A motor control device includes circuitry which reads a command value in synchronization with a control period, reads an output of an encoder connected to a motor, controls an output current to the motor based on the command value and the output of the encoder, and offsets a timing for reading the output of the encoder with respect to a timing for reading the command value.

A robot system includes a robot arm, a driving control section configured to control driving of the robot arm based on position information output by a first position detecting section and a second position detecting section, a monitoring section configured to determine, based on the position information, whether the operation of the robot arm is normal, a first communication line for coupling the driving control section and the first position detecting section and coupling the driving control section and the second position detecting section to perform half duplex communication, and a second communication line for coupling the monitoring section and the driving control section, coupling the monitoring section and the first position detecting section, coupling the monitoring section and the second position detecting section to perform the half duplex communication. The driving control section performs first communication with the first position detecting section via the first communication line and second communication with the second position detecting section via the second communication line in a temporally overlapping manner.

A rigid-flexible coupling high-accuracy galvo scanning motor comprises: a stator, a rotor rotating relative to the stator, bearing seats and at least two groups of encoders. The rigid-flexible coupling bearings are installed on the rotating shaft of the rotor; each of the rigid-flexible coupling bearings comprises: a rigid bearing and a flexible hinge ring which is elastically deformable, and the flexible hinge ring is fixed in an inner ring of the rigid bearing; the at least two groups of encoders comprise: a first group of encoders and a second group of encoders; the first group of encoders is used to measure a rotation angle of the rotating shaft; and the second group of encoders is used to measure a rotation angle of the inner ring of the rigid bearing. A friction dead zone is avoided through the elastic deformation of the flexible hinge ring, thereby reducing a disturbance bandwidth.

A servo rotary scanning system of three-dimensional holographic imaging may include a servomotor (20) having a first angle sensor (21), a second angle sensor (30), a control component (40), a servo driver (50) and a rotary frame (10), the servo rotary scanning system of three-dimensional holographic imaging is a full-closed loop servo control system, the second angle sensor (30) detects an actual rotating angle of the rotary frame (10) and feeds back a frame feedback signal to the control component (40), an instruction signal in the control component (40) is compared with the frame feedback signal to generate a following error, the first angle sensor (21) detects an output rotating angle of the servomotor (20) and feeds back a motor feedback signal to the servo driver (50), and the servo driver (50) controls the servomotor (20) to rotate according to the following error and the motor feedback signal.

A rigid-flexible coupling high-accuracy galvo scanning motor comprises: a stator, a rotor rotating relative to the stator, bearing seats and at least two groups of encoders. The rigid-flexible coupling bearings are installed on the rotating shaft of the rotor; each of the rigid-flexible coupling bearings comprises: a rigid bearing and a flexible hinge ring which is elastically deformable, and the flexible hinge ring is fixed in an inner ring of the rigid bearing; the at least two groups of encoders comprise: a first group of encoders and a second group of encoders; the first group of encoders is used to measure a rotation angle of the rotating shaft; and the second group of encoders is used to measure a rotation angle of the inner ring of the rigid bearing. A friction dead zone is avoided through the elastic deformation of the flexible hinge ring, thereby reducing a disturbance bandwidth.

The present invention relates to multi-limb actuated kinematics (1) having a plurality of drive units (11-16) connected to one another as a serial kinematic chain, the drive units (11-16) respectively having a control unit (11b, 12b, 16b), which are designed to operate at least one drive (11c, 12c, 16c) of the drive unit (11-16) to carry out the movement of the drive unit (11-16), the control units (11b, 12b, 16b) of the drive units (11-16) being connected to one another by a first data line (A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17) such that they transmit signals and being designed to receive at least data for operating the drive (11c, 12c, 16c) via the first data line (A.sub.10, A.sub.11, A.sub.12, A.sub.13, A.sub.16, A.sub.17). The multi-limb actuated kinematics (1) are characterised in that the control units (11b, 12b, 16b) of the drive units (11-16) are further connected to one another by a second data line (B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19) such that they transmit signals and are designed to forward the data of the second data line (B.sub.10, B.sub.11, B.sub.12, B.sub.13, B.sub.16, B.sub.17, B.sub.19).

The present invention provides a configuration which enables an improvement in the workability of wiring of a sensor in a servo system. An encoder detects the operation of a motor driven by a servo driver, and generates a feedback signal indicating the detected operation. Further, the encoder receives detected signals output from sensors for detecting an object driven by the motor via sensor cables. The encoder outputs the feedback signal and the input detected signals to the outside.

A controller for controlling an electric motor module equipped with incremental encoder and operation method thereof are provided. The controller includes a quadruple frequency circuit, a driver circuit, a non-volatile memory (NVM) and a multi-phase control circuit. The multi-phase control circuit can perform multi-phase control with aid of the NVM, for example: reading an offset counter value from the NVM; executing an initial angle estimation procedure, generating an initial counter value according to an estimated initial angle and the offset counter value, and starting utilizing the driver circuit to directly control the electric motor to start with the estimated initial angle and utilizing a counter to perform counting operations; calculating a counter value error and clear the current counter value to be zero; and performing compensation corresponding to a predetermined compensation times count according to the counter value error, respectively, to control the rotor to reach a target angle.

A motor control device that supplies electric power to a motor is disclosed. The motor control device is provided with a storage unit to store position offset data and information of a machine origin position of the motor. The motor control device generates a command value of a position after offset by using an externally input position command and the position offset data and coverts electric power to be supplied to the motor based on the command value of a position after offset and position information that is input from an encoder. The position offset data is data in which offset positions and offset quantities have been recorded in a mapping relation. A start position of the offset positions differs from the machine origin position.

A servo amplifier including an encoder for detecting rotation of a servomotor (11), a servo amplifier (13) for performing feedback control of the rotation of the servomotor based on a count value (hereinafter referred to as an encoder value) of the encoder, and an amp control section (17) for controlling operation of the servo amplifier, wherein the amp control section sends an initialization instruction for initializing the encoder to the servo amplifier in a state of fixed cycle connection over a servo network between the servo amplifier and the encoder when an error occurs with the encoder. The servo amplifier performs initialization of the encoder without disconnecting the servo network when receiving the initialization instruction sent from the amp control section.