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1. 发明授权

US06434448B1 Robot controller 失效
公开(公告)号：US06434448B1
公开(公告)日：2002-08-13
申请号：US09944090
申请日：2001-09-04
申请人： Tetsuya Kosaka , Hiromitsu Takahashi
发明人： Tetsuya Kosaka , Hiromitsu Takahashi
IPC分类号： G06F1900
CPC分类号： B25J9/1674 , G05B2219/34399 , G05B2219/34402 , G05B2219/39139 , G05B2219/40221 , G05B2219/50195 , G05B2219/50198 , G05B2219/50224
摘要： A robot controller for use in a robot control system with a plurality of robots connected one another through a communication path. When a cause for stopping occurs in one or more robots, other robots are also stopped in the same type of stopping procedure. A priority of execution on a plurality of stop procedure types is determined. When a cause for stopping occurs in one or more robots in the robots connected through the communication line or in the robots in synchronously cooperative operation, all of the robots connected through the communication line or the robots in synchronously cooperative operation are stopped in the same type of stopping procedure. If different causes for stopping occur in the robots, a stopping procedure type having higher priority in the stopping procedures determined in accordance with the different causes of stopping is adopted to stop all of the robots in the same type of stopping procedure. Since the robots are stopped in the same type of stopping procedure, displacement of relative positions of the robots in synchronously cooperative operation is made small.

2. 发明申请

US20170038768A1 MOTOR CONTROL SYSTEM PROVIDED WITH FUNCTION TO DETECT ABNORMAL BRAKING 有权
标题翻译：具有检测异常制动功能的电机控制系统
公开(公告)号：US20170038768A1
公开(公告)日：2017-02-09
申请号：US15227175
申请日：2016-08-03
申请人： FANUC CORPORATION
发明人： Satoshi Ikai , Tomoyuki Aizawa
IPC分类号： G05B19/416 , F16D66/00
CPC分类号： G05B19/416 , B60T8/885 , B60T17/22 , B60T2270/406 , F16D66/00 , G05B9/02 , G05B23/0235 , G05B23/0291 , G05B2219/34013 , G05B2219/42312 , G05B2219/50195
摘要： A motor control system of the present invention includes a servo electricity supply unit supplying electricity to a servo motor, and a controller controlling the servo motor, a mechanical brake and the servo electricity supply unit. The controller controls the servo electricity supply unit to stop the supply of electricity to the servo motor when a signal receiving unit receives a signal for actuating the mechanical brake and to resume the supply of electricity to the servo motor when an abnormality determining unit determines that abnormality exists in the mechanical brake.
摘要翻译：本发明的电动机控制系统包括向伺服电动机供电的伺服电力供给单元和控制伺服电动机的控制器，机械制动器和伺服电力供给单元。当信号接收单元接收到用于致动机械制动器的信号并且当异常确定单元确定异常时，控制伺服电力供应单元停止向伺服电机供电，并且在伺服电机恢复供电存在于机械制动器中。

3. 发明授权

US09772622B2 Motor control system provided with function to detect abnormal braking 有权
公开(公告)号：US09772622B2
公开(公告)日：2017-09-26
申请号：US15227175
申请日：2016-08-03
申请人： FANUC CORPORATION
发明人： Satoshi Ikai , Tomoyuki Aizawa
IPC分类号： H02K17/32 , G05B19/416 , F16D66/00
CPC分类号： G05B19/416 , B60T8/885 , B60T17/22 , B60T2270/406 , F16D66/00 , G05B9/02 , G05B23/0235 , G05B23/0291 , G05B2219/34013 , G05B2219/42312 , G05B2219/50195
摘要： A motor control system of the present invention includes a servo electricity supply unit supplying electricity to a servo motor, and a controller controlling the servo motor, a mechanical brake and the servo electricity supply unit. The controller controls the servo electricity supply unit to stop the supply of electricity to the servo motor when a signal receiving unit receives a signal for actuating the mechanical brake and to resume the supply of electricity to the servo motor when an abnormality determining unit determines that abnormality exists in the mechanical brake.

4. 发明授权

US06591148B1 Numerical control device 有权
标题翻译：数控装置
公开(公告)号：US06591148B1
公开(公告)日：2003-07-08
申请号：US09584475
申请日：2000-06-01
申请人： Teruo Masuda , Eiji Genma , Ken Yasuda
发明人： Teruo Masuda , Eiji Genma , Ken Yasuda
IPC分类号： G06F1900
CPC分类号： G05B19/406 , G05B19/184 , G05B2219/42215 , G05B2219/45218 , G05B2219/50195 , Y02P90/265 , Y10T409/405425
摘要： A numerical control device for synchronously controlling the movement of a plurality of axes of a machine by repeatedly controlling a cyclic motion. An axis of the machine is designed to stop at a predetermined position upon the occurrence of an emergency stop. To achieve this stop position, an amount of retraction is set up to a position where a tool of machine does not interfere with a work piece or other obstacles. When an emergency stop signal is entered during a binary operation, because of an occurrence of an abnormality, a movement control amount for each period, corresponding to a set amount of retraction, is added to the movement control amount for each period of the binary operation and the axis is thereby driven by the resultant modified movement control amount. The binary operation is stopped upon the reaching of the stop position, and the tool can be held at this retracted position, by the set amount of retraction. Thus, the tool can be retraced to a predetermined position where it does not interfere with either a work piece or another obstacle.
摘要翻译：一种用于通过重复地控制循环运动来同步地控制机器的多个轴的运动的数字控制装置。机器的轴线被设计成在发生紧急停止时停止在预定位置。为了达到这个停止位置，将一定数量的退回设置到机器的工具不干扰工件或其它障碍物的位置。当在二进制操作期间输入紧急停止信号时，由于发生异常，对于每个周期的移动控制量，相应于设定的撤回量，对于二进制运算的每个周期的移动控制量，并且由此由所得到的改进移动控制量驱动该轴。二进制操作在到达停止位置时停止，并且可以将工具保持在该缩回位置，设定回缩量。因此，可以将工具回溯到不干扰工件或其他障碍物的预定位置。

5. 发明申请

US20020029095A1 Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：US20020029095A1
公开(公告)日：2002-03-07
申请号：US09944090
申请日：2001-09-04
发明人： Tetsuya Kosaka , Hiromitsu Takahashi
IPC分类号： G06F019/00 , G05B019/04
CPC分类号： B25J9/1674 , G05B2219/34399 , G05B2219/34402 , G05B2219/39139 , G05B2219/40221 , G05B2219/50195 , G05B2219/50198 , G05B2219/50224
摘要： A robot controller for use in a robot control system with a plurality of robots connected one another through a communication path. When a cause for stopping occurs in one or more robots, other robots are also stopped in the same type of stopping procedure. A priority of execution on a plurality of stop procedure types is determined. When a cause for stopping occurs in one or more robots in the robots connected through the communication line or in the robots in synchronously cooperative operation, all of the robots connected through the communication line or the robots in synchronously cooperative operation are stopped in the same type of stopping procedure. If different causes for stopping occur in the robots, a stopping procedure type having higher priority in the stopping procedures determined in accordance with the different causes of stopping is adopted to stop all of the robots in the same type of stopping procedure. Since the robots are stopped in the same type of stopping procedure, displacement of relative positions of the robots in synchronously cooperative operation is made small.
摘要翻译：一种机器人控制器，用于具有通过通信路径彼此连接的多个机器人的机器人控制系统。当在一个或多个机器人中发生停止的原因时，其他机器人也停止在相同类型的停止过程中。确定在多个停止过程类型上执行的优先级。在通过通信线路或机器人连接的机器人的一个以上的机器人中，在同步协作运行中发生停止的原因时，通过通信线路或机器人连续运行的所有机器人以同步的方式停止的停止程序。如果在机器人中发生不同的停止原因，则采用根据不同的停止原因确定的停止过程中具有较高优先级的停止过程类型，以相同类型的停止过程来停止所有机器人。由于机器人以相同类型的停止程序停止，所以机器人在同步协作操作中的相对位置的位移变小。

6. 发明授权

US4199814A Computer numerical control machine tool 失效
标题翻译：电脑数控机床
公开(公告)号：US4199814A
公开(公告)日：1980-04-22
申请号：US841597
申请日：1977-10-12
申请人： Edward J. Rapp , Glen A. Johnson
发明人： Edward J. Rapp , Glen A. Johnson
IPC分类号： G05B19/4093 , G05B19/41 , G05B19/414 , G06F15/46 , G05B19/18
CPC分类号： G05B19/4141 , G05B19/4093 , G05B19/41 , G05B2219/34215 , G05B2219/35282 , G05B2219/35426 , G05B2219/35471 , G05B2219/35472 , G05B2219/35556 , G05B2219/36074 , G05B2219/36111 , G05B2219/36554 , G05B2219/36556 , G05B2219/49395 , G05B2219/50195 , Y02P90/265
摘要： This invention relates to a computer numerical control (CNC) machine tool system having a novel terminal controller and system therefor to control a machine tool generally with at least two axes and more probably three, with stepping motor controls for point-to-point positioning of the machine tool to an almost infinite variety of steps (generally not more than 200). The novelty resides in the ease of programming directly on the terminal controller of the CNC machine tool system. Generally at least some editing and offsets will be programmed from the machine tool.The terminal controller consists of a microprocessor with some RAM and ROM, together with address and data bus plus I/O for magnetic tape handling and display for 6 to 8 digits in each of the X and Y positions, together with numeric keyboard for data input to the program steps and functional keys to control operation-automatic, manual and step-by-step, as well as controls for program input from tape to memory and memory to tape.Particular features include the ease of inputting a program and preparing a tape and then editing the tape while in operation. Further features include circular and linear interpolation. For circular interpolation there are no quadrant limitations and a full or partial circle may be cut.
摘要翻译：本发明涉及一种具有新颖的终端控制器及其系统的计算机数控（CNC）机床系统，该系统用于通常具有至少两个轴并且更可能三个控制机床，步进电机控制用于点对点定位机床几乎无限多种步骤（一般不超过200台）。新颖之处在于直接在CNC机床系统的终端控制器上进行编程。通常至少有一些编辑和偏移将从机床编程。终端控制器由具有一些RAM和ROM的微处理器，以及地址和数据总线以及用于磁带处理的I / O和在X和Y位置的每个位置显示6到8位数字，以及用于数据输入的数字键盘程序步骤和功能键来控制操作 - 自动，手动和分步，以及从磁带到内存和内存到磁带的程序输入控制。特殊功能包括输入程序和准备磁带，然后在运行时编辑磁带的方便。其他功能包括圆形和线性插值。对于圆弧插补，没有象限限制，可以切割全部或部分圆。

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