公开(公告)号：US20230318728A1

公开(公告)日：2023-10-05

申请号：US17709341

申请日：2022-03-30

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yanbin Zhang ,  Xiaobo Peng ,  Sikai Zhang ,  Steven T. Seidlitz ,  Arun K. Guru

IPC: H04J3/06

CPC classification number: H04J3/0661 ,  H04J3/062

Abstract: To improve integrity of time synchronization, a node in a safety rated system verifies that its clock remains synchronized to another clock. Two adjacent, time-synchronized nodes transmit diagnostic messages to each other at an agreed upon interval and generate timestamps when the diagnostic message is received from the other node. The nodes then transmit their respective timestamp back to the sending node. Clock drift is detected by comparing a difference between the two timestamps at which the messages were received against a threshold. To avoid accidental detection of clock drift, a difference in transmission delays between the two nodes is stored in a FIFO buffer. Each node monitors the average of the data in the FIFO buffer. If the average deviates from the target value by too great a value, then the node determines the values of the clocks have skewed beyond an acceptable range and generates a fault condition.

公开(公告)号：US20240316763A1

公开(公告)日：2024-09-26

申请号：US18123858

申请日：2023-03-20

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Jonathan D. Hoffman ,  Arun K. Guru ,  Robert J. Miklosovic ,  Maulik Kalolia ,  Aderiano M. da Silva ,  Jasper Hao Yang

IPC: B25J9/16 ,  B25J9/10

CPC classification number: B25J9/1633 ,  B25J9/106 ,  B25J9/1664

Abstract: A method includes using at least one processor to detect that a tool coupled to an end effector of a robot having multiple joints is contacting a surface. The robot includes multiple joint motors configured to control multiple motions of the multiple joints. One or more control systems are configured to control each of the joint motors in a joint position mode. The method also includes identifying, via the at least one processor, a first joint of the multiple joints in response to detecting that the tool is contacting the surface. The method also includes sending, via the at least one processor, a command to at least one of the one or more control systems associated with a first joint motor of the multiple joint motors that corresponds to the first joint. The command is configured to cause the at least one of the one or more control systems to operate in a torque mode. The method also includes sending, via the at least one processor, a joint torque value to the at least one of the one or more control systems. The at least one of the one or more control systems is configured to cause the first joint to apply the joint torque value via the first joint motor.

公开(公告)号：US20230318498A1

公开(公告)日：2023-10-05

申请号：US17709330

申请日：2022-03-30

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Arun K. Guru ,  Shankernarayan Ramanarayanan ,  Kevin J. Riederer ,  James C. Sandell ,  Jon P. Vanderpas ,  Chetan Chandrasekara

IPC: H02P21/10 ,  H02P21/16

CPC classification number: H02P21/10 ,  H02P21/16

Abstract: A method and system for communication between a motor controller and an analytic module includes a Single Pair Ethernet interface with power supplied over the two data lines. The analytic module, in turn, connects to a motor or other devices proximate the motor. The analytic module receives input signals from the motor or different types of sensors or devices. A processing unit in the analytic module may perform some initial processing on the incoming data. The processing unit is configured to transmit either the raw input signals or processed data via the Single Pair Ethernet connection back to the motor controller or to other controllers in the system with the motor controller acting solely as a pass-through gateway. The analytic module unit may be configured to transmit data at different update rates. One of the update rates may be synchronized to an update period in the motor controller.

公开(公告)号：US11078978B2

公开(公告)日：2021-08-03

申请号：US16729425

申请日：2019-12-29

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Chetan Chandrasekara ,  Arun K. Guru

IPC: F16D66/00 ,  H02K7/102 ,  H02K11/35 ,  G05B19/19 ,  F16D66/02 ,  F16D55/22 ,  F16D65/84 ,  F16D55/00 ,  F16D121/22 ,  F16D65/78

Abstract: A motor includes a housing containing a rotor and stator. A brake assembly is adapted to restrain rotation of the rotor. A brake controller includes a brake diagnostics system. At least one vibration sensor is located in the housing and provides vibration data to the brake diagnostics system in response to a brake operation cycle of the brake assembly. The vibration data is used by the brake diagnostics system to assess an operative condition of the brake assembly.

公开(公告)号：US10520054B2

公开(公告)日：2019-12-31

申请号：US15720413

申请日：2017-09-29

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Chetan Chandrasekara ,  Arun K. Guru

IPC: F16D66/02 ,  G01M13/028 ,  F16D49/02 ,  G01L5/28 ,  G01M7/00 ,  F16D55/00 ,  F16D65/18 ,  F16D66/00 ,  F16D121/22

Abstract: A motor includes a brake diagnostics system with sensors to assess the brake assembly condition. Acoustic or other vibration sensors provide vibration data that is compared to known vibration spectrum data to compare the condition of the brake assembly to a properly functioning brake assembly. The brake diagnostics system monitors current flow in the brake coil to assess the condition of the brake assembly. The sensed brake coil current is compared to known coil current spectrum data to compare the condition of the brake assembly to a properly functioning brake assembly. The voltage input to the brake coil is varied depending upon the current sensed in the brake coil to minimize heat in the brake coil. The motor also includes a resilient layer of thermally conductive material located between the brake assembly and the housing that provides a continuous, uninterrupted thermal pathway between the brake assembly and the motor housing.

公开(公告)号：US20220103449A1

公开(公告)日：2022-03-31

申请号：US17034270

申请日：2020-09-28

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Arun K. Guru ,  Dayin Xu ,  John Figie ,  Fuhua Ding ,  Chetan Chandrasekara

IPC: H04L12/26 ,  H02P29/00 ,  G01D5/244 ,  H04L12/64

Abstract: A communication module mounted to a motor provides for communication between a motor controller and a motor or between the motor controller and devices mounted on or proximate to the motor. The communication module may be configured to accept signals from various different encoders and/or load devices mounted on or proximate to the motor. The communication module receives a position feedback signal from a primary encoder interface and is configured to transmit the data to the motor controller at a periodic update rate. The communication module also receives feedback signals from at least one additional device and transmits the data to the motor controller. The communication module synchronizes its periodic update rate with the motor controller such that the position feedback signal may be utilized to control operation of the motor. The additional feedback signals may be communicated at the same or differing update rates.

公开(公告)号：US11211851B2

公开(公告)日：2021-12-28

申请号：US16409027

申请日：2019-05-10

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Arun K. Guru ,  Xiaobo Peng ,  Robert H. Schmidt ,  Aleksey Yegorov

IPC: H02K11/27 ,  H02P6/12 ,  H02P6/22 ,  H02P3/00

Abstract: A motor drive utilizes redundant current feedback to monitor force being produced by a motor and to provide safe limited force producing operation of the motor. A first set of current sensors provides a first current measurement, and a second set of current sensors provides a second current measurement. The two current measurements are provided to two diverse force producing calculations, where each force producing calculation provides a value of the force produced by the motor. The motor drive compares the output of the two algorithms to each other. If the output of the two force producing calculations is the same, within an acceptable band, the controller continues operating as commanded. If the output of the two force producing calculations differs beyond the acceptable band, then the controller may generate a fault message provided back to a central controller, stop operation of the motor, or a combination thereof.

公开(公告)号：US09148042B2

公开(公告)日：2015-09-29

申请号：US14042910

申请日：2013-10-01

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Nisha Chandrasekharan ,  Gerry Nagel ,  Arun K. Guru ,  Ryan Jwanouskos

IPC: H02P7/00 ,  H02P5/00 ,  H02K11/00 ,  H02P1/00

CPC classification number: H02K11/001 ,  H02P1/00 ,  H02P29/0241

Abstract: A system for detecting a mismatch between how a motor drive is connected electrically and how it is configured for operation is disclosed. The motor drive may either be connected in a stand-alone mode to control operation of a motor from an AC source without connection to another motor drive or be connected electrically to other motor drives, for example, in a paralleled mode, shared DC bus mode, or a combination thereof. A parameter identifies the expected electrical configuration of the motor drive. The power transferred to the DC bus is compared to the power transferred from the DC bus in the motor drive. If the difference between the power transferred to the DC bus and the power transferred from the DC bus exceeds a predetermined threshold, the motor drive detects the mismatch between how a motor drive is connected electrically and how it is configured for operation.

Abstract translation: 公开了一种用于检测电机驱动器如何电连接以及如何配置为操作的不匹配的系统。 电机驱动器可以以独立模式连接，以控制来自AC源的电动机的操作，而不连接到另一个电动机驱动器，或者电连接到其它电动机驱动器，例如并联模式，共享DC总线模式 ，或其组合。 参数确定电机驱动器的预期电气配置。 传输到直流总线的电力与电机驱动器中直流总线传输的功率进行比较。 如果传输到直流母线的功率与从直流总线传输的功率之间的差异超过预定阈值，则电机驱动器检测电动机驱动器如何电连接以及如何配置为运行之间的不匹配。

公开(公告)号：US20150091486A1

公开(公告)日：2015-04-02

申请号：US14042910

申请日：2013-10-01

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Nisha Chandrasekharan ,  Gerry Nagel ,  Arun K. Guru ,  Ryan Jwanouskos

IPC: H02K11/00

CPC classification number: H02K11/001 ,  H02P1/00 ,  H02P29/0241

Abstract: A system for detecting a mismatch between how a motor drive is connected electrically and how it is configured for operation is disclosed. The motor drive may either be connected in a stand-alone mode to control operation of a motor from an AC source without connection to another motor drive or be connected electrically to other motor drives, for example, in a paralleled mode, shared DC bus mode, or a combination thereof. A parameter identifies the expected electrical configuration of the motor drive. The power transferred to the DC bus is compared to the power transferred from the DC bus in the motor drive. If the difference between the power transferred to the DC bus and the power transferred from the DC bus exceeds a predetermined threshold, the motor drive detects the mismatch between 110W a motor drive is connected electrically and how it is configured for operation.

Abstract translation: 公开了一种用于检测电机驱动器如何电连接以及如何配置为操作的不匹配的系统。 电机驱动器可以以独立模式连接，以控制来自AC电源的电动机的操作，而不连接到另一个电动机驱动器，或者电连接到其它电动机驱动器，例如并联模式，共享DC总线模式 ，或其组合。 参数确定电机驱动器的预期电气配置。 传输到直流总线的电力与电机驱动器中直流总线传输的功率进行比较。 如果传输到直流母线的功率与从直流总线传输的功率之间的差异超过预定阈值，则电动机驱动器检测电动机驱动器电连接的110W与运行配置之间的失配。

公开(公告)号：US20240359325A1

公开(公告)日：2024-10-31

申请号：US18306352

申请日：2023-04-25

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Yuhong Huang ,  Jatin P. Bhatt ,  Robert H. Schmidt ,  Arun K. Guru ,  Robert B. Hirschinger

IPC: B25J9/16 ,  B25J5/02 ,  B65G54/02

CPC classification number: B25J9/1664 ,  B25J5/02 ,  B65G54/02 ,  B65G2203/0283

Abstract: Motion is coordinated between a robot and a mover in an independent cart system. Positions for a mover along a track for the independent cart system and for each axis of motion of the robot mounted on the mover are received at the motion controller. The axis position corresponds to either an angular position of the motor or a mechanical position of a corresponding axis on which the motor is mounted. The motion controller receives a robot motion command corresponding to a desired operation of the robot and generates a mover motion command for the mover and an axis motion command for each axis of the robot. The mover motion command and the axis motion commands are generated as a function of the robot motion command, the position of the mover along the track, and the position of the motor or of the axis for each axis of the robot.