes a master axis error representing a difference between the position data received by the master axis receiving circuit and the position data acquired at the time of the reception of the reference signal; and a slave axis motor control unit which controls the operation of the slave axis motor by using the master axis error as a command for synchronizing the operation of the master axis motor.
    Type: Application
    Filed: September 14, 2012
    Publication date: May 30, 2013
    Applicant: FANUC CORPORATION
    Inventors: Kenichi TAKAYAMA, Hiroyuki KAWAMURA
  • Patent number: 8400098
    Abstract: A method for controlling the movement of axles whose drives are connected for exchanging energy, in particular by connecting intermediate circuits of the converters respectively comprised by the drives, prior to the start of the movement, a predictive determination of the sequence of movements being performed, in the process of which first the time-critical axle is determined, then the travel profile of the time-critical axle is defined, then a respective total energy consumption is assigned to the possible travel profiles of additional axles, from these, the profile is selected that has the smallest total energy requirement associated with it, and then the movement is carried out.
    Type: Grant
    Filed: August 27, 2007
    Date of Patent: March 19, 2013
    Assignee: Sew-Eurodrive GmbH & Co. KG
    Inventors: Stefan Ewert, Andreas Steinsdörfer
  • Patent number: 8392002
    Abstract: Presently disclosed is a method and system for processing standard part description programs in real time into the tool position control data appropriate to a CNC machine's standard and high bandwidth mechanisms, respectively. The result is precise tool tip control that tracks the programmed path at all times while maintaining the appropriate feed rates and accelerations for each type of mechanism. In one exemplary embodiment, a hybrid mechanism employing a high bandwidth mechanism mounted on and moved by a standard mechanism is employed. The command vector for the high-bandwidth mechanism is computed by subtracting the tool tip vector filtered to comprise only the tool tip positions and trajectories realizable by the standard mechanism from an ideal tool tip trajectory vector that represents the complete programmed path. These calculations produce a synchronous set of movements for both standard and high bandwidth mechanisms.
    Type: Grant
    Filed: October 14, 2010
    Date of Patent: March 5, 2013
    Assignee: Delta Tau Data Systems, Inc.
    Inventors: H. Ali Pak, Curtis S Wilson
  • Patent number: 8375317
    Abstract: An evaluation index selection section in which any evaluation index is selected from a plurality of evaluation indices of the control characteristics in the motor control system and which outputs selection information indicating the selected evaluation index; a relational data extraction section for extracting data related to the selected evaluation index from a data group of the motor control system based on the selection information; an evaluation value calculation section for calculating an evaluation value of the evaluation index based on the extracted data; and a display control section for displaying the calculated evaluation value on a display are included.
    Type: Grant
    Filed: January 27, 2009
    Date of Patent: February 12, 2013
    Assignee: Panasonic Corporation
    Inventors: Yukihiro Yamaichi, Toru Tazawa, Ken'ichi Suzuki
  • Patent number: 8368330
    Abstract: The invention relates to a variable speed drive comprising a direct-current power bus having a positive line (16) and a negative line (17), and an inverter module (14) supplied by the direct-current bus in order to supply a variable voltage to an electric load (M). The drive comprises an energy-recovery device (10) comprising a first direct-current/direct-current converter (20), the output stage of the first converter (20) being connected in series to the positive line of the direct-current bus, a second direct-current/direct-current converter (30), the input stage of the second converter (30) being connected between the positive line and the negative line of the direct-current bus, and an electric energy storage module (Cs) connected in parallel with the input stage of the first converter (20) and with the output stage of the second converter (30).
    Type: Grant
    Filed: June 3, 2009
    Date of Patent: February 5, 2013
    Assignee: Schneider Toshiba Inverter Europe SAS
    Inventors: Philippe Baudesson, Petar Grbovic, Philippe Le Moigne
  • Publication number: 20130026964
    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: Application
    Filed: June 13, 2012
    Publication date: January 31, 2013
    Applicant: FANUC CORPORATION
    Inventors: Naoto SONODA, Yasusuke IWASHITA
  • Publication number: 20130008042
    Abstract: In a parallel slider device, the two sliders are allowed to move in a smooth manner without interfering with each other. A same position command is given to a front servo controller for a front linear servo motor and a rear servo controller for a rear linear servo motor, and the front servo controller and the rear servo controller are provided with mutually different control gains.
    Type: Application
    Filed: March 10, 2010
    Publication date: January 10, 2013
    Applicant: KURODA PRECISION INDUSTRIES LTD.
    Inventors: Kaoru Naoi, Yoichi Ishizaki, Tatsuhito Inouchi, Masahiro Iwasaki
  • Publication number: 20130002185
    Abstract: There is provided a synchronous control apparatus, a synchronous control method, and a computer-readable recording medium recording the synchronous control program, which enable an impact applied to a driven shaft to be alleviated, and synchronous control to be started at a synchronization start position. A specifier that specifies a synchronization start position where a main shaft and a driven shaft start synchronization. A cam curve creator that creates a cam curve. A detector that detects position information of the main shaft in each control period. A controller that calculates a velocity command value to the driven shaft in each control period and calculates the velocity command value to the driven shaft in each control period, and the driven shaft is controlled with the calculated velocity command value.
    Type: Application
    Filed: May 10, 2012
    Publication date: January 3, 2013
    Applicant: OMRON CORPORATION
    Inventors: Shinichi HOSOMI, Junji SHIMAMURA, Tetsushi JAKUNEN
  • Patent number: 8344678
    Abstract: A servomotor control system includes: an integrated control unit for integrally controlling servomotors; and servomotor units coupled with the integrated control unit and the servomotors. Each servomotor unit includes: a motor driver; a rotation detector of the servomotor; an original point detector for detecting an original point of the servomotor; a communication element for obtaining control information including rotation position instruction information from the integrated control unit; a rotation position calculator for calculating a current rotation position of the servomotor based on a rotation detection signal; a motor drive instruction element for outputting driving instruction information to the motor driver according to the control information and the current rotation position; and a current rotation position correction element for resetting the current rotation position to a predetermined original point when the original point detector detects the original point.
    Type: Grant
    Filed: June 23, 2010
    Date of Patent: January 1, 2013
    Assignee: Denso Corporation
    Inventor: Nobuaki Koshobu
  • Patent number: 8344679
    Abstract: A method and apparatus are provided to maintain motion control during manual positioning of a patient table. The method and apparatus of the present application control the amount of resistance to manual motion of the patient table without using switches to control the amount of assistance provided during manual positioning. The amount of resistance to manual motion may vary as a function of the velocity and position of the patient table. Further, the resistance to initial manual movement of the patient table may be reduced.
    Type: Grant
    Filed: August 5, 2009
    Date of Patent: January 1, 2013
    Assignee: Koninklijke PHilips Electronics N.V.
    Inventor: John Hayes
  • Publication number: 20120319637
    Abstract: Control systems are disclosed that control motion of a first movable body along a first trajectory in coordination with motion of a second movable body along a second trajectory. An exemplary system has first and second controllers. The first controller provides first driving commands to the first movable body. The second controller provides second driving commands to the second movable body. A first control loop associated with the first controller includes feedback to the first controller of position-error data regarding the first movable body. A second control loop associated with the second controller includes feedback to the second controller of position-error data regarding the second movable body. A synchronization target filter couples the first and second control loops and causes the first controller to move the first movable body in a manner that tracks the position-error data of the second movable body at one or more frequencies of interest.
    Type: Application
    Filed: October 31, 2011
    Publication date: December 20, 2012
    Inventors: Pai-Hsueh Yang, Kazuhiro Hirano, Masao Yuasa
  • Publication number: 20120299524
    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: Application
    Filed: February 17, 2010
    Publication date: November 29, 2012
    Applicant: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Shigeo Amigasaya, Hiroyuki Sekiguchi, Hidetoshi Ikeda
  • Publication number: 20120300186
    Abstract: A method for controlling a multi-stage system includes a stator extending parallel to a first direction; a first and second stage that are moveable relative to the stator; the stages being provided with a magnet system to generate a magnetic field, and the stator being provided with coils to interact with the magnetic fields to position the stages relative to the stator, the method including: determining the position of the stages; selecting a first and a second subset of coils that are capable of having a non-negligible interaction with the magnetic field of respectively the first and the second stage; activating the coils of both subsets, wherein activating the coils includes determining the coils that are part of both subsets; and excluding a coil that is part of both subsets from activating.
    Type: Application
    Filed: May 22, 2012
    Publication date: November 29, 2012
    Applicant: ASML NETHERLANDS B.V.
    Inventors: Hans BUTLER, Johannes Petrus Martinus Bernardus VERMEULEN
  • Patent number: 8248008
    Abstract: A motor control device includes a measurement unit, a speed control unit, a correction unit, a drive unit, and a disturbance suppressing unit. During a time period before a measurement value of speed of one of a motor and a driven object which is driven by the motor measured by the measurement unit becomes greater than zero the correction unit corrects a manipulated variable such that a reduced correction amount which is from zero percent to less than 100 percent of a correction amount determined by the disturbance suppressing unit, is added to the manipulated variable determined by the speed control unit corresponding to a target speed of the one of the motor and the driven object.
    Type: Grant
    Filed: March 22, 2010
    Date of Patent: August 21, 2012
    Assignee: Brother Kogyo Kabushiki Kaisha
    Inventor: Kenichi Iesaki
  • Publication number: 20120194122
    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: Application
    Filed: August 1, 2011
    Publication date: August 2, 2012
    Applicant: Siemens Aktiengesellschaft
    Inventor: MARKUS KNORR
  • Patent number: 8222852
    Abstract: A motor control device of the present invention includes a correction input unit, a measurement unit, a first signal processing unit, and a second signal processing unit. The correction input unit corrects a control input signal outputted from a controller, and inputs a corrected control input signal into a motor. The measurement unit measures a physical quantity resulting from rotation of the motor corresponding to a control output. The first signal processing unit inputs a measurement signal representing the physical quantity inputted from the measurement unit into an inverse model 1/G of a transfer function G of a controlled object, and filters an output of the inverse model 1/G through a first low-pass filter. The second signal processing unit obtains a corrected control input signal to be inputted into the motor by the correction input unit, and filters the control input signal through a second low-pass filter.
    Type: Grant
    Filed: March 22, 2010
    Date of Patent: July 17, 2012
    Assignee: Brother Kogyo Kabushiki Kaisha
    Inventor: Kenichi Iesaki
  • Patent number: 8174218
    Abstract: A method of controlling a current by supplying a d-axis current in order to prevent a voltage saturation includes: defining an amount of the d-axis current as Id=|Idmax|·sin ?; continuously comparing a voltage command value with the voltage command value threshold Vo in a predetermined cycle; extracting a predetermined number No of latest comparison results in terms of time; setting a phase angle ? to be 0° when a number N of the comparison results out of the predetermined number No of the comparison results is equal to or less than an integer Nb; and increasing the phase angle ? depending on largeness of the number N when the number N is more than the integer Nb.
    Type: Grant
    Filed: May 6, 2009
    Date of Patent: May 8, 2012
    Assignee: Toshiba Kikai Kabushiki Kaisha
    Inventors: Takamichi Ito, Jun Fujita
  • Patent number: 8148931
    Abstract: There are included a plurality of actuators, an instruction generator for generating instructions of plural degrees of freedom, a position arithmetic unit for calculating positions of plural degrees of freedom from signals of a plurality of sensors, a control arithmetic unit for calculating operation amounts of plural degrees of freedom from the instructions of plural degrees of freedom and the positions of plural degrees of freedom, a thrust force conversion arithmetic unit for calculating thrust force instructions of the plurality of actuators from the operation amounts of the plural degrees of freedom, a current instruction unit for calculating current instructions which should be flowed to the plurality of actuators, and a sensor configuration input device for selecting a desired sensor configuration from among a plurality of sensor configurations. The positions of plural degrees of freedom are calculated by using a position arithmetic expression corresponding to a selected sensor configuration.
    Type: Grant
    Filed: January 13, 2010
    Date of Patent: April 3, 2012
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Takashi Mamba
  • Patent number: 8140288
    Abstract: Methods, apparatus, and systems are disclosed for identifying force-ripple and/or side-forces in actuators used for moving a multiple-axis stage. The identified force-ripple and/or side-forces can be mapped, and maps of corresponding position-dependent compensation ratios useful for correcting same are obtained. The methods are especially useful for stages providing motion in at least one degree of freedom using multiple (redundant) actuators. In an exemplary method a stage member is displaced, using at least one selected actuator, multiple times over a set distance in the range of motion of the subject actuator(s). Each displacement has a predetermined trajectory and respective starting point in the range. For each displacement, respective section force-command(s) are extracted and normalized to a reference section force-command to define a section compensation-ratio.
    Type: Grant
    Filed: November 19, 2007
    Date of Patent: March 20, 2012
    Assignee: Nikon Corporation
    Inventors: Pai-Hsueh Yang, Bausan Yuan, Kazuo Masaki, Kazuhiro Hirano, Xiao-Feng Yang, Scott Coakley, Michael B. Binnard
  • Publication number: 20120056572
    Abstract: Intelligent servomotor controller, including integrated servomotor controller having motor with rotor in first housing; rotor position encoder producing measured position of rotor; microprocessor within second housing mating to first housing, electrically connected to rotor position encoder, serial communications port connecting to another integrated servomotor controller communicating desired rotor position command using serial digital data, microprocessor having software receiving desired position commands through communications port, computing error between desired position command and encoder-transmitted measured rotor reducing error signals to zero. Microprocessor is a position based servo system within second housing and rotor within first housing to desired position defined by communication with another integrated servo element. Microprocessor produces actuation signal to direct PID filter connected to microprocessor, PID filter providing drive amplifier servo control of supplying current to the motor.
    Type: Application
    Filed: March 7, 2011
    Publication date: March 8, 2012
    Applicant: Animatics Corporation
    Inventors: Robert A. Bigler, Scott A. Morrill, Carl R. Vogt, Keith R. Webster
  • Patent number: 8102136
    Abstract: A method for determining accuracy of an actual position of a plurality of independent motors in a printing press is provided. The method includes commanding each of the plurality of motors in the printing press via a controller to move a desired initial position, comparing an actual position of each motor to the desired initial position of each motor, determining if the actual position of each motor is within a predetermined tolerance of the desired initial position, and resetting any motor outside the predetermined tolerance to be within the predetermined tolerance. A printing press is also provided. The printing press includes a plurality of printing press components and a plurality of motors. Each motor drives at least one of the printing press components and each of the motors has a desired initial position. The printing press also includes a position detector for determining an actual position of the motor with respect to the desired initial position of the motor.
    Type: Grant
    Filed: September 25, 2008
    Date of Patent: January 24, 2012
    Assignee: Goss International Americas, Inc.
    Inventors: Joseph Adrian St. Ours, Brian Patrick Caven, Kevin Lauren Cote
  • Patent number: 8080966
    Abstract: A motor control architecture is provided that simultaneously controls multiple motors. The motor control system includes memory, a plurality of motor control processors, and a communication controller. The motor control processors are each responsive to control signals supplied from the communication controller to selectively retrieve system commands and motor positions from the memory, to generate motor commands, and to supply the generated motor commands to the memory. The communication controller selectively receives system commands and transmits the received system commands to the memory, selectively supplies the command signals to selected ones of the motor control processors, selectively receives motor positions from a plurality of motors, selectively transmits motor positions to the memory, selectively retrieves generated motor commands supplied to the memory, and selectively transmits the retrieved motor commands.
    Type: Grant
    Filed: July 3, 2008
    Date of Patent: December 20, 2011
    Assignee: Honeywell International Inc.
    Inventors: Calvin C. Potter, Casey Hanlon, Paul T. Wingett
  • Patent number: 8076876
    Abstract: A servomotor system is provided. The servomotor system includes an enclosure and a motor stator and rotor disposed in the enclosure. The servomotor system also includes a motor brake disposed in the enclosure and configured to selectively brake the rotor from rotation and a brake control switch disposed in the enclosure and coupled to the motor brake for selectively providing power to the motor brake for selectively engaging and/or disengaging the brake.
    Type: Grant
    Filed: January 8, 2010
    Date of Patent: December 13, 2011
    Assignee: Rockwell Automation Technologies, Inc.
    Inventor: Thomas D. Lundell
  • Patent number: 8072174
    Abstract: In one embodiment, a motor drive is provided that includes a control board and a plurality of option boards configured to communicate with the control board via one or more serial interfaces, wherein the one or more serial interfaces are configured to transfer one or more synchronized signals from each option board. A method of operating a motor drive that includes transferring data between a control board and a plurality of option boards over one or more serial interfaces, wherein the transfer of data from each option board is synchronized with the plurality of option boards. A tangible machine-readable medium implementing the method is also provided.
    Type: Grant
    Filed: November 17, 2008
    Date of Patent: December 6, 2011
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Alan J. Campbell, John Howard Stuedemann
  • Patent number: 8067918
    Abstract: A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.
    Type: Grant
    Filed: April 19, 2010
    Date of Patent: November 29, 2011
    Assignee: Fanuc Ltd
    Inventors: Tadashi Okita, Yukio Toyozawa, Naoto Sonoda
  • Patent number: 8040097
    Abstract: A mechanical system includes a plurality of amplifier groups each having a common power source unit connected to a higher-level power source and a plurality of power supply units for supplying power to servo motors from the common power source unit. A servo motor drive control device of the mechanical system includes a plurality of amplifier group electric power detection units each determining an electric energy of the corresponding one of the amplifier groups.
    Type: Grant
    Filed: September 4, 2009
    Date of Patent: October 18, 2011
    Assignee: Fanuc Ltd
    Inventors: Yasusuke Iwashita, Tadashi Okita, Hiroyuki Kawamura, Yuuya Ueno