Kabushiki Kaisha Yaskawa Denki

Koji Uemura

Keita Shimamoto

Takefumi Kabashima

Yuji Arinaga

Shirou Yoshidomi

Ryuta Kagawa

Kenji Matsuura

Kazunari Matsuzaki

Takashi Nagase

Takafumi Goto

A robot system includes: a robot comprising a joint driven by a motor; and a circuitry configured to: execute position control of the motor based on position commands; store torque commands generated based on the position commands during execution of the position control of the motor; and execute torque control of the motor based on the stored torque commands.

Torque control of a motor

A motor control system includes a motor, an encoder, and a controller including a controller transmitter configured to transmit a torque command to control the motor. The encoder includes a position detector configured to detect a rotational position of the motor, an encoder receiver configured to receive the torque command from the controller transmitter, first disturbance estimating circuitry configured to estimate a first disturbance torque based on the rotational position and the torque command, and an encoder transmitter configured to transmit the rotational position and the first disturbance torque to the controller.

Motor control system, encoder, and servo motor

A rotating electric machine according to the embodiments includes a rotating-electric-machine unit, a rotation detector, an Oldham coupling, and a washer. The rotating-electric-machine unit includes a shaft. The rotation detector includes a body and a rotation input pin that is rotatably provided on the body. The Oldham coupling couples the rotation input pin of the rotation detector and the shaft to each other while allowing any relative displacement in a direction intersecting an axial direction. The washer is provided on the rotating-electric-machine unit while being positioned with respect to the shaft. The washer includes an attaching portion at which the body of the rotation detector is attached to the washer.

Rotating electric machine

Magnetic field detection elements and detect a magnetic material member formed at a rotary disc. An A pulse generation portion and a B pulse generation portion generate an A pulse a and a B pulse b which phases differ by 90 degrees to each other. The B pulse generation portion is supplied with the power from a backup power supply for a predetermined time period necessary for detecting the level of the B pulse from a time point of the edge of the A pulse.

Absolute multi-revolution encoder

A magnetic encoder unit with a small size and low power consumption is provided which can detect an angle in not more than one-turn and an amount of multi-turn. The magnetic encoder unit includes a permanent magnetmagnetized in a direction perpendicular to a rotation axis of a rotating memberand fixed to the rotating member, a magnetic field detecting elementfixed to a fixed memberso as to be opposite to the permanent magnetwith a gap therebetween, and a signal processing circuitprocessing a signal from the magnetic field detecting element. Here, multi-turn detecting means including a multi-turn magnetic field detecting elementand a multi-turn signal processing circuitdetecting an amount of multi-turn from a signal of the multi-turn magnetic field detecting elementis added thereto.

Small size magnetic encoder unit with low power consumption

A multirotation type encoder of the invention includes a first encoderattached to a rotating shaftof a rotating machinefor detecting an absolute value rotational angle within one rotation, and a second encoder for counting a multirotation amount of the rotating shaftby using a speed reducing mechanismby magnetic coupling and the second encoderis constituted by a first magnetic geardirectly connected to the rotating shaft and magnetized in multiple poles and at least one second magnetic geararranged to be opposed thereto in noncontact and magnetized in multiple poles by a number of magnetic poles larger than that of the first magnetic gearand is constituted to count a multirotation amount by detecting a rotational angle of the second magnetic gear by the second encoder.

Growing community of inventors

Fukuoka, Japan

Koji Uemura