Fanuc Corporation

Masaya Tateda

Yasuyuki Matsumoto

Akira Hirai

Hiroyasu Sato

Kiichi Inaba

Youichirou Ooi

Kaname Matsumoto

Hirokazu Nagai

Keitarou Inagaki

Yuuta Gotou

Yuuki Inoue

Hiroyasu Satou

Yuuta Satou

Daishi Gotou

A monitoring device includes: an acquisition unit for acquiring a clock signal output from a communication circuit that outputs the clock signal; and a monitoring unit for analyzing the waveform of the clock signal acquired by the acquisition unit, based on a predetermined reference clock signal having a period equal to or shorter than a period of the clock signal to thereby determine whether or not there is a sign of malfunction in the communication circuit.

Monitoring device, motor driving apparatus, and monitoring method

A motor driving device includes an acquisition unit configured to acquire multiple pieces of data in data acquisition periods having different lengths; a selection unit configured to select a piece of data from among the multiple pieces of data, based on timing at which a switching circuit switches switching devices; and a control unit configured to control the switching circuit based on the selected data.

Motor driving device

There are provided a driving control portion configured to output a closing command for bringing a contact to a closed state to a first driving portion, and also to output to the first driving portion an opening command for bringing the contact to an open state and the closing command in an alternate and repeated manner until the current runs through the contact; a number-of-retries obtaining portion configured to obtain, as a number of retries, the number of times that the driving control portion repeated the opening command and the closing command until the current runs through the contact after the driving control portion outputted the closing command to the first driving portion; and a usable period estimating portion configured to estimate a usable period from the present time of a first relay in accordance with the number of retries.

Load driving device and load driving method

A motor driving device includes N units (N is a natural number equal to or greater than 2) of inverters configured to control N units of motors, respectively, a&#xd7;N units (a is a natural number) of cables configured to allow connection between the N units of inverters and the N units of motors, respectively, and a PWM signal output unit configured to transmit a PWM signal to the N units of inverters. The N units of inverters and the a&#xd7;N units of cables are divided into M groups (M&#x2264;N). The PWM signal output unit outputs the PWM signal for driving at least one inverter belonging to each group of the M groups so that the PWM signals have phase differences shifted by 360 degrees/M among the groups.

Motor driving device and motor driving method

A resin molded substrate has at least a pair of terminal through holes for allowing lead terminals of a cylindrical capacitor to be inserted through, and at least one protrusion for supporting a side of a bottom portion of the capacitor so as to space from a front surface of the substrate the side of the bottom portion of the capacitor having the lead terminals inserted through the terminal through holes. The pair of lead terminals at the bottom portion are inserted through the terminal through holes of the resin molded substrate, whereby the capacitor is mounted in an upright state with a solder, so that the protrusion spaces the side of the bottom portion from the front surface of the resin molded substrate.

Resin molded substrate and mounting structure for capacitor

A motor drive apparatus includes a converter configured to convert AC power inputted by an AC power supply to DC power and to output the same to a DC link, a DC link capacitor provided for the DC link, an inverter configured to convert the DC power in the DC link to AC power for driving a motor and to output the AC power, a DC voltage detection unit configured to detect a value of DC voltage applied across the DC link capacitor, an AC voltage detection unit configured to detect a peak value of AC voltage on an AC input side of the converter, and a leakage current detection unit configured to detect a leakage current caused by driving the motor, based on the value of DC voltage detected by the DC voltage detection unit and the peak value of AC voltage detected by the AC voltage detection unit.

Motor drive apparatus to detect occurrence of leakage current

A motor drive apparatus includes a converter configured to convert AC power of an AC power supply into DC power and outputs the DC power, a DC link unit including capacitors connected in series with each other, an inverter connected in parallel with the DC link unit, and configured to convert the DC power of the DC link unit into AC power for driving a motor, and outputs the AC power, and a short-circuit judgment unit configured to judge that at least one of the capacitors in the DC link unit has shorted in the case where, when the value of a voltage applied to a positive and negative bipolar terminal of the DC link unit is smaller than a first threshold, the value of an input current flowing from the AC power supply into the DC link unit via the converter is larger than a second threshold.

Motor drive apparatus including short-circuit judgment unit for capacitor of DC link unit

In a motor driver of the present invention, voltage and current values measured by a voltage and current detector and a voltage value measured by a voltage detector are determined as first measurement results, in the state of turning on semiconductor switching elements connected between a positive terminal of a capacitor and motor coils. Voltage and current values measured by the voltage and current detector and a voltage value measured by the voltage detector are determined as second measurement results, in the state of, as to a group A, turning on a semiconductor switching element connected between the positive terminal of the capacitor and the motor coil, and as to a group B, turning on semiconductor switching elements connected between a negative terminal of the capacitor and the motor coil. The insulation resistance values are calculated between the motor coils of each group A or B and a ground.

Motor driver having function of detecting insulation resistance

A motor drive apparatus includes a converter, a DC link capacitor, a plurality of inverters, a diagnosis command unit configured to give a command to one of the plurality of inverters to perform power conversion, an AC voltage detection unit configured to detect a peak value of AC voltage on an AC input side of the converter, a DC voltage detection unit configured to detect a value of DC voltage across the DC link capacitor, a calculation unit to calculate a difference between the value of DC voltage and the peak value of AC voltage, a storage unit configured to store the difference in association with the inverters, and a leakage current determination unit configured to determine that the inverter associated with the largest of the differences stored in the storage unit is the inverter that has caused the largest leakage current.

Motor drive apparatus to detect inverter with large leakage current

A motor drive according to the present invention includes an inverter, a motor rotational speed obtaining unit, a motor inertia information storage unit, a motor rotational energy calculator, a dynamic braking circuit, a tolerance information storage unit for storing the tolerances of resistors of the dynamic braking circuit, a power element operation unit, a dynamic braking circuit operation unit, and a tolerance comparator for performing a comparison between the rotational energy of a motor and the tolerance of the dynamic braking circuit. When the rotational energy exceeds the tolerance, power elements of one of arms are turned on, while power elements of the other arm are turned off, without actuating the dynamic braking circuit. When the rotational energy is equal to or less than the tolerance, the dynamic braking circuit is actuated, and the power elements of the one of the arms are turned off.

Motor drive having function of protecting dynamic braking circuit

A connection member includes: a first short bar whose one end is attached to a first terminal block; a second short bar which extends in a longitudinal direction of the first short bar and whose one end is attached to a second terminal block, at least part of the other end of the second short bar overlapping the first short bar; and a guide member which is attached to an overlapping part of the first short bar and the second short bar and which allows the second short bar to move relative to the first short bar in the longitudinal direction while maintaining surface contact between the first short bar and the second short bar at the overlapping part.

Connection member and motor drive device having the same

A motor drive apparatus according to the present invention comprises: an electric shunt which shunts a current flowing through a power line connected to a motor; a first current detection unit and a second detection unit, each disposed on either side of a node shunted by the electric shunt, for detecting the current flowing through the power line; a shunt commanding unit which gives a shunt command to the electric shunt to effect shunting of the current; and a determining unit which determines the presence or absence of a fault in the electric shunt, based on the shunt command and on current values detected by the first current detection unit and the second detection unit.

Motor drive apparatus having function of detecting failure of electric shunt

A motor drive device includes a power source unit rectifying AC voltage to DC voltage and to smooth the DC voltage by a capacitor, a motor drive amplification, a power source voltage measurement unit, an insulation resistance deterioration detection unit having a contact unit connecting one end of the capacitor to the ground and a current detection unit provided between the other end of the capacitor and a motor coil, and detecting a deterioration in an insulation resistance of the motor based on a detected signal obtained from a closed circuit formed by the contact unit, the capacitor, the motor coil, and the ground by using the current detection unit, and a failure detection unit detecting a failure in the insulation resistance deterioration detection unit based on the detected signal in the insulation resistance deterioration detection unit and a voltage value measured by the power source voltage measurement unit.

Motor drive device including function to detect failure in insulation resistance deterioration detection unit of motor, and failure detection method

A motor drive device includes: a converter; a power supply; a plurality of inverter units configured to convert DC to AC to drive a plurality of motors by upper arm switching elements connected between a capacitor and motor coils and lower arm switching elements connected between the capacitor and motor coils; a second switch configured to connect the capacitor to the earth; a current detector configured to measure current flowing between the capacitor and the earth; a voltage detector configured to measure the voltage across the capacitor; and, an insulation resistance detector configured to detect insulation resistance of the multiple motors based on the current and voltage measured in a condition that the switching element to which the motor coil to be measured is connected is turned on and the switching elements to which a motor coil other than the target for measurement is connected are turned off.

Motor drive device having insulation resistance detecting function and method of detecting insulation resistance of motors

A motor drive includes a DC power supply unit for rectifying electric power supplied from an AC power supply using a rectifier and smoothing the electric power using a capacitor; and a plurality of independent voltage measurement circuits for measuring the voltage of the DC power supply unit. The motor drive, which converts a DC voltage into an AC voltage to drive a motor, includes a voltage collection unit for collecting voltage information obtained from the voltage measurement circuits; a normal operation voltage information storage unit for storing a normal operation voltage; and an abnormality determination unit for identifying an intersection voltage of output signals based on voltage values collected by the voltage collection unit, comparing the intersection voltage with the normal operation voltage, and detecting a broken portion owing to entering foreign matter based on the difference between the intersection voltage and the normal operation voltage.

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Yamanashi, Japan

Masaya Tateda