A motor includes a rotor, a stator, and a magnetic pole position detection element to detect a position of a magnetic pole of the rotor. The rotor includes a resin magnet having a first orientation and a second orientation, and a shaft fixed to the resin magnet, and the first and second orientations and are different from each other in a radial direction. The magnetic pole position detection element faces the resin magnet in an axial direction.

A motor includes a rotor, a stator, and a magnetic pole position detection element to detect a position of a magnetic pole of the rotor. The rotor includes a resin magnet having a first orientation and a second orientation, and a shaft fixed to the resin magnet, and the first and second orientations and are different from each other in a radial direction. The magnetic pole position detection element faces the resin magnet in an axial direction.

An electric work machine (1) includes a motor (1), a manipulatable part (9), a control part (20) configured to perform a first braking control and a second braking control that differ from each other, and a kickback-detection part (20, S30) that detects whether kickback has occurred. The control part energizes the motor in response to detection of user-manipulation of the manipulatable part. In response to detection of kickback, the control part performs the first braking control and thereby causes the motor to generate a first braking force. In response to detection of a state change of the manipulatable part to an unmanipulated or OFF state, the control part performs the second braking control and thereby causes the motor to generate a second braking force, which is weaker than the first braking force.

An electric work machine (1) includes a motor (1), a manipulatable part (9), a control part (20) configured to perform a first braking control and a second braking control that differ from each other, and a kickback-detection part (20, S30) that detects whether kickback has occurred. The control part energizes the motor in response to detection of user-manipulation of the manipulatable part. In response to detection of kickback, the control part performs the first braking control and thereby causes the motor to generate a first braking force. In response to detection of a state change of the manipulatable part to an unmanipulated or OFF state, the control part performs the second braking control and thereby causes the motor to generate a second braking force, which is weaker than the first braking force.

An actuator control device that controls an actuator according to an angle of a rotating portion includes a processor configured to: calculate a target relative angle from a rotation start angle to a target angle; detect a sensor detection angle from a sensor; calculate an angular velocity of the rotating portion based on a change amount of the sensor detection angle in a predetermined calculation cycle; correct the angular velocity to be closer to a normal angular velocity when the angular velocity is greater than or equal to a first threshold or less than or equal to a second threshold; calculate an actual relative angle by integrating the angular velocity and a corrected angular velocity; and feedback-control the actuator according to a deviation between a target relative angle and the actual relative angle.

An actuator control device that controls an actuator according to an angle of a rotating portion includes a processor configured to: calculate a target relative angle from a rotation start angle to a target angle; detect a sensor detection angle from a sensor; calculate an angular velocity of the rotating portion based on a change amount of the sensor detection angle in a predetermined calculation cycle; correct the angular velocity to be closer to a normal angular velocity when the angular velocity is greater than or equal to a first threshold or less than or equal to a second threshold; calculate an actual relative angle by integrating the angular velocity and a corrected angular velocity; and feedback-control the actuator according to a deviation between a target relative angle and the actual relative angle.

A Brushless Direct-Current (BLDC) motor is provided for a power tool, including a stator comprising a coil, a rotor configured to rotate with respect to the stator, terminals secured to the stator, and a sensor circuit mount attached to the stator. The sensor circuit mount defines a plane having a first side and a second side, the sensor circuit mount including Hall sensors mounted on the first side of the plane of the sensor circuit mount facing the stator. Power-supply lines are secured to the terminals to supply electric current to the coil, the power-supply lines being routed from the terminals without traversing the second side of the plane of the sensor circuit mount. The sensor circuit mount is attached to the stator by at least one fastener that extends through an opening of the sensor circuit mount and a receptacle of the stator.

A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A system is provided with a magnetic field sensor being positioned in a magnetic field of a magnet that is coupled to a rotatable driving shaft. The magnetic field sensor is configured to sense a rotation of the magnetic field in response to a rotation of the rotatable driving shaft, and generate an angle sensor signal based on an orientation angle of the magnetic field. The angle sensor signal includes angular values that represent an absolute orientation angle of the rotatable driving shaft. The system includes a memory storing a mapping of values of a patterned signal to the angular values, electronic circuitry configured to generate, based on the angular values and the stored mapping, the patterned signal, and a signal generator circuit configured to generate a signal representing the absolute orientation angle of the rotatable driving shaft based on the angle sensor signal.