A power tool including an electric motor is provided. The tool includes a substantially disc-shaped printed circuit board (PCB), power switches mounted on the PCB; magnetic sensors mounted on the PCB facing the motor; a heat sink in thermal communication with the power switches disposed between the PCB and the electric motor; and a molded casing structurally securing the heat sink relative to the PCB. The molded casing includes a center opening, at least one first opening provided at a first radial distance from the center opening arranged to receive the magnetic sensors therein, and at least one second opening provided at a second radial distance from the center opening arranged to securely receive the heat sink therein.

In a driving apparatus (10) in which a position of a rotating shaft (27) of an electric motor (16) in a direction of an axis (B1) is determined, the driving apparatus (10) has: a stopper (77) which determines a position of the rotating shaft (27) in the direction of the axis (B1), and a terminal holder (31) which holds a first terminal for supplying an electric current to the electric motor (16), wherein a layout region of the stopper (77) in the direction of the axis (B1) and a layout region of the terminal holder (31) in the direction of the axis (B1) are overlapped with each other.

The present invention provides an apparatus for sensing rotor location, the apparatus comprising: a central shaft; a magnet coupled to the central shaft; a sensor portion is disposed correspond to the magnet; wherein the sensor portion comprising a substrate, a first group including a first Hall sensor and a third Hall sensor disposed on the substrate, and a second group including a second Hall sensor and a fourth Hall sensor, the first Hall sensor and the third Hall sensor are arranged to overlap in a radial direction about the central shaft and the second Hall sensor and the fourth Hall sensor are arranged to overlap in a radial direction about the central shaft.

The present invention provides an apparatus for sensing rotor location, the apparatus comprising: a central shaft; a magnet coupled to the central shaft; a sensor portion is disposed correspond to the magnet; wherein the sensor portion comprising a substrate, a first group including a first Hall sensor and a third Hall sensor disposed on the substrate, and a second group including a second Hall sensor and a fourth Hall sensor, the first Hall sensor and the third Hall sensor are arranged to overlap in a radial direction about the central shaft and the second Hall sensor and the fourth Hall sensor are arranged to overlap in a radial direction about the central shaft.

A controller-integrated rotating electrical machine incudes a rotating electrical machine and a control device. The rotating electrical machine is equipped with a stator and a rotor. The control device is equipped with a control circuit for an inverter circuit and an angle position sensing device which works to measure an angular position of the rotor. The control device has first substrate on which the control circuit is mounted and a second substrate on which the angle position sensing device is mounted. The first substrate is located closer to the rotating electrical machine than the angle position sensing device is in an axial direction of the controller-integrated rotating electrical machine. This minimizes adverse effects of magnetic flux, as generated by the rotating electrical machine, on operation of the angle position sensing device, thereby enhancing a measurement accuracy of the angle positon sensing device.

An inverter apparatus includes: an inverter including three high-voltage side switching elements and three low-voltage side switching elements respectively provided in three phases one by one, and driving a three-phase brushless motor; an opening and closing control unit performing controlling so as to cause an electrical angle of the motor to pass through an angle corresponding to a first combination, to rotate twice by 120° each time to one side in a rotary direction, and to rotate once by 120° to the other side in the rotary direction thereafter, by sequentially closing four combinations each of which is formed with one among the high-voltage side switching elements and one among the low-voltage side switching elements; and a detection unit detecting a conduction state of a circuit including the closed high-voltage side and low-voltage side switching elements, wherein all the high-voltage side and low-voltage side switching elements are closed at least once in the four combinations.

The present invention provides an apparatus for sensing rotor location, the apparatus comprising: a central shaft; a magnet coupled to the central shaft; a sensor portion is disposed correspond to the magnet; wherein the sensor portion comprising a substrate, a first group including a first Hall sensor and a third Hall sensor disposed on the substrate, and a second group including a second Hall sensor and a fourth Hall sensor, the first Hall sensor and the third Hall sensor are arranged to overlap in a radial direction about the central shaft and the second Hall sensor and the fourth Hall sensor are arranged to overlap in a radial direction about the central shaft.

The present invention provides an apparatus for sensing rotor location, the apparatus comprising: a central shaft; a magnet coupled to the central shaft; a sensor portion is disposed correspond to the magnet; wherein the sensor portion comprising a substrate, a first group including a first Hall sensor and a third Hall sensor disposed on the substrate, and a second group including a second Hall sensor and a fourth Hall sensor, the first Hall sensor and the third Hall sensor are arranged to overlap in a radial direction about the central shaft and the second Hall sensor and the fourth Hall sensor are arranged to overlap in a radial direction about the central shaft.

A controller is provided for driving a stepper motor with a magnetic rotor and at least one coil. The controller has a power stage for supplying the at least one coil with current, at least one analog Hall sensor for providing a signal as a function of the position of the magnetic rotor with respect to the Hall sensor, and a feedback line connecting the Hall sensor with the power stage to feed the signal of the Hall sensor back to the power stage.

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.