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1. 发明公开

CN1702581A 数字控制器和伺服马达系统失效
公开(公告)号：CN1702581A
公开(公告)日：2005-11-30
申请号：CN200510073482.4
申请日：2005-05-30
申请人：发那科株式会社
发明人：鞍挂三津雄 , 青山一成 , 小槙邦孝 , 相泽安晴
IPC分类号： G05B19/18 , G05B19/406
CPC分类号： G05B19/4063 , G05B19/4142 , G05B2219/33155 , G05B2219/33166 , G05B2219/33226 , G05B2219/33228 , G05B2219/33239
摘要：数字控制器和伺服马达控制系统能够进行在由连接多条串行总线的伺服放大器驱动的伺服马达的控制中通信故障情况下要求的轴控制。该数字控制器具有多条串行总线，该数字控制器和多个伺服马达是菊花链连接在串行总线并且控制单独地连接在伺服放大器的伺服马达。该装置包括检测串行总线的各个通信故障的多个通信控制电路和选择是否将通信故障通知其它通信控制电路的选择装置。如果是的话，从而检测任何一个通信控制电路。在由连接到串行总线的伺服放大器驱动的伺服马达的控制中，连接到遭受通信故障的串行总线的放大器的输出被减少为0，从而到连接其余的正常的串行总线的伺服放大器的输出可以保持。

2. 发明授权

CN100422892C 数字控制器和伺服马达系统失效
公开(公告)号：CN100422892C
公开(公告)日：2008-10-01
申请号：CN200510073482.4
申请日：2005-05-30
申请人：发那科株式会社
发明人：鞍挂三津雄 , 青山一成 , 小槙邦孝 , 相泽安晴
IPC分类号： G05B19/18 , G05B19/406
CPC分类号： G05B19/4063 , G05B19/4142 , G05B2219/33155 , G05B2219/33166 , G05B2219/33226 , G05B2219/33228 , G05B2219/33239
摘要：数字控制器和伺服马达控制系统能够进行在由连接多条串行总线的伺服放大器驱动的伺服马达的控制中通信故障情况下要求的轴控制。该数字控制器具有多条串行总线，该数字控制器和多个伺服马达是菊花链连接在串行总线并且控制单独地连接在伺服放大器的伺服马达。该装置包括检测串行总线的各个通信故障的多个通信控制电路和选择是否将通信故障通知其它通信控制电路的选择装置。如果是的话，从而检测任何一个通信控制电路。在由连接到串行总线的伺服放大器驱动的伺服马达的控制中，连接到遭受通信故障的串行总线的放大器的输出被减少为0，从而到连接其余的正常的串行总线的伺服放大器的输出可以保持。

3. 发明授权

US5721676A Centrifuge data communications system 失效
标题翻译：离心机数据通信系统
公开(公告)号：US5721676A
公开(公告)日：1998-02-24
申请号：US544680
申请日：1995-10-18
申请人： Paul Anthony Bolden , Thomas Raymond Poulin
发明人： Paul Anthony Bolden , Thomas Raymond Poulin
IPC分类号： B04B13/00 , G05B15/02 , G05B19/418 , G06F19/00
CPC分类号： A61M1/387 , B04B13/00 , B04B5/10 , G05B19/4185 , G05B2219/31179 , G05B2219/31282 , G05B2219/33166 , G05B2219/36371 , Y10T436/111666
摘要： A data communications system for a plurality of centrifuge instruments, each with a local controller, includes a central data controller and a communication link that connects the central data controller to each of the instrument controllers. The link complies with Electronic Industries Association (EIA) Standard 485. The central data controller transmits a predetermined command and an instrument address signal over the link. Each instrument controller is responsive to the transmission of the command signal and to its respective instrument address signal by transmitting to the central data controller over the communications link the then-current values of at least some of the set of operational parameters for the particular centrifuge instrument.
摘要翻译：用于多个离心机仪器的数据通信系统，每个具有本地控制器，包括中央数据控制器和将中央数据控制器连接到每个仪器控制器的通信链路。该链接符合电子工业协会（EIA）标准485.中央数据控制器通过链路发送预定命令和仪器地址信号。每个仪器控制器通过在通信链路上向中央数据控制器发送特定离心机仪表的一组操作参数中的至少一些的当前值来响应命令信号的传输和其各自的仪器地址信号。

4. 发明授权

US5739648A Motor controller for application in a motor controller network 失效
标题翻译：电机控制器应用于电机控制器网络
公开(公告)号：US5739648A
公开(公告)日：1998-04-14
申请号：US694366
申请日：1996-08-08
申请人： George Henry Ellis , Gregory Robert Lee
发明人： George Henry Ellis , Gregory Robert Lee
IPC分类号： H02P5/50 , B25J9/18 , G05B19/414 , G05B19/418 , H02P1/54
CPC分类号： G05B19/4185 , G05B19/4142 , G05B2219/23406 , G05B2219/25067 , G05B2219/25071 , G05B2219/2667 , G05B2219/33147 , G05B2219/33166 , G05B2219/33176 , G05B2219/33184 , Y02P90/18
摘要： A motor controller that incorporates all of the advantages of RS-485, yet allows the user to interface with the controller through RS-232 without a separate RS-232 to RS-485 converter. The controller includes a port for receiving RS-232 compatible signals. The RS-232 signals are converted to RS-485 compatible signals which are, in turn, converted into logic level signals suitable for the motor controller. The RS-485 signals may be shared among a number of controllers, and an RS-485 port is provided for such a purpose. RS-485 ports can be interconnected via a common bus so that a number of motors can be separately controlled from a master controller (usually a personal computer) that is connected to any available RS-232 port.
摘要翻译：具有RS-485的所有优点的电机控制器，允许用户通过RS-232与控制器进行接口，无需单独的RS-232至RS-485转换器。控制器包括用于接收RS-232兼容信号的端口。 RS-232信号转换为RS-485兼容信号，这些信号又转换成适用于电机控制器的逻辑电平信号。 RS-485信号可以在多个控制器之间共享，并且为此提供了一个RS-485端口。 RS-485端口可以通过公共总线互连，从而可以从连接到任何可用的RS-232端口的主控制器（通常是个人计算机）分别控制多个电机。

5. 发明授权

US07164965B2 Numerical controller and servomotor control system 失效
标题翻译：数控和伺服电机控制系统
公开(公告)号：US07164965B2
公开(公告)日：2007-01-16
申请号：US11138266
申请日：2005-05-27
申请人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
发明人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
IPC分类号： G06F19/00
CPC分类号： G05B19/4063 , G05B19/4142 , G05B2219/33155 , G05B2219/33166 , G05B2219/33226 , G05B2219/33228 , G05B2219/33239
摘要： A numerical controller and a servomotor control system, capable of axis control required in case of a communication failure in the control of servomotors driven by servo amplifiers connected to a plurality of serial buses. The numerical controller has a plurality of serial buses to which the numerical controller and a plurality of servo amplifiers are daisy-chain-connected and controls servomotors connected individually to the servo amplifiers. The device comprises a plurality of communication control circuits for detecting respective communication failures of the serial buses and selecting means for selecting whether or not to notify the other communication control circuits of a communication failure, if any, of any one of the communication control circuits detected thereby. In the control of the servomotors driven by the servo amplifiers connected to the serial buses, an output of a servo amplifier connected to a serial bus that suffers a communication failure is reduced to 0 so that outputs to the servo amplifiers connected to the remaining normal serial buses can be maintained.
摘要翻译：一种数字控制器和伺服电动机控制系统，能够在由连接到多个串行总线的伺服放大器驱动的伺服电动机的控制中的通信故障的情况下进行轴控制。数字控制器具有多个串行总线，数字控制器和多个伺服放大器被菊花链连接，并且控制单独连接到伺服放大器的伺服电机。该装置包括用于检测串行总线的各个通信故障的多个通信控制电路以及用于选择是否通知检测到的通信控制电路中的任一通信控制电路的通信故障（如果有的话）的其他通信控制电路的选择装置从而。在由连接到串行总线的伺服放大器驱动的伺服电机的控制中，连接到串行总线的连接到通信故障的伺服放大器的输出减少到0，使得输出连接到剩余的正常串行公共汽车可以维护。

6. 发明授权

US5862054A Process monitoring system for real time statistical process control 失效
标题翻译：过程监控系统用于实时统计过程控制
公开(公告)号：US5862054A
公开(公告)日：1999-01-19
申请号：US803353
申请日：1997-02-20
申请人： Hung-Yeh Li
发明人： Hung-Yeh Li
IPC分类号： G05B19/418 , G05B23/02 , G06F19/00
CPC分类号： G05B19/41875 , G05B23/0227 , G05B23/027 , G05B2219/31288 , G05B2219/33028 , G05B2219/33166 , G05B2219/35488 , G05B2219/42001 , Y02P90/18 , Y02P90/22
摘要： This invention describes a method to monitor process parameters from multiple process machines to provide real time statistical process control (SPC). The particular implementation was derived from ion implantation of wafers, but has wide applicability where there are a number of process machines having a number of process parameters and close continuous sampling of data is required. The process parameters are collected on a single computer over a single RS 485 network, and each parameters is analyzed and displayed separately for each process and process machine. Statistical variables like Cp and Cpk arc calculated and presented on the computer screen along with graphs of the various parameters for a particular process machine. Data is aged out of the computer to an archival data base under the control of a manufacturing information system and connected to a company wide network.
摘要翻译：本发明描述了一种监测来自多个过程机器的过程参数以提供实时统计过程控制（SPC）的方法。具体实现来自晶片的离子注入，但是具有广泛的适用性，其中存在多个具有多个工艺参数的处理机器，并且需要紧密连续的数据采样。过程参数通过单个RS 485网络在单个计算机上进行收集，并为每个过程和过程机器分别对每个参数进行分析和显示。统计变量如Cp和Cpk弧计算并显示在计算机屏幕上以及特定加工机器的各种参数的图形。数据从计算机老化到归档数据库，在制造信息系统的控制下连接到公司网络。

7. 发明授权

US09880532B2 Method for controlling network-type actuator module 有权
公开(公告)号：US09880532B2
公开(公告)日：2018-01-30
申请号：US14354566
申请日：2012-10-26
申请人： ROBOTIS CO., LTD.
发明人： Byoung-Soo Kim , Hee-Il Kim
IPC分类号： G05B11/01 , G05B15/02 , H04L29/08 , G05B19/414
CPC分类号： G05B15/02 , G05B19/414 , G05B2219/33147 , G05B2219/33166 , G05B2219/33176 , H04L67/10
摘要： Described herein is a method for controlling a network-type actuator module, and provides a method for controlling a plurality of network-type actuator modules which are connected to a main controller through a multi-drop scheme including the steps of: the main controller transmitting to the actuator module one instruction packet comprising a plurality of IDs; and an actuator module, which corresponds to the ID, transmitting a status packet to the main controller, wherein the actuator module transmits the status packet according to the order of the ID, which is expressed on the instruction packet. Accordingly, unlimited information required from the plurality of actuators can be read from a single transmission of the packet instruction by flexibly expanding limitations due to limitations on the length of each field in accordance with an instruction set and a definition of a parameter.

8. 发明申请

US20150120002A1 METHOD FOR CONTROLLING NETWORK-TYPE ACTUATOR MODULE 有权
标题翻译：控制网络型执行器模块的方法
公开(公告)号：US20150120002A1
公开(公告)日：2015-04-30
申请号：US14354566
申请日：2012-10-26
申请人： ROBOTIS CO., LTD.
发明人： Byoung-Soo Kim , Hee-Il Kim
IPC分类号： G05B15/02 , H04L29/08
CPC分类号： G05B15/02 , G05B19/414 , G05B2219/33147 , G05B2219/33166 , G05B2219/33176 , H04L67/10
摘要： Described herein is a method for controlling a network-type actuator module, and provides a method for controlling a plurality of network-type actuator modules which are connected to a main controller through a multi-drop scheme including the steps of: the main controller transmitting to the actuator module one instruction packet comprising a plurality of IDs; and an actuator module, which corresponds to the ID, transmitting a status packet to the main controller, wherein the actuator module transmits the status packet according to the order of the ID, which is expressed on the instruction packet. Accordingly, unlimited information required from the plurality of actuators can be read from a single transmission of the packet instruction by flexibly expanding limitations due to limitations on the length of each field in accordance with an instruction set and a definition of a parameter.
摘要翻译：这里描述了一种用于控制网络型致动器模块的方法，并且提供了一种用于控制多个网络型致动器模块的方法，所述多个网络型致动器模块通过多分支方案连接到主控制器，包括以下步骤：主控制器发送向所述致动器模块提供包括多个ID的指令分组; 以及对应于ID的致动器模块，向主控制器发送状态分组，其中所述致动器模块根据在所述指令分组上表示的所述ID的顺序来发送所述状态分组。因此，根据指令集和参数的定义，由于对每个字段的长度的限制的灵活扩展限制，可以从分组指令的单个传输中读取从多个致动器所需的无限制信息。

9. 发明申请

US20050267625A1 Numerical controller and servomotor control system 失效
标题翻译：数控和伺服电机控制系统
公开(公告)号：US20050267625A1
公开(公告)日：2005-12-01
申请号：US11138266
申请日：2005-05-27
申请人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
发明人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
IPC分类号： G05B19/18 , G05B19/4063 , G05B19/414 , G06F19/00
CPC分类号： G05B19/4063 , G05B19/4142 , G05B2219/33155 , G05B2219/33166 , G05B2219/33226 , G05B2219/33228 , G05B2219/33239
摘要： A numerical controller and a servomotor control system, capable of axis control required in case of a communication failure in the control of servomotors driven by servo amplifiers connected to a plurality of serial buses. The numerical controller has a plurality of serial buses to which the numerical controller and a plurality of servo amplifiers are daisy-chain-connected and controls servomotors connected individually to the servo amplifiers. The device comprises a plurality of communication control circuits for detecting respective communication failures of the serial buses and selecting means for selecting whether or not to notify the other communication control circuits of a communication failure, if any, of any one of the communication control circuits detected thereby. In the control of the servomotors driven by the servo amplifiers connected to the serial buses, an output of a servo amplifier connected to a serial bus that suffers a communication failure is reduced to 0 so that outputs to the servo amplifiers connected to the remaining normal serial buses can be maintained.
摘要翻译：一种数字控制器和伺服电动机控制系统，能够在由连接到多个串行总线的伺服放大器驱动的伺服电动机的控制中的通信故障的情况下进行轴控制。数字控制器具有多个串行总线，数字控制器和多个伺服放大器被菊花链连接，并且控制单独连接到伺服放大器的伺服电机。该装置包括用于检测串行总线的各个通信故障的多个通信控制电路以及用于选择是否通知检测到的通信控制电路中的任一通信控制电路的通信故障（如果有的话）的其他通信控制电路的选择装置从而。在由连接到串行总线的伺服放大器驱动的伺服电机的控制中，连接到串行总线的连接到通信故障的伺服放大器的输出减少到0，使得输出连接到剩余的正常串行公共汽车可以维护。

10. 发明申请

WO2013062379A3 METHOD FOR CONTROLLING NETWORK-TYPE ACTUATOR MODULE 审中-公开
标题翻译：控制网络型执行器模块的方法
公开(公告)号：WO2013062379A3
公开(公告)日：2013-06-20
申请号：PCT/KR2012008905
申请日：2012-10-26
申请人： ROBOTIS CO LTD
发明人： KIM BYOUNG-SOO , KIM HEE-IL
IPC分类号： B25J11/00 , B25J9/06 , H04L29/02
CPC分类号： G05B15/02 , G05B19/414 , G05B2219/33147 , G05B2219/33166 , G05B2219/33176 , H04L67/10
摘要： The present invention relates to a method for controlling a network-type actuator module, and provides a method for controlling a plurality of network-type actuator modules which are connected to a main controller through a multi-drop method comprising the steps of: the main controller transmitting to the actuator module one instruction packet comprising a plurality of IDs; and an actuator module, which corresponds to the ID, transmitting a status packet to the main controller, wherein the actuator module transmits the status packet according to the order of the ID, which is expressed on the instruction packet. According to the present invention, unlimited information required from the plurality of actuators can be read from a single transmission of the packet instruction by flexibly expanding limitations due to a limitation on the length of each field in accordance with a instruction set and a definition of a parameter, and more refined, sophisticated, and accurate control is enabled by allowing control of each of the actuators.
摘要翻译：本发明涉及一种网络型致动器模块的控制方法，提供了一种控制多个网络型致动器模块的方法，所述多个网络型致动器模块通过多点法连接到主控制器，包括以下步骤：控制器向所述致动器模块发送包括多个ID的指令包; 以及对应于ID的致动器模块，向主控制器发送状态分组，其中所述致动器模块根据在所述指令分组上表示的所述ID的顺序来发送所述状态分组。根据本发明，从多个致动器所需的无限制信息可以从分组指令的单个传输中读出，这是由于根据指令集和每个字段的定义对每个字段的长度进行限制而灵活地扩展了限制参数，并且通过允许对每个致动器的控制来实现更精细，精密和精确的控制。

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