公开(公告)号：US20140306642A1

公开(公告)日：2014-10-16

申请号：US14316717

申请日：2014-06-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko KAKU ,  Haruhiko KOIKE ,  Tomohiro KAMISHIO ,  Kanji WATANABE

IPC: G05B19/409

CPC classification number: G05B19/409 ,  H02P31/00

Abstract: An engineering tool includes a function that allows a user to perform, through a selection operation and a geometrical figure input operation, various motion-control-related setting operations for a motion controller configured to perform motion control on a motor via a motor driving apparatus. In response to input of a motion operation chart including a chronological and geometrical description from a user, a motion-and-sequence time chart to be referred to by the motion controller is created so as to allow a motor driving command for the motor driving apparatus to be chronologically output. The motion-and-sequence time chart is created by adding a command data sequence included in the motor driving command for the motor driving apparatus.

Abstract translation: 工程工具包括允许用户通过选择操作和几何图形输入操作执行各种与运动控制有关的设置操作的功能，所述运动控制器被配置为经由马达驱动装置对马达进行运动控制。 响应于包括来自用户的时间和几何描述的运动操作图的输入，创建由运动控制器参考的运动和序列时间图，以便允许用于马达驱动装置的马达驱动命令 按时间顺序输出。 运动和序列时间图是通过添加包括在马达驱动装置的马达驱动命令中的命令数据序列来创建的。

公开(公告)号：US20210371136A1

公开(公告)日：2021-12-02

申请号：US17328110

申请日：2021-05-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Haruhiko KOIKE ,  Tomoya HYODO ,  Koji HARA ,  Tomohiro KAMISHIO ,  Koichi KIRIHARA ,  Atsuo IKEDA

IPC: B65B5/04 ,  B65B35/16 ,  B65B35/56

Abstract: A layered food packaging system includes: a carrier device configured to convey a sandwich in a horizontal posture in which a layering direction of the sandwich is substantially vertical; a temporary placement table configured to temporarily place the sandwich thereon in a vertical posture in which the layering direction of the sandwich is substantially horizontal; a first robot and a second robot configured to grip the sandwich that is conveyed by the carrier device, lift the sandwich from the carrier device, change the posture of the sandwich from the horizontal posture to the vertical posture, and temporarily place the sandwich on the temporary placement table; and a third robot configured to grip the sandwich that is temporarily placed on the temporary placement table, and insert the sandwich into a bag for packaging the layered food.

公开(公告)号：US20220212343A1

公开(公告)日：2022-07-07

申请号：US17561543

申请日：2021-12-23

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tomohiro KAMISHIO ,  Yasufumi YOSHIURA

IPC: B25J9/16

Abstract: An operation command generation device includes movement curve designation circuitry configured to determine a movement curve describing an operation of each of at least one mechanism element included in a virtual mechanism, and operation command generation circuitry configured to generate an operation command to control an actual mechanism based on the movement curve.

公开(公告)号：US20140306643A1

公开(公告)日：2014-10-16

申请号：US14316722

申请日：2014-06-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko KAKU ,  Haruhiko KOIKE ,  Tomohiro KAMISHIO ,  Kanji WATANABE

IPC: G05B19/409

CPC classification number: G05B19/409 ,  G05B19/416 ,  G05B2219/42176

Abstract: A motion controller includes a controller configured to output a motor driving command based on a motion-and-sequence time chart used for motion control of a motor, to a motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart, which has been created by a general-purpose PC, from the general-purpose PC via a higher-layer network. The controller is configured to receive the motion-and-sequence time chart including a command data sequence included in the motor driving command for the motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart including a sequence time chart that describes a coordinated relationship between the motion control of the motor and a certain two-level input/output signal relating to the motion control of the motor.

Abstract translation: 运动控制器包括：控制器，其被配置为基于用于马达的运动控制的运动和序列时间图，输出到马达驱动装置的马达驱动指令。 控制器被配置为通过高层网络从通用PC接收由通用PC创建的运动和序列时间图。 控制器被配置为接收运动和序列时间图，其包括包括在马达驱动装置的马达驱动命令中的命令数据序列。 控制器被配置为接收运动和序列时间图，其包括描述电动机的运动控制与与电动机的运动控制相关的特定两级输入/输出信号之间的协调关系的序列时间图。