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1. 发明专利

JP2004179518A Casing rack for control device, and assemblage thereof 审中-公开
公开(公告)号：JP2004179518A
公开(公告)日：2004-06-24
申请号：JP2002345979
申请日：2002-11-28
申请人： Fanuc Ltd , ファナック株式会社
发明人： SASAKI KAZUYUKI , KUBO YOSHIYUKI , HIRAMOTO MASATOSHI , HIRANO KAZUHIKO
IPC分类号： H05K7/20 , H05K7/18
摘要： PROBLEM TO BE SOLVED: To provide a casing rack for a control device and an assemblage thereof in which a size of a fan cover may be freely selected, a cooling fan of corresponding performance may be packaged when functions are extended, and the number of cooling fans and the number of power supply means for the cooling fans may be reduced.
SOLUTION: In a casing rack 1 for the control device, a substrate 2 is internally inserted and supported, a fan unit 6 mounting a cooling fan 21 on the lower surface of a fan cover 20 is mounted on a top surface, and notches 22 to removably engage fan units 6 are respectively formed on upper terminals of both lateral sides. In the assemblage of the casing racks 1 for the control device, a plurality of casing racks 1 for the control device are disposed side by side, their lateral sides are mutually connected, and over the top surfaces of the adjacent two or more casing racks 1 for control device, one shared fan unit 6 is mounted.
COPYRIGHT: (C)2004,JPO

2. 发明专利

JPH07295622A CONTROL SYSTEM 失效
公开(公告)号：JPH07295622A
公开(公告)日：1995-11-10
申请号：JP8633194
申请日：1994-04-25
申请人： FANUC LTD
发明人： KINOSHITA JIRO , KUBO YOSHIYUKI
IPC分类号： B25J9/22 , B25J13/06 , G05B19/18 , G05B19/408 , G05B19/414
摘要： PURPOSE:To install an interactive data processor at a distance from an FA controller and make the interactive data processor access the memory in the FA controller directly. CONSTITUTION:When a request to access the memory 3 in a CNC 30 is outputted in an MMC 20, the access request is outputted by a remote access control means 1 to the CNC 30. An internal data input/output means 2 in the CNC 30, once receiving the access request, performs direct memory access(DMA) to the memory 3 to access a requested address. Then when the access request is a write request, data are written in the memory. Further, when the access request is a read request, on the other hand, specified data are outputted to the MMC 20. The remote access control means 1 in the MMC 20 receives the inputted data and transfers the data to the device which has outputted the access request. Thus, the MMC 20 is enabled to access the memory 3 in the CNC 30 directly.

3. 发明专利

JP2004148488A Robot control device 有权
公开(公告)号：JP2004148488A
公开(公告)日：2004-05-27
申请号：JP2003328293
申请日：2003-09-19
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI
IPC分类号： B25J13/06 , B25J19/00 , B25J19/06 , G05B9/02 , G05B19/18 , G08C17/00
CPC分类号： G05B9/03 , B25J13/06 , B25J19/06 , G05B2219/33192 , G05B2219/36162 , G05B2219/50198 , G08C17/00 , Y02P90/265
摘要： PROBLEM TO BE SOLVED: To improve the reliability of an emergency stop function when a robot control device and a portable type teaching operation portion are connected by radio. SOLUTION: When an emergency stop button of a teaching operation panel is pressed down, packet generating circuits 1, 2 produces packet data about emergency stop in a short period, and radio sends the packet data to the robot control portion through a sending data switching circuit. To the packet data, a header and the like designating a packet receiving circuit of a sending address is added, in addition to data presenting the necessity or unnecessity of emergency stop. Each packet receiving circuit of the robot control device receives packet data in a short period according to designation of the header. When the emergency stop button is pressed down, just after that, an emergency stop signal is outputted from each packet receiving circuit to emergency stop controlling circuits (plural). A plurality of contacts connected in series is made to be in a non-conducting state, power supply to a servo amplifier is shut off, so that the robot is stopped in an emergency. COPYRIGHT: (C)2004,JPO

4. 发明专利

JP2004122258A Robot system 有权
公开(公告)号：JP2004122258A
公开(公告)日：2004-04-22
申请号：JP2002287013
申请日：2002-09-30
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI , KAYANO NOBUO , TODA SHUNTARO
IPC分类号： B25J9/18 , B25J19/06 , F16P3/12
CPC分类号： B25J19/06 , F16P3/12
摘要： PROBLEM TO BE SOLVED: To secure safety of a worker in a robot system using a circuit dispensing with special components.
SOLUTION: The worker works in operating ranges of the respective devices during the cutoff of the power feed to a device-1 and a device-2 in a case alternately performing a coacting work with the robot in the device-1 and the device-2. Even if the worker approaches to or enters into the device-1 or the device-2 and when the cutoff of the power is not confirmed, the approach or the entry is notified to an emergency stop means and the robot system is emergently stopped. Control parts for the device-1 and the device-2 may be provided and the notification of the approach or the entry is transmitted thereto by the communication via the emergency stop means to emergently stop the robot system.
COPYRIGHT: (C)2004,JPO

5. 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.

6. 发明专利

JPH08305431A MEMORY ACCESS SYSTEM 失效
公开(公告)号：JPH08305431A
公开(公告)日：1996-11-22
申请号：JP10501695
申请日：1995-04-28
申请人： FANUC LTD
发明人： KINOSHITA JIRO , KUBO YOSHIYUKI
IPC分类号： G05B19/18 , G05B19/414
摘要： PURPOSE: To accelerate read access from a master unit to the memory of a slave unit. CONSTITUTION: A read request is inputted to a read request transmitting means 1a. The read request transmitting means 1a discriminates whether the address of that read request is continued to the address of the last read request or not. When the address is not continued, that read request is transmitted to a slave unit 2 but when the address is continued, an address match signal is outputted to a read data control means 1b. A memory access control means 2a transmits the first data of the address shown by the read request and the second data of the next address to a master unit 1. The read data control means 1b transfers the first data as read data and stores the second data in a buffer 1ba. When the read request is further outputted to the continued address in such a state and the address match signal is inputted to the read data control means 1b, the second data in the buffer 1ba are transferred.

7. 发明专利

JP2007118141A Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：JP2007118141A
公开(公告)日：2007-05-17
申请号：JP2005314465
申请日：2005-10-28
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI
IPC分类号： B25J19/06 , G05B19/42
CPC分类号： B25J9/1674 , G05B2219/39447 , G05B2219/40202 , G05B2219/40218 , G05B2219/50198
摘要： PROBLEM TO BE SOLVED: To automatically inspect the function of an emergency stop circuit regardless of worker's intention.
SOLUTION: The robot controller is provided with an operation mode switching switch 31, which is used for switching an automatic operation mode for inhibiting a worker from approaching into an operation region of a robot 13 when power is supplied to a driving motor 43 for driving the robot 13 and a second operation mode for allowing the worker to approach into the operation region even when the power is supplied to the driving motor 43, and an electromagnetic contactor 51, which switches cutoff and connection of a power supply path 49 to the driving motor 43, so as to bring the robot 13 to an emergency stop by the cutoff of the power supply path 49 with the electromagnetic contactor 51. The robot controller is further provided with an emergency stop control means. The emergency stop control means issues a cutoff instruction to the electromagnetic contactor 51 when detecting the switching of the operation mode so as to automatically confirm whether or not the power supply path 49 is cut off.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：无论工人的意图如何，都要自动检查紧急停止电路的功能。解决方案：机器人控制器设置有操作模式切换开关31，其用于在向驱动电机43供电时切换用于禁止工作人员进入机器人13的操作区域的自动操作模式用于驱动机器人13以及第二操作模式，即使当向驱动电机43供电时也允许工作人员进入操作区域;电磁接触器51将电源路径49的切断和连接切换到驱动马达43，通过电磁接触器51切断电源路径49使机器人13紧急停止。机器人控制器还设有紧急停止控制单元。当检测到操作模式的切换时，紧急停止控制装置向电磁接触器51发出切断指令，以便自动确认供电路径49是否被切断。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2006107050A Cooperative operation controller for a plurality of robots 审中-公开
标题翻译：多人机器人的合作操作控制器
公开(公告)号：JP2006107050A
公开(公告)日：2006-04-20
申请号：JP2004291695
申请日：2004-10-04
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI , OYA TOMOKI
IPC分类号： G05B19/18 , B25J13/00 , G05B19/414
摘要： PROBLEM TO BE SOLVED: To improve accuracy of cooperative operation in cooperative operation control of a plurality of robots by bringing generation timing of a basic period signal in a control part of each the robot into line to do away with a time lag.
SOLUTION: In a system wherein the control parts of the plurality of robots are connected by a communication means to allow the cooperative operation of each the robot, a reset signal is transmitted to the control part of each the robot from the control part of one robot (100, 101), generation of the basic period signal of a basic period signal generation means inside each the robot control part is stopped by the reset signal, and the basic period signal is immediately thereafter generated (103, 104), so that the generation timing of the basic period signal in each the robot control part is brought into line. The accuracy of the cooperative operation by each the robot is improved. A time difference of a timepiece means provided in each the robot control part is corrected, and the basic period signal generation means of each the robot control part is reset and restarted in the same time to do away with the time lag of the basic period signal.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过使每个机器人的控制部分中的基本周期信号的生成定时成为一个时间滞后，来提高多个机器人的协同操作控制中的协作操作的精度。解决方案：在通过通信装置连接多个机器人的控制部分以允许每个机器人的协作操作的系统中，将复位信号从控制部分发送到每个机器人的控制部分一个机器人（100,101）中的每一个机器人控制部分内的基本周期信号产生装置的基本周期信号的产生被复位信号停止，然后立即生成基本周期信号（103,104），使得每个机器人控制部分中的基本周期信号的产生定时被并入。提高了每个机器人协同操作的精度。校正每个机器人控制部分中设置的时钟装置的时差，并且每个机器人控制部分的基本周期信号产生装置在同一时间被重置和重新启动，以消除基本周期信号的时滞。版权所有（C）2006，JPO＆NCIPI

9. 发明专利

JPH1013394A SYNCHRONIZATION METHOD IN COMMUNICATION 失效
公开(公告)号：JPH1013394A
公开(公告)日：1998-01-16
申请号：JP17977796
申请日：1996-06-21
申请人： FANUC LTD
发明人： AOYAMA KAZUNARI , KUBO YOSHIYUKI
IPC分类号： G06F1/12 , G05B19/414 , H04L7/00
摘要： PROBLEM TO BE SOLVED: To provide a synchronization method in which synchronization between devices is taken with high accuracy even when a propagation delay through a transmission line is a problem. SOLUTION: This synchronization method is applied in the case that a plurality of devices are connected by a transmission line and operated synchronously with each other For example, a CNC(computerized numerical control) device 10 and servo amplifiers SA1, SA2 are connected by the daisy chain system. The position of each of servo motors M1, M2 detected by pulse coders P1, P2 is read at the same time in synchronism with each other. In this case, a synchronizing signal of a position read command is propagated from the CNC device 10 to the servo amplifiers SA1, SA2 through transmission lines L1, L2 and any propagation delay is produced, but the propagation delay time is corrected and synchronization is taken and the position of the servo motors M1, M2 at the same time is detected.

10. 发明专利

JPH0962332A NUMERICAL CONTROLLER 失效
公开(公告)号：JPH0962332A
公开(公告)日：1997-03-07
申请号：JP21229795
申请日：1995-08-22
申请人： FANUC LTD
发明人： KINOSHITA JIRO , AOYAMA KAZUNARI , KUBO YOSHIYUKI , OKAMURA YUKIO
IPC分类号： G05B19/18 , G05B19/19 , G05B19/39 , G05B19/414
摘要： PROBLEM TO BE SOLVED: To provide a numerical controller which contains the optimum number of connectors at every servo amplifier part and has high controllability of a servo motor. SOLUTION: A numerical control part 10, a machine side position detection control unit 20, an X axis servo amplifier part 30, a Y axis servo amplifier part 40, a Z axis servo amplifier part 50, etc., are connected together in a daisy chain form via the serial communication lines 90, 91, etc. A tool stand 63 is connected to an X axis ball screw 61, i.e., a control shaft requiring its position detection via a nut 62, and a linear scale 64 is attached to the stand 63. The graduations of the scale 64 are read by the unit 20, and the feedback control is carried out. In such a constitution, the number of connectors can be optimized at every servo amplifier part and the controllability of a servo motor is improved.

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