A safety module for a secured drive control of an automated drive system is configured to receive encoder data sent from an encoder unit to a drive unit, based on an encoder protocol via a protocol active unit. The safety module is configured to forward the encoder data from the protocol active unit to a safety logic and a protocol passive unit, check the forwarded encoder data with the aid of the safety logic for correspondence with predetermined safety criteria relating to operation of a motor unit, and transmit the forwarded encoder data via the protocol passive unit to the drive unit, in respective data packets based on the encoder protocol. The safety module can stop operation of the motor unit with the aid of the safety logic, if the encoder data does not correspond to the predetermined safety criteria. A corresponding drive system and automation system are also provided.

Provide is a robot and a control method thereof in which the motion of an arm 12 as a specified limb among a plurality of limbs 12 and 14 extended from a body 10 is controlled according to a specified trajectory. If a first interaction state, in which a hand 126, which is an end effector, interacts with a horizontal wood member L (j) of a ladder L in a first mode is implemented, then a control command is given to an actuator 41 that drives the hand 126 to cause the hand 126 to perform a grasping motion, thereby implementing a second interaction state, in which the hand 126 interacts with the horizontal wood member L (j) in a second manner. If the second interaction state is implemented, a control command is given to a brake 42 to maintain a motion halt state of the hand 126.

Embodiments provide a multiaxial motor control system for controlling motors for a plurality of shafts included in a multiaxial machine, and including a plurality of motor control devices and a controller. The controller is connected with the motor control devices, and transmits a command signal to the motor control devices. Each motor control device includes a communication controller, a rotation controller, and a drive unit, and drives a motor of a corresponding shaft. The communication controller transmits and receives signals including the command signal, and determine whether the command signal is received normally. The rotation controller generates a torque command to operate the corresponding motor. The drive unit generates a drive voltage for electrification to drive the corresponding motor in accordance with the torque command. When a motor control device detects failure in reception, the motor control device outputs a torque command for braking torque to stop the corresponding motor.

A motor includes a housing containing a rotor and stator. A brake assembly is adapted to restrain rotation of the rotor. A brake controller includes a brake diagnostics system. At least one vibration sensor is located in the housing and provides vibration data to the brake diagnostics system in response to a brake operation cycle of the brake assembly. The vibration data is used by the brake diagnostics system to assess an operative condition of the brake assembly.

A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.

A motor includes a housing containing a rotor and stator. A brake assembly is adapted to restrain rotation of the rotor. A brake controller includes a brake diagnostics system. At least one vibration sensor is located in the housing and provides vibration data to the brake diagnostics system in response to a brake operation cycle of the brake assembly. The vibration data is used by the brake diagnostics system to assess an operative condition of the brake assembly.

Provided is a robot and a control method thereof in which the motion of an arm 12 as a specified limb among a plurality of limbs 12 and 14 extended from a body 10 is controlled according to a specified trajectory. If a first interaction state, in which a hand 126, which is an end effector, interacts with a horizontal wood member L (j) of a ladder L in a first mode is implemented, then a control command is given to an actuator 41 that drives the hand 126 to cause the hand 126 to perform a grasping motion, thereby implementing a second interaction state, in which the hand 126 interacts with the horizontal wood member L (j) in a second manner. If the second interaction state is implemented, a control command is given to a brake 42 to maintain a motion halt state of the hand 126.

The invention provides a multiaxial motor control system configured to control motors for a plurality of shafts included in a multiaxial machine, and including a plurality of motor control devices and a controller. The controller has network connection with the motor control devices, and is configured to transmit a command signal to the motor control devices. Each of the motor control devices includes a communication controller, a rotation controller, and a drive unit, and is configured to drive a motor for a corresponding one of the shafts. The communication controller is configured to transmit and receive signals including the command signal, and determine whether or not the command signal is received normally. The rotation controller is configured to generate a torque command for operation of the corresponding one of the motors. The drive unit is configured to generate a drive voltage for electrification to drive the corresponding one of the motors in accordance with the torque command. When at least one of the motor control devices detects failure in reception, the at least one of the motor control devices outputs a torque command for braking torque to stop the corresponding one of the motors.

In a robot system, when an entry restriction region is enabled and a robot arm enters the entry restriction region, a forced stop of an operation of the robot arm is performed. A control method in which a control unit controls the robot arm includes: detecting a current position of a control point of the robot arm; predicting, using at least position information indicating the current position, at least one position to which the control point of the robot arm moves after a current time point; and performing, when the entry restriction region is enabled and there is a possibility that the robot arm enters the entry restriction region based on the at least one predicted position, control to avoid entry of the robot arm into the entry restriction region, the control including execution of a temporary stop which is a temporary stop of the operation of the robot arm before the robot arm enters the entry restriction region and which does not require a return operation when resuming the operation after the stop.

A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.