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    Applied force control for robots
    11.
    发明授权
    Applied force control for robots 有权

    公开(公告)号：US12290929B2

    公开(公告)日：2025-05-06

    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

    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.

    INDUSTRIAL MOTOR DRIVES WITH INTEGRATED CONDITION MONITORING
    12.
    发明申请
    INDUSTRIAL MOTOR DRIVES WITH INTEGRATED CONDITION MONITORING 有权

    公开(公告)号：US20210341896A1

    公开(公告)日：2021-11-04

    申请号：US16864739

    申请日：2020-05-01

    Applicant: Rockwell Automation Technologies Inc.

    Inventor： Robert J. Miklosovic ,  Brian R. Fast

    IPC: G05B19/042 ,  G05B23/02 ,  G06N20/00

    Abstract: Various embodiments of the present technology generally relate to condition monitoring in industrial environments. More specifically, some embodiments relate to an embedded analytic engine for motor drives. A drive-embedded analytic engine discussed herein enables industrial enterprises, employers, and other users to monitor an industrial operation comprising at least a motor and a mechanical load in order to detect failures before they occur. An embedded analytic engine may perform condition monitoring from within a frequency drive based on a configuration specific to a monitored fault condition. In order to detect fault conditions, the embedded analytic engine may obtain baseline signal data from an industrial operation using rotating machinery, obtain recent runtime signal data from the industrial operation, and use the signal data to produce data light metrics that may be used to detect fault conditions from within the drive.

    SYSTEMS AND METHODS FOR NON-RIGID LOAD VIBRATION CONTROL
    13.
    发明申请
    SYSTEMS AND METHODS FOR NON-RIGID LOAD VIBRATION CONTROL 有权

    公开(公告)号：US20210083611A1

    公开(公告)日：2021-03-18

    申请号：US16574606

    申请日：2019-09-18

    Applicant: Rockwell Automation Technologies, Inc.

    Inventor： Robert J. Miklosovic ,  Brian Fast

    IPC: H02P23/04

    Abstract: A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

    SYSTEM AND METHOD FOR IMPROVING DRIVE EFFICIENCY IN AN INDUSTRIAL AUTOMATION SYSTEM
    14.
    发明申请
    SYSTEM AND METHOD FOR IMPROVING DRIVE EFFICIENCY IN AN INDUSTRIAL AUTOMATION SYSTEM 审中-公开

    公开(公告)号：US20200067439A1

    公开(公告)日：2020-02-27

    申请号：US16673793

    申请日：2019-11-04

    Applicant: Rockwell Automation Technologies, Inc.

    Inventor： Brian R. Fast ,  Robert J. Miklosovic

    IPC: H02P23/00 ,  H02P23/14

    Abstract: Provided herein are systems, methods, and software for improving drive efficiency in an industrial automation system. In one implementation, a system comprises a mechanical load, an electromechanical device attached to the mechanical load, and a drive coupled to the electromechanical device. A processor is programmed to generate and display an acceleration curve, a duplicate acceleration curve, an energy curve and a duplicate energy curve. A user input is received indicating a change to at least a portion of the duplicate acceleration curve, and a change to the duplicate energy curve is calculated and displayed. A modified command signal based on the user input is calculated, and the drive is configured to control the electromechanical device via the modified command signal to mechanically operate the mechanical load perform a task.

    System and method of integrated vibration monitoring in motor drives
    15.
    发明授权
    System and method of integrated vibration monitoring in motor drives 有权

    公开(公告)号：US10378951B2

    公开(公告)日：2019-08-13

    申请号：US15483644

    申请日：2017-04-10

    Applicant: Rockwell Automation Technologies, Inc.

    Inventor： Robert J. Miklosovic ,  Mark A. Chaffee

    IPC: G01H1/00 ,  G01N29/46 ,  G01N29/14 ,  G01N29/44 ,  G01H3/04 ,  G01M7/00 ,  G01M13/028 ,  G01M13/045 ,  H02P6/10 ,  H02P23/12 ,  H02P23/14

    Abstract: An improved system and method for analyzing motor performance to detect vibration of an electric machine controlled by a motor drive is disclosed. A load observer determines an estimated torque present as a load on the motor as a function of input signals corresponding to a desired torque to be generated by the motor and to a measured angular position of the motor during operation. The motor drive determines a frequency response of the estimated torque to identify at what magnitude and frequency any vibration components are present within the estimated torque signal. The motor drive compares the frequency response of the estimated torque signal to set points. If the measured magnitude of vibration at a particular frequency, as seen in the frequency response, exceeds a threshold set in one of the set points for that frequency, the motor drive generates an output signal indicating an excessive vibration is present.

    System and Method Of Single Parameter Ratiometric Tuning for Motor Drives
    16.
    发明申请
    System and Method Of Single Parameter Ratiometric Tuning for Motor Drives 审中-公开

    公开(公告)号：US20180262143A1

    公开(公告)日：2018-09-13

    申请号：US15457189

    申请日：2017-03-13

    Applicant: Rockwell Automation Technologies, Inc.

    Inventor： Robert J. Miklosovic ,  Mark Chaffee

    IPC: H02P23/00 ,  H02P23/20

    CPC classification number: H02P23/0031 ,  H02P23/00 ,  H02P23/0077 ,  H02P23/04 ,  H02P23/14 ,  H02P23/20

    Abstract: An improved system and method for tuning a motor controller is disclosed. The improved system and method for tuning a motor controller adjusts controller gains and filter settings in tandem to achieve a desired level of performance. A user terminal is in communication with a motor controller and reads the existing controller gains from the motor controller. The user terminal displays the existing controller gains and at least one user selectable object for adjusting the controller gains. A user adjusts the user selectable object to adjust the controller gains in tandem. The controller gains are adjusted responsive to the user input while maintaining existing relationships between controller gains. The user terminal writes the adjusted values of the gains to the motor controller.

    System and method for inertial compensation in a motor drive
    19.
    发明授权
    System and method for inertial compensation in a motor drive 有权

    公开(公告)号：US12191785B2

    公开(公告)日：2025-01-07

    申请号：US18107827

    申请日：2023-02-09

    Applicant: Rockwell Automation Technologies, Inc.

    Inventor： Jonathan D. Hoffman ,  Adam M. Shea ,  Robert J. Miklosovic

    IPC: H02P23/14 ,  H02P23/20 ,  H02P27/08

    Abstract: A motor drive receives a position feedback signal from a position sensor operatively connected to a motor. The motor drive receives a command signal defining a desired operation of the motor. A processor in the motor drive generates an acceleration feedforward signal from the command signal and an acceleration reference signal from the command signal and the position feedback signal. The processor also generates an estimated disturbance acceleration from the acceleration reference signal. The acceleration feedforward signal is multiplied by a first gain to obtain a first product, and the estimated disturbance acceleration by a second gain to obtain a second product. The first and second gains are functions of first and second portions of the system inertia. A current reference signal is generated based on the first product and second products, and an output voltage to the motor is generated from the current reference signal.

    System and method for trajectory shaping for feasible motion commands
    20.
    发明授权
    System and method for trajectory shaping for feasible motion commands 有权

    公开(公告)号：US11716047B2

    公开(公告)日：2023-08-01

    申请号：US17352792

    申请日：2021-06-21

    Applicant: Rockwell Automation Technologies, Inc.

    Inventor： Jonathan D. Hoffman ,  Brian Fast ,  Robert J. Miklosovic

    IPC: H02P29/024 ,  H02P29/40 ,  H02P29/10

    CPC classification number: H02P29/024 ,  H02P29/10 ,  H02P29/40

    Abstract: A system and method for shaping the trajectory of a motion command to reduce the effects of a load on performance of a motor dynamically modifies the motion profile in real time to limit the reference signals in the motion profile to feasible commands. A load observer determines an estimated disturbance acceleration. The estimated disturbance acceleration includes the dynamics of the controlled load and is used to modify a maximum and a minimum limit for the acceleration reference. The acceleration limits are, in turn, used to determine velocity limits. The motion profile and modified acceleration and velocity limits are provided to a state filter which determines a new motion profile for use by the motor drive to control operation of a motor and to control the load connected to the motor.

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