A motor includes a motor control circuit having a ground terminal, and a current limiting part disposed on a path electrically connecting the ground terminal and an external ground terminal included in an external circuit disposed outside the motor.

A motor fault detection system is based on coupling injection of high-frequency signal. An input end of the motor is connected with the high-frequency detection signal source circuit through the coupling circuit to inject a high-frequency detection signal into the motor winding; an input end of the high-frequency detection signal source circuit is connected with an output end of the controller to control the output of the high-frequency detection signal; an output end of the response signal processing circuit is connected with an input end of the controller to send the received voltage or current response signal to the controller; and the controller judges whether the motor has a fault and the degree of the fault by analyzing the response signal after applying an excitation.

A motor fault detection system is based on coupling injection of high-frequency signal. An input end of the motor is connected with the high-frequency detection signal source circuit through the coupling circuit to inject a high-frequency detection signal into the motor winding; an input end of the high-frequency detection signal source circuit is connected with an output end of the controller to control the output of the high-frequency detection signal; an output end of the response signal processing circuit is connected with an input end of the controller to send the received voltage or current response signal to the controller; and the controller judges whether the motor has a fault and the degree of the fault by analyzing the response signal after applying an excitation.

An electronic component fixation structure disclosed in the present application includes a holding member which, being made of an insulating material, is formed of a storing portion which stores a main body portion of an electronic component, a protection portion which surrounds a plurality of connection terminals of the electronic component, and a pair of protrusion portions which protrude upward from the respective central portions of a pair of side walls of the protection portion; and a wiring substrate on which to connect between electronic components, wherein the pair of protrusion portions of the holding member are engaged with the wiring substrate, and the plurality of connection terminals of the electronic component are solder connected to the wiring substrate.

An electronic component fixation structure disclosed in the present application includes a holding member which, being made of an insulating material, is formed of a storing portion which stores a main body portion of an electronic component, a protection portion which surrounds a plurality of connection terminals of the electronic component, and a pair of protrusion portions which protrude upward from the respective central portions of a pair of side walls of the protection portion; and a wiring substrate on which to connect between electronic components, wherein the pair of protrusion portions of the holding member are engaged with the wiring substrate, and the plurality of connection terminals of the electronic component are solder connected to the wiring substrate.

An actuator may include a drive motor, an actuatable output, and a sensor for sensing a first sensed parameter in or around the actuator. The first sensed parameter may have a first sensed parameter value that can change with time. The actuator may also include electronics that may identify a first identified value representative of the first sensed parameter value and increment a first counter value when the first identified value falls within a first range of values, and increment a second counter value when the first identified value falls within a second range of values.

An actuator may include a drive motor, an actuatable output, and a sensor for sensing a first sensed parameter in or around the actuator. The first sensed parameter may have a first sensed parameter value that can change with time. The actuator may also include electronics that may identify a first identified value representative of the first sensed parameter value and increment a first counter value when the first identified value falls within a first range of values, and increment a second counter value when the first identified value falls within a second range of values.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

An inverter unit includes a switching element unit, a control board, a cooler, and an inverter case. The inverter case is integrally fixed to a rotating electrical machine case. The cooler is disposed so as to be in contact with the switching element unit on an opposite side to a rotating electrical machine side. The control board is disposed on the rotating electrical machine side of the switching element unit.

A motor control apparatus for securing insulation performance includes: a temperature sensor detecting a temperature of a motor; an altitude detection means providing information on an altitude at which the motor is positioned; and a controller including a motor output map having a plurality of groups of map data in which motor output limit rates depending on temperatures of the motor are pre-stored for each preset altitude section, selecting one group of map data corresponding to the information on the altitude provided by the altitude detection means, and determining a motor output limit rate by applying the temperature detected by the temperature sensor to the selected group of map data.