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公开(公告)号：US11285985B2
公开(公告)日：2022-03-29
申请号：US17099559
申请日：2020-11-16
申请人： FANUC CORPORATION
摘要： A stackable control device is equipped with a plurality of casters provided on a side of a bottom surface, and a support member provided on an upper surface and configured to support a control device that is stacked on a side of the upper surface. Two from among the plurality of casters sandwich the support member of a control device that is stacked on the side of the bottom surface.
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公开(公告)号：US10965222B2
公开(公告)日：2021-03-30
申请号：US16717922
申请日：2019-12-17
申请人： FANUC CORPORATION
摘要： A power supply includes: a rectifier circuit which has a plurality of rectifier switching elements, and separately extracts a positive voltage and a negative voltage for every phase from a primary power source of three-phase alternating current, respectively; a smoothing circuit which has a pair of smoothing capacitors connected in series to each other to be charged by the rectifier circuit, and a plurality of smoothing inductors respectively arranged between the rectifier circuit and the smoothing capacitors; a inverter circuit which has a plurality of inverter switching elements and inverts output of the smoothing circuit into alternating current; and a control circuit which controls switching of the plurality of rectifier switching elements so that output voltage of the smoothing circuit becomes a desired voltage, and electrical current flowing to each phase of the rectifier circuit becomes a desired electrical current.
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公开(公告)号：US09846414B2
公开(公告)日：2017-12-19
申请号：US14608713
申请日：2015-01-29
申请人： FANUC Corporation
IPC分类号： F16P3/12 , G05B9/02 , G05B19/048 , G05B19/406 , F16P3/14 , H02P29/024
CPC分类号： G05B9/02 , F16P3/14 , G05B19/0428 , G05B19/048 , G05B19/406 , H02P29/0241
摘要： A servomotor control device includes a servomotor control circuit for controlling an inverter such that an alternating current is supplied to a servomotor when receiving a safety signal, and for controlling the inverter such that the alternating current is not supplied to the servomotor when not receiving the safety signal, and a servomotor monitoring circuit for stopping the servomotor by stopping transmission of the safety signal to the servomotor control circuit when determining to stop the servomotor, and for stopping the servomotor by disconnecting supply of a direct current to the inverter with a power source disconnect circuit and stopping the transmission of the safety signal to the servomotor control circuit when determining that at least one of the power source disconnect circuit, the safety signal, and the servomotor control circuit is not normal.
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公开(公告)号：US09669548B2
公开(公告)日：2017-06-06
申请号：US14811868
申请日：2015-07-29
申请人： FANUC Corporation
CPC分类号： B25J9/1694 , Y10S901/01 , Y10S901/02 , Y10S901/46 , Y10S901/50
摘要： A mobile collaborative robot includes a force sensor which is provided on a robot support on a carriage, a robot information acquisition unit which acquires robot information including posture information of the robot main body and load information of a load acting on the robot main body, a force calculation unit which calculates the external force acting on the robot support based on the robot information, and a judgment unit which judges that the mobile collaborative robot has come into contact with a human when a difference between the external force detected by the force sensor and the external force calculated by the force calculation unit is above a predetermined value α or when a difference between the amount of change in the detected external force and the amount of change in the calculated external force is above a predetermined value α1.
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5.发明授权公开(公告)号：US11283364B2
公开(公告)日：2022-03-22
申请号：US16789166
申请日：2020-02-12
申请人： FANUC CORPORATION
摘要： A power supply according to the present disclosure includes: a step-down circuit which has at least one pair of positive/negative step-down switching elements; at least one pair of positive/negative inductors to which voltage is applied via the step-down switching element, and one pair of positive/negative output capacitors which are connected in series and charged by electrical current passing through the inductor, and steps down input voltage and then outputs; an inverse-conversion circuit which has a plurality of inverse-conversion switching elements, and inverse-converts output voltage of the step-down circuit into alternating current; and a control circuit which controls switching of the plurality of step-down switching elements so that the output voltage of the step-down circuit becomes a desired voltage.
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公开(公告)号：US10855075B2
公开(公告)日：2020-12-01
申请号：US16165595
申请日：2018-10-19
申请人： FANUC CORPORATION
发明人： Nozomu Hasegawa , Yoshikiyo Tanabe
IPC分类号： H02H9/06
摘要： A surge protective circuit is connected between a single-phase AC power source and an apparatus that operates with electric power supplied from the AC power source to suppress an overvoltage applied from the AC power source to the apparatus. The surge protective circuit includes: a first constant-voltage device and a first discharge device connected in series between a first ground terminal and a non-ground-side terminal of the AC power source; and a second constant-voltage device and a second discharge device connected in series between a second ground terminal and a ground-side terminal of the AC power source. A midpoint between the first constant-voltage device and the first discharge device and a midpoint between the second constant-voltage device and the second discharge device are connected.
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公开(公告)号：US20160187860A1
公开(公告)日：2016-06-30
申请号：US14978026
申请日：2015-12-22
申请人： FANUC CORPORATION
CPC分类号： G05B9/02 , H02P27/08 , H02P29/024 , H02P29/0241
摘要： The servomotor control device includes: an inverter circuit that drives a servomotor; a PWM circuit that outputs a PWM signal to the inverter circuit; a cutoff circuit that receives a safety signal and the PWM signal, outputs the PWM signal to the inverter circuit when the safely signal is turned on, and does not output the PWM signal when the safely signal is turned off; and a servomotor control circuit that outputs the safety signal to the cutoff circuit and receives a monitor signal output from the cutoff circuit, the servomotor control circuit turning off, within one cycle time of the PWM signal, the safety signal input to the cutoff circuit where the PWM signal is turned off during servomotor drive and detecting an abnormality when an off state is not detected using the monitor signal.
摘要翻译： 伺服电机控制装置包括：驱动伺服电机的逆变器电路; 将PWM信号输出到逆变器电路的PWM电路; 接收安全信号和PWM信号的断路电路，当安全信号接通时将PWM信号输出到逆变器电路，并且在安全信号关闭时不输出PWM信号; 以及伺服电动机控制电路，其将安全信号输出到截止电路，并接收从断路电路输出的监视信号，伺服电动机控制电路在PWM信号的一个周期内关断输入到截止电路的安全信号， 在伺服电机驱动期间，PWM信号被关闭，并且当使用监视信号未检测到关闭状态时检测到异常。
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公开(公告)号：US11703843B2
公开(公告)日：2023-07-18
申请号：US17108126
申请日：2020-12-01
申请人： FANUC CORPORATION
IPC分类号： G05B23/02
CPC分类号： G05B23/0208 , G05B23/027 , G05B23/0262 , G05B2219/31366
摘要： A control apparatus for controlling an industrial machine includes a deterioration diagnostic unit that has a diagnostic function, which is repeatedly executed at predetermined timing, for diagnosing deterioration of each component of the industrial machine and outputs an alarm signal in response to deterioration equal to or more than a predetermined level in each component, an alarm control unit that outputs a stop command to the industrial machine based on the alarm signal and informs that the industrial machine is in an alarm stop state, and a cancellation operation receiving unit that receives the cancellation operation for cancelling the alarm stop state regardless of deterioration of each component. The deterioration diagnostic unit cancels the alarm stop state brought on by the diagnostic function based on the cancellation operation, and allows the industrial machine to operate until the diagnostic function is executed next.
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公开(公告)号：US09598064B2
公开(公告)日：2017-03-21
申请号：US14699041
申请日：2015-04-29
申请人： FANUC Corporation
CPC分类号： B60T13/748 , B60T17/18 , F16D63/002 , F16D65/14 , F16D2121/20 , H02P15/00 , H02P29/0241
摘要： A brake drive control circuit of a servo motor which detects malfunction of a semiconductor circuit at the brake drive control circuit, that is, a brake drive control circuit which connects two semiconductor circuits in series to a brake and uses a voltage detection circuit which detects the presence of voltage which is applied to the brake by brake signals turning the semiconductor circuits on/off so as to detect test pulses in the voltage which is applied to the brake due to test pulses which are included in the brake signals and turn the semiconductor circuits off for instants during an operation for disengaging the brake and detect malfunctions of the semiconductor circuits by the detection of the test pulses.
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