Etel S.a.

Ralph Coleman

Jean-Marc Vaucher

Didier Blanc

Laurent Heiniger

Claude Froidevaux

Nadim Maamari

Samuel Mottier

Basile Renaud Graf

Kevin Derabasse

Hervé Stämpfli

A diagnostic method localizes technical faults in a motion system that includes a base adapted to receive a motion stage for equipment, a machine frame resting on the floor, dampers adapted to support the base, and an active isolation system arranged between the base and the machine frame. The active isolation system and the base form a mechanical system. The active isolation system includes actuators, adapted to impart six degree-of-freedom (DOF) motion to the base in a reference frame, and inertial sensors adapted to provide a six DOF measurement of the base's motion. The method includes: i) applying a control signal for actuating or contributing to the actuation of the actuators of the active isolation system to impart a motion to the base; ii) obtaining, with the inertial sensors, a six DOF measurement of the base's motion relative to a reference point; iii) creating a measured process sensitivity matrix of the mechanical system using the six DOF measurement; and iv) determining, based on the measured process sensitivity matrix, whether all the actuators and sensors of the active isolation system are working as expected and/or whether there is a pivot point impeding the movement of the base.

Diagnostic method for localizing technical faults in a motion system

A positioning device in a gantry type of construction includes two linear guides that are arranged parallel to each other on a base and support a first cross member and a second cross member in a manner allowing movement in a first direction. A carriage having a functional element is supported on the first cross member in a manner allowing movement in a second direction. Position-measuring devices for measuring the position of the carriage relative to the second cross member are disposed on the carriage and on the second cross member.

Positioning device in gantry type of construction having a position-measurement device for measuring the position of a carriage relative to a cross-member

In a method for ascertaining a commutation angle in a permanently excited synchronous motor, the commutation angle indicates the position of a rotor within a magnetic period of the synchronous motor and is used for the field-oriented energization of the synchronous motor. The method includes the steps of specifying a random commutation angle as starting point of the method, impressing a current vector into the motor using the initially randomly specified commutation angle, ascertaining a positional deviation of the rotor, varying the commutation angle used for the energization with the aid of a controller structure in order to counteract the ascertained positional deviation, so that the commutation angle that comes about after a stabilizing period corresponds to the actual commutation angle of the rotor, an initial speed of the rotor being taken into account when ascertaining the positional deviation of the rotor.

Method for ascertaining a commutation angle

A magnetic track system for a transport device for moving a rotor along the magnetic track system includes a plurality of linear sections having an even number of magnets of alternating polarity, which are disposed on a support in each case, the magnetic orientation of the magnets reversing itself at regular intervals across abutting sections n the linear regions of the magnetic track system. In the curved regions of the magnetic track system, on the other hand, the polarity of two adjacent magnets of different sections is the same.

Magnetic track system for a transport device, and transport device

The control circuit of an electric motor, which has at least one phase supplied with high voltage and has a defined high-voltage zone, is provided with a control for the supply current of the phase with a setpoint-value current, and has devices for measuring the supply current which generate a first analog signal whose value corresponds to the measured current, an electronic control unit being disposed in a low-voltage zone, and having an analog-to-digital converter for converting the first analog signal or another analog signal acting as the first analog signal, into a corresponding digital signal which is supplied to the electronic control unit. The measuring devices are formed by a bleeder resistor, which is disposed in series with the phase, as well as by a differential amplifier whose two inputs, respectively, are connected to two contacts of the bleeder resistor. The analog-to-digital converter is located in the high-voltage zone a galvanic separating element is situated between the analog-to-digital converter and the electronic control unit. The control circuit has, inter alia, a voltage converter which, within the high-voltage zone, provides a floating low voltage which supplies the analog-to-digital converter.

Control circuit for an electric motor having a power-supply control device

A parallel robot of the SCARA type includes a base or a body to which two articulated elements are attached, each including an arm and a forearm that are connected by a joint and are mounted in a manner allowing rotation about one and the same geometrical axis. The two articulated elements are attached to two annular segments, respectively, that form two movable parts of a circular motor whose stator at least partially forms the body, these two movable parts being assigned to one and the same circular path of the stator. Preferably, the two movable parts are guided through one and the same guideway in order to ensure that these two movable parts rotate very precisely about the same geometrical axis.

Parallel robot of the SCARA type

In a positioning device in gantry type of construction, due to a special arrangement of the position-measuring devices used for the positioning, errors due to thermal expansion of the positioning device may be avoided to a great extent. In particular, attention is given to the advantageous placement of fixed point of a scale relative to a straightness track of a further scale.

Position device in gantry type of construction

A linear guide with an integrated linear motor, the linear guide having a stationary support extending in a guide direction, a table movable in the guide direction and a linear motor. The linear motor includes 1) a movable element connected with the table, 2) a stationary element connected with the stationary support and contactless bearings between the stationary support and the table and 3) an electromagnetic positioner based on electromagnetic interaction for positioning the table transversely in relation to the guide direction. The linear guide includes an integrated position-measuring system having a scale and scanning heads which detect a position of the table in the guide direction and a deviation direction, which lies transversely in relation to the guide direction and parallel in relation to a plane of an air gap of the linear motor. The electromagnetic positioner acts in such a way so that the table is positioned in the deviation direction.

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Fleurier, Switzerland

Ralph Coleman