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1. 发明授权

US09389597B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US09389597B2
公开(公告)日：2016-07-12
申请号：US14484269
申请日：2014-09-12
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Toshinobu Kira , Tadashi Okubo , Yasuyuki Takei , Makoto Akama , Yusuke Oka
IPC分类号： G05B11/06 , H02P29/02 , H02P6/06
CPC分类号： G05B11/06 , H02P6/06 , H02P29/026 , H02P29/032
摘要： This disclosure discloses a motor control device including a main circuit, a voltage detector, and a controller. The controller includes a position controller and a speed controller, The position controller generates a speed command. The speed controller generates a torque command and controls a inverter based on the torque command. Further, the controller includes a torque limiter, and a speed matching instruction part. The torque limiter starts torque limiting by the torque command to a predetermined torque or less and cancels the torque limiting. The speed matching instruction part matches the speed command with a first position command speed after the cancellation of the torque limiting. The holding part calculates and holds an accumulated position deviation.
摘要翻译：本公开公开了一种电动机控制装置，包括主电路，电压检测器和控制器。控制器包括位置控制器和速度控制器，位置控制器产生速度指令。速度控制器产生转矩指令，并根据转矩指令控制变频器。此外，控制器包括转矩限制器和速度匹配指令部分。转矩限制器通过转矩指令开始转矩限制到预定转矩或更小，并消除转矩限制。在取消扭矩限制后，速度匹配指令部分与速度指令与第一位置指令速度匹配。保持部计算并保持累积位置偏差。

2. 发明授权

US09122259B2 Multi-axis motor driving system and motor driving apparatus 有权
标题翻译：多轴电机驱动系统和电机驱动装置
公开(公告)号：US09122259B2
公开(公告)日：2015-09-01
申请号：US14140562
申请日：2013-12-26
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Yusuke Oka , Tadashi Okubo , Akira Takeuchi
IPC分类号： G05B15/02 , H02P5/74 , H02P3/14
CPC分类号： G05B15/02 , H02P3/14 , H02P5/74
摘要： A multi-axis motor driving system, including a plurality of motor driving apparatuses respectively connected to motors and each provided with a regenerative power consumption unit for consuming regenerative power generated from the corresponding motor. The plurality of motor driving apparatuses are connected to a common DC bus. The plurality of motor driving apparatuses each include a regenerative controller for controlling start and stop of activation of the regenerative power consumption unit based on a voltage of the common DC bus.
摘要翻译：一种多轴电动机驱动系统，包括分别连接到电动机的多个电动机驱动装置，并且每个电动机驱动装置设置有用于消耗从相应电动机产生的再生电力的再生电力消耗单元。多个马达驱动装置连接到公共DC总线。多个电机驱动装置各自包括：再生控制器，用于基于公共DC总线的电压来控制再生电力消耗部的启动的启动和停止。

3. 发明授权

US10063166B2 Motor driving system, motor driving device, multi-axis motor driving system, and multi-axis motor driving device 有权
公开(公告)号：US10063166B2
公开(公告)日：2018-08-28
申请号：US14934151
申请日：2015-11-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yusuke Oka , Tadashi Okubo
IPC分类号： H02K29/08 , H02P5/74 , H02P5/50 , G01D5/20 , H02P29/024 , H02P6/16
CPC分类号： H02P5/74 , G01D5/20 , H02P5/50 , H02P6/16 , H02P29/0241
摘要： This disclosure discloses a motor driving system including a motor with an encoder and a motor driving device configured to control and drive the motor based on a motor control command. The motor driving device includes a first position detection unit configured to perform a magnetic pole position detection process for the motor to detect a position of the motor. When determining whether miswiring is present between the motor driving device and the motor, the motor driving device controls and drives the motor using a first detection result of the first position detection unit and determines miswiring of the motor based on a second detection result that is a position detection result of the motor by the encoder.

4. 发明授权

US10771000B2 Motor control system, motor control apparatus, and method for controlling motor 有权
公开(公告)号：US10771000B2
公开(公告)日：2020-09-08
申请号：US15729226
申请日：2017-10-10
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Tadashi Okubo , Yusuke Oka , Atsunobu Sakata , Hiroyuki Murakami , Daichi Horimai
IPC分类号： H02P6/17 , B30B15/00 , G05B15/02 , G01L15/00 , H02P27/08 , G01L9/00
摘要： A motor control system includes a motor, a motor control apparatus that drives the motor and includes a first communication port and a second communication port, an upper-level control apparatus connected to the first communication port via a first communication path, an interface connected to the second communication port via a second communication path, and one or more detectors that detect information for controlling the motor and are connected to or including the interface. The motor control apparatus includes processing circuitry that obtains the information detected by the detector and exchanged between the upper-level control apparatus and the interface, and controls the motor based on the obtained information.

5. 发明授权

US10734926B2 Multi-axis motor control system, motor control apparatus, and motor control method 有权
公开(公告)号：US10734926B2
公开(公告)日：2020-08-04
申请号：US15686631
申请日：2017-08-25
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Yusuke Oka , Hiroki Inoue , Tadashi Okubo
IPC分类号： H02P5/00 , H02P5/68 , H02P5/74 , B30B1/18 , B30B15/00 , B30B15/14
摘要： A multi-axis motor control system includes a host control apparatus, motors, motor control apparatuses that drives the motors and each includes circuitry that acquires control related information transmitted and received between the host control apparatus and at least one other motor control apparatus, and controls a corresponding motor of the motors based on the control related information, and a communication channel that connects the host control apparatus and the motor control apparatuses in series.

6. 发明授权

US10429815B2 Motor control device, position control system, and motor control method 有权
公开(公告)号：US10429815B2
公开(公告)日：2019-10-01
申请号：US15238910
申请日：2016-08-17
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Yasufumi Yoshiura , Yusuke Oka , Toshinobu Kira
IPC分类号： G05B19/402 , H02K11/21
摘要： A motor control device for controlling driving of a motor based on position commands input from a host control device includes an offset value memory including first circuitry which stores offset values corresponding to predetermined values of position commands, respectively, and a drive controller including second circuitry which acquires, from the offset value memory, one of the offset values corresponding to an input position command among the position commands, and control driving of a motor based on an offset position command obtained by adding the one of the offset values to or subtracting the one of the offset values from the input position command.

7. 发明授权

US10069445B2 Motor controller and method for controlling motor 有权
公开(公告)号：US10069445B2
公开(公告)日：2018-09-04
申请号：US14945434
申请日：2015-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yasufumi Yoshiura , Yasuhiko Kaku , Yusuke Oka , Atsuo Ikeda
IPC分类号： H02P7/00 , H02P6/08 , G05B1/00 , H02P23/00 , H02P23/18 , H02P6/34 , H02P6/17
摘要： A motor controller to control a motor includes a position controller, a speed controller, a first integrator, and a second integrator. The position controller is configured to generate a speed command based on a position error between a position command and a motor position. The speed controller is configured to generate a torque command to be input to the motor based on a speed error between the speed command and a motor speed. The first integrator is configured to calculate an integral value of the position error to be added to the position error. The second integrator is configured to calculate an integral value of the speed error to be added to the speed error.

8. 发明申请

US20180102724A1 MOTOR CONTROL SYSTEM, MOTOR CONTROL APPARATUS, AND METHOD FOR CONTROLLING MOTOR 审中-公开
公开(公告)号：US20180102724A1
公开(公告)日：2018-04-12
申请号：US15729226
申请日：2017-10-10
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Tadashi OKUBO , Yusuke Oka , Atsunobu Sakata , Hiroyuki Murakami , Daichi Horimai
IPC分类号： H02P27/08 , G05B15/02
CPC分类号： H02P27/08 , B30B15/0094 , B60L2240/423 , B60L2240/429 , B60L2260/42 , B60L2260/44 , G01L9/0052 , G01L15/00 , G05B15/02 , H02P6/17 , H02P2205/05 , Y02T10/642 , Y02T90/16
摘要： A motor control system includes a motor, a motor control apparatus that drives the motor and includes a first communication port and a second communication port, an upper-level control apparatus connected to the first communication port via a first communication path, an interface connected to the second communication port via a second communication path, and one or more detectors that detect information for controlling the motor and are connected to or including the interface. The motor control apparatus includes processing circuitry that obtains the information detected by the detector and exchanged between the upper-level control apparatus and the interface, and controls the motor based on the obtained information.

9. 发明授权

US11200520B2 Industrial equipment production system, industrial equipment production method, and information storage medium 有权
公开(公告)号：US11200520B2
公开(公告)日：2021-12-14
申请号：US15361071
申请日：2016-11-24
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Takeshi Nagata , Tadashi Okubo , Yusuke Oka , Jiro Muraoka
IPC分类号： G06Q10/06 , G05B19/418 , G06Q30/06
摘要： Provided is an industrial equipment production system, including: a production propriety acquisition unit configured to acquire a determination result indicating whether or not industrial equipment is producible by using setting information regarding the industrial equipment based on equipment information regarding the industrial equipment; a supply propriety acquisition unit configured to acquire, based on user information regarding a user, a determination result indicating whether or not the industrial equipment produced by using the setting information is suppliable to the user; and a permission unit configured to permit the production of the industrial equipment that uses the setting information based on the determination result acquired by the production propriety acquisition unit and the determination result acquired by the supply propriety acquisition unit.

10. 发明授权

US10599136B2 Motor controller and method for controlling motor 有权
公开(公告)号：US10599136B2
公开(公告)日：2020-03-24
申请号：US15662493
申请日：2017-07-28
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Yusuke Oka , Tadashi Okubo , Katsumi Ouchida
IPC分类号： G05B21/02 , G05B15/02 , G05D3/12 , H02K11/21 , G05B19/402
摘要： A motor controller includes memory, and processing circuitry that controls a motor based on a position command and based on a position detection value corresponding to a detected position of the motor, calculates a tolerance position error in a successive manner based on the position command and based on a control parameter used to control the motor, calculates a position error maximum threshold that depends on the tolerance position error, detects an abnormality based on the position error maximum threshold, and triggers an indication when the abnormality is detected.

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