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41. 发明专利

JP2000010615A CONTROL SYSTEM 失效
公开(公告)号：JP2000010615A
公开(公告)日：2000-01-14
申请号：JP18987298
申请日：1998-06-19
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI , SERA TAKEHISA
IPC分类号： B23Q15/00 , B25J9/18 , G05B15/02 , G05B19/042 , G05B19/18 , G05B19/414
摘要： PROBLEM TO BE SOLVED: To connect an input/output card through the use of an input/output card interface without using a communication control CPU and to treat the input/output card which is connected apart from a controller in the same way as that of the one connected to the controller. SOLUTION: A control system is provided with a control part 1 having a CPU (processor) 10 for controlling a machine 9 to be controlled, an operating part 2 having the input/output card interface 24 by which the input/output card 4 is connected and a communication line 3 for communication between the control part and the operating part. The control part 1 is provided with a first serial communication interface 13 which is connected to the CPU with a first communication control circuit 12 and the operating part 2 is provided with the second serial communication interface 23 which is connected to the input/output card interface 24 with the second control circuit 22. Besides, the communication line 3 is made a serial communication line so as to connect the first serial communication interface 13 to the second serial communication interface 23.

42. 发明专利

JPH1133960A METHOD FOR CONTROLLING ROBOT 失效
公开(公告)号：JPH1133960A
公开(公告)日：1999-02-09
申请号：JP20742897
申请日：1997-07-17
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , ENOMOTO MINORU
IPC分类号： B25J13/00 , B25J9/14 , B25J9/16 , B25J13/08 , G05B19/414 , G05B19/4155
摘要： PROBLEM TO BE SOLVED: To quickly perform correction of the position, to be performed on the basis of an output signal from a sensor without a means such as a processor of a sensor data processing circuit. SOLUTION: Output of a sensor 6 is connected to a communication LSI 3a provided on a servo amplifier 3. The communication LSI3a and a servo control circuit 2 are connected to each other by a high-speed serial bus L1. A DSP(digital signal processor) of the servo control circuit 2 finds the position correcting amount on the basis of pressure information detected by a sensor 6 for each position and speed feedback processing period. The moving amounts of respective shaft servomotors, for each position and speed feedback processing period are found from respective shaft moving command amount to be sent from a main processor 1 for each distribution period, the position correcting amount calculated in relation to the moving amount is corrected, position and speed feedback processing is performed by taking the corrected position correcting amount as the moving command amount, and the servomotor 4 is driven and controlled. Since the positional correction is performed for each position and speed feedback-processing period, the robot operation can be performed at high speed.

43. 发明专利

JPH1029179A CONTROLLING DEVICE FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH1029179A
公开(公告)日：1998-02-03
申请号：JP19855396
申请日：1996-07-10
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI
IPC分类号： B25J9/16 , B25J13/00 , B25J19/02
摘要： PROBLEM TO BE SOLVED: To retain the facilitation of maintenance, and reduce a space for installing a cable. SOLUTION: A control device for controlling a robot is divided into a servo amplifier, a heavy current part 3 such as a power source for supplying electric power to the servo amplifier, and the control part of an information processing system other than the strong-electric part. The part 3 is adjoined or incorporated into a robot mechanism part 2. The control part 1 and the part 3 are connected by an optical fiber cable 5, and the control part 1 is installed in outside a safety fence 4. The existence of the control part in outside the safety fence 4 facilitates the operation and maintenance of the robot, and the high-speed serial communication by the optical fiber cable 5 can reduce the number of the cables only one, thereby reducing the space.

44. 发明专利

JPH0811074A ROBOT SYSTEM 失效
公开(公告)号：JPH0811074A
公开(公告)日：1996-01-16
申请号：JP14728894
申请日：1994-06-29
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI
IPC分类号： B25J13/06 , B25J9/16 , B25J19/00
摘要： PURPOSE:To provide a robot system which can connect peripheral equipment without entering an operation scope of a robot movable part. CONSTITUTION:A robot controller 20 has data communication interface therein, and the data communication interface is connected to a relay 60 mounted on a safety fence 50 via a connection cable 40. A connector for connecting a data communication cable 44 is provided in the relay 60. Transmitter and receivers 62, 63, 65 are connected to peripheral equipment such as a programmable logic controller(PLC) 33 and personal computers 31, 32 via data communication cables 42, 43, 45. A data communication cable 44 connected to a transmitter and receiver 64 is connected to the relay 60 so that the robot controller 20 is connected to a network.

45. 发明专利

JPH07328966A BRAKE CONTROL SYSTEM FOR ROBOT 失效
公开(公告)号：JPH07328966A
公开(公告)日：1995-12-19
申请号：JP12503094
申请日：1994-06-07
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , MATSUO YASUHIRO , SUZUKI NAOYUKI
IPC分类号： B25J9/10 , B25J13/00 , B25J19/00
摘要： PURPOSE:To prevent a robot from dropping at the time of an emergency stop by rescinding a brake release in a servo amplifier when a brake circuit detects the occurrence of the emergency stop, maintaining the driver operation until the brake action with a delay judging circuit in response to the detection of the power interruption to the servo amplifier, and cutting off the driver operation after the brake action. CONSTITUTION:When an emergency stop switch 6 is pushed, the emergency stop detection signal is outputted from a receiver 54 to a delay judging circuit 52 and a brake circuit 51, then the brake circuit 51 starts the brake action. A power detector 55 outputs the power cutoff signal to the delay judging circuit 52. When the delay judging circuit 52 receives the power cutoff signal while no amplifier alarm detection signal exists and the emergency stop detection signal is received, it judges that the pulse width modulation (PWM) control delay is required and applies the motor power cutoff delay control to a PWM driver 24. The power of a motor 3 is cut off after a brake 4 is operated.

46. 发明专利

JPH07241786A CONTROL DEVICE FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH07241786A
公开(公告)日：1995-09-19
申请号：JP3681194
申请日：1994-03-08
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , KOO TATSUYA
IPC分类号： B25J13/06 , B25J9/16 , B25J9/18 , B25J13/00 , B25J19/00
摘要： PURPOSE:To simplify the manufacture work of a control device arranged adjacently to a robot mechanism part so as to shorten workhours. CONSTITUTION:A control device is formed of a first unit 1 and a second unit 2, and parts of low maintainability are mainly enclosed in the first unit l, while parts of high maintainability are mainly enclosed in the second unit 2. In addition, the first unit 1 and the second unit 2 are connected in such a way as to be easily separable both mechanically and electrically so as to enable replacement per unit.

47. 发明专利

JPH03256692A ROBOT EMERGENCY STOP CIRCUIT 失效
公开(公告)号：JPH03256692A
公开(公告)日：1991-11-15
申请号：JP5736890
申请日：1990-03-08
申请人： FANUC LTD
发明人： MATSUO YASUHIRO , HASHIMOTO YOSHIKI
IPC分类号： B25J19/06
摘要： PURPOSE:To prevent the occurrence of a risk through the emergency stop of a robot by forming a circuit such that, even when a dead man switch is pressed by means of a specified pressure, the robot is brought into an emergency stop with a safety fence opened when an effective/ineffective switch mounted on a teaching control panel is set to the ineffective side. CONSTITUTION:A dead man switch SW2 is pressed and an effective/ineffective switch SW3 is set to the ineffective side. When a safety fence is opened and SW4-SWn are opened, a relay R3 is not worked, and make contacts r1a and r3a are left opened. Since break contacts r1b and r2b are opened through operation of relays R1 and R2, a relay R4 is not worked. Thus, a make contact r4a is left opened, no power is fed from a power source 51 to a brake release circuit 52, and a robot 53 is brought into a stop state.

48. 发明专利

JPH02310474A MONITORING CIRCUIT FOR POWER SUPPLY 失效
公开(公告)号：JPH02310474A
公开(公告)日：1990-12-26
申请号：JP13237589
申请日：1989-05-25
申请人： FANUC LTD
发明人： MATSUO YASUYOSHI , HASHIMOTO YOSHIKI
IPC分类号： G01R19/165
摘要： PURPOSE:To detect a voltage drop of power supply in an early stage by comparing both of a reference voltage and a detecting voltage which are obtained by means of rectifying the output voltage of AC power supply. CONSTITUTION:An AC voltage Va inputted to terminals a1, a2 is rectified in full wave by diodes Da-Dd and made to be a rectified voltage Var. A time constant circuit is formed with resistors R1, R2 and a capacitor C1, wherein a crest value of the voltage Var inputted through a diode D1 is held by a prescribed time constant. This voltage is inputted to a comparator IC1 as a reference voltage Vb1. On the other hand, another time constant circuit is also formed with resistors R3, R4 and capacitor C2, wherein the voltage Var inputted through a diode D2 is held by another time constant. The held voltage is divided with a resistance value ratio of the resistors R3, R4 and inputted to the comparator IC1 as the detecting voltage Vb2. A comparator circuit is formed with the comparator IC1 and a resistor 5, and an alarm signal SC having a prescribed voltage level is outputted to terminals B1, B2 when the voltage Vb2 is dropped to lower than the reference value Vb1.

49. 发明专利

JP2001022419A CONTROLLER 失效
公开(公告)号：JP2001022419A
公开(公告)日：2001-01-26
申请号：JP19575399
申请日：1999-07-09
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI
IPC分类号： G05B19/4063 , H02P29/00 , H02P5/00
摘要： PROBLEM TO BE SOLVED: To provide a controller which can obtain data analyzing the states of a device and a machine and can use a display unit of the controller instead of an oscilloscope. SOLUTION: The servo control processor 12 of a control part 10 in a controller controlling a machine and the like is connected with communication LSI21 of a servo amplifier part 20 by a high speed serial bus L. A sample-and-hold circuit 25c and an analog switch 24c are installed in the servo amplifier part 20 as an interface circuit for general-purpose analog input. An analog signal measured from the measured driving current of a servo motor 30 and a circuit to be measured 33 such as the machine is A/D-converted at every current control period and is sent to the servo control processor 12. Measured analog signal data sent at every current control period and inner information on a position, speed and torque are added and are graph-displayed on a display unit 16. Since a measured sampling period is short, data with good resolution is obtained and an oscilloscope is not required.

50. 发明专利

JPH10335857A CONTROLLER INCORPORATING CONTROL ELECTRONIC APPARATUS 失效
公开(公告)号：JPH10335857A
公开(公告)日：1998-12-18
申请号：JP15429597
申请日：1997-05-29
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , SHIMODA YASUYUKI
IPC分类号： H05K7/20 , G05B11/36 , H05K7/14
摘要： PROBLEM TO BE SOLVED: To provide a controller which can easily execute the attaching/ detaching work of a servo amplifier. SOLUTION: A base board 20 is erected on a center part on the inner side of a front panel 15. A control part 3 of the servo amplifier is fixed to one face of the base board 20. A heat radiation part 19 of the servo amplifier is fixed to the other face of the base board 20. The control part 3 is connected to other electric components in the cabinet 11 via connector cables 9. The control part 3 and the heat radiation part 19 of the servo amplifier can be detached from the cabinet 11, only by drawing out the front panel 15 and removing the connector cables 9, and the servo amplifier can easily of exchanged and repaired.

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