The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 29, 2009
Filed:
Aug. 03, 2006
Hiroyuki Abe, Yamanashi, JP;
Toshiyuki Ogata, Yamanashi, JP;
Hiroyuki Kawamura, Yamanashi, JP;
Fanuc Ltd., Yamanashi, JP;
Abstract
A speed region of a motor is divided into a region lower than a first switch speed VS, a region higher than a second switch speed VSand a region between the first and second switch speeds. An abnormal load determination level to be compared with an estimated load obtained by an observer is set for each of the regions. An abnormal load determination level ALapplied when an acceleration exceeds a threshold value is set. The abnormal load determination level ALis used for comparison with the estimated load until a predetermined period of time elapses after the acceleration to be commanded to the motor, which once exceeded the threshold level, drops. In other cases, the estimated load is compared with the abnormal load determination level having a value according to the speed. If the estimated load exceeds the compared abnormal load determination level, it is judged that a collision is detected.