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1. (WO2019031219) METHOD FOR TRANSMITTING INFORMATION IN CONTROLLER AND METHOD FOR DETECTING ABNORMALITY IN ENCODER
Latest bibliographic data on file with the International BureauSubmit observation

Pub. No.: WO/2019/031219 International Application No.: PCT/JP2018/027585
Publication Date: 14.02.2019 International Filing Date: 24.07.2018
IPC:
B25J 19/06 (2006.01) ,B25J 13/00 (2006.01) ,G01D 5/12 (2006.01) ,G01D 5/244 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06
Safety devices
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
G PHYSICS
01
MEASURING; TESTING
D
MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED BY A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; TRANSFERRING OR TRANSDUCING ARRANGEMENTS NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5
Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12
using electric or magnetic means
G PHYSICS
01
MEASURING; TESTING
D
MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED BY A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; TRANSFERRING OR TRANSDUCING ARRANGEMENTS NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
5
Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
12
using electric or magnetic means
244
influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
Applicants:
パナソニックIPマネジメント株式会社 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. [JP/JP]; 大阪府大阪市中央区城見2丁目1番61号 1-61, Shiromi 2-chome, Chuo-ku, Osaka-shi, Osaka 5406207, JP
Inventors:
衣笠 靖啓 KINUGASA Yasuhiro; --
相見 圭 AIMI Kei; --
Agent:
鎌田 健司 KAMATA Kenji; JP
前田 浩夫 MAEDA Hiroo; JP
Priority Data:
2017-15353008.08.2017JP
Title (EN) METHOD FOR TRANSMITTING INFORMATION IN CONTROLLER AND METHOD FOR DETECTING ABNORMALITY IN ENCODER
(FR) PROCÉDÉ DE TRANSMISSION D'INFORMATIONS DANS UN DISPOSITIF DE COMMANDE ET PROCÉDÉ DE DÉTECTION D'UNE ANOMALIE DANS UN CODEUR
(JA) コントローラの情報送信方法及びエンコーダの異常検出方法
Abstract:
(EN) A robot has a motor and processes a workpiece. The robot has: a controller for outputting speed commands and command position information; an encoder; a position sensor for outputting, as a difference signal, the amount of positional displacement of the workpiece W relative to a prescribed position; a servo driver for controlling the motor upon receiving the speed command, an output signal from the encoder, and the difference signal; and a safety unit for detecting abnormalities in the encoder. When the servo driver controls the motor on the basis of the speed command, the output signal, and the difference signal, the servo motor transmits the difference signal to the controller. The controller adds a correction value based on the difference signal to the command position information, generates new command position information, and transmits said new command position information to the safety unit.
(FR) L'invention concerne un robot qui comprend un moteur et qui traite une pièce. Le robot comprend : un dispositif de commande destiné à délivrer en sortie des commandes de vitesse et des informations de position de commande ; un codeur ; un capteur de position destiné à délivrer en sortie, en tant que signal de différence, la quantité de déplacement de position de la pièce W par rapport à une position prescrite ; une servo-commande destinée à commander le moteur lors de la réception de la commande de vitesse, d'un signal de sortie provenant du codeur et du signal de différence ; et une unité de sécurité destinée à détecter des anomalies dans le codeur. Lorsque la servo-commande commande le moteur sur la base de la commande de vitesse, du signal de sortie et du signal de différence, le servo-moteur émet le signal de différence vers le dispositif de commande. Le dispositif de commande ajoute une valeur de correction sur la base du signal de différence aux informations de position de commande, génère de nouvelles informations de position de commande et émet lesdites nouvelles informations de position de commande vers l'unité de sécurité.
(JA) ロボットは、モータを有し、ワークを加工する。ロボットは、速度指令及び指令位置情報を出力するコントローラと、エンコーダと、所定の位置からのワークWの位置ずれ量を差分信号として出力する位置センサと、速度指令とエンコーダの出力信号と差分信号とを受けてモータを制御するサーボドライバと、エンコーダの異常を検出するセーフティユニットと、を有している。サーボドライバが速度指令と出力信号と差分信号とに基づいてモータを制御する場合に、サーボドライバは差分信号をコントローラに送信する。コントローラは、指令位置情報に差分信号に基づく補正値を加算して新たな指令位置情報を生成してセーフティユニットに送信する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)