# US 11,130,232 B2 · Robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,130,232 B2 - Document ID: US11130232B2 - Status: Granted - Kind: B2 - Application number: 16/223,891 - Filed: 2018-12-18 - Published: 2019-06-20 - Granted: 2021-09-28 - Earliest claimed: 2017-12-18 - Assignees: Nidec Sankyo Corporation - Applicants: Nidec Sankyo Corporation - Inventors: Hirokatsu Okumura; Jun Otsuji; Tetsuya Inomata - Web page: https://patentgrep.com/patent/US11130232B2 ## CPC - B25J 9/1656: {characterised by programming, planning systems for manipulators} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/08: characterised by modular constructions - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/1692: {Calibration of manipulator} - B25J 13/06: Control stands, e.g. consoles, switchboards - G05B 2219/40009: Remove and replace machine part, module - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A robot system may include a robot controller; and a target robot. The target robot may include a first memory to store device specific data including individual identification data; and an individual difference parameter unique to the target robot. The robot controller may include a second memory structured to store the individual identification data and the individual difference parameter of the target robot connected to the robot controller; and a controller to control the target robot on the basis of model configuration information the individual difference parameter stored in the second memory. The controller may check the individual identification data read from the first memory unit against the individual identification data stored in the second memory unit and, in accordance with a checking result, update the individual difference parameter stored in the second memory unit with the individual difference parameter read from the first memory unit. ## Claims ### Claim 1 A robot system comprising: a robot controller; and a target robot as a target of control by the robot controller, wherein the target robot comprises plural drive shafts, each of the plural drive shafts comprises: a motor; an encoder that detects a rotary position of the motor; and a first memory unit provided in the encoder structured to store device specific data comprising: individual identification data used to identify said target robot; and an individual difference parameter unique to the encoder, wherein the robot controller comprises: a second memory unit structured to store the individual identification data and the individual difference parameter provided in the encoder of each of the plural drive shafts of the target robot connected to said robot controller; and a control unit structured to control the target robot on the basis of model configuration information common to a same model as the target robot and the individual difference parameter stored in the second memory unit, and wherein the control unit is structured to check the individual identification data and the individual difference parameter read from the first memory unit provided in the encoder of each of the plural drive shafts against the individual identification data and the individual difference parameter stored in the second memory unit and, in accordance with a checking result, update the individual difference parameter stored in the second memory unit with the individual difference parameter read from the first memory unit in a case that the individual difference parameter stored in the second memory unit does not match the individual difference parameter read from the first memory unit provided in the encoder of each of the plural drive shafts. ### Claim 2 (depends on 1) The robot system according to claim 1, wherein the target robot comprises a robot body as a manipulator and an auxiliary component, and each of the robot body and the auxiliary component comprising at least one of the plural drive shafts comprising the first memory unit, and wherein the control unit is structured such that, in the case where only an individual identification data of the auxiliary component read from the first memory unit differs from the individual identification data of the auxiliary component stored in the second memory unit, the control unit determines that the auxiliary component has been replaced, and updates only the individual difference parameter of the auxiliary component in the second memory unit. ### Claim 3 (depends on 2) The robot system according to claim 2, wherein the device specific data comprises information on the model of the target robot, and the control unit is structured such that, in the case where the information on the model in the device specific data does not match the model as the target of the robot controller, the control unit disallows a start of the robot system. ### Claim 4 (depends on 3) The robot system according to claim 3, wherein the device specific data comprises information on a configuration of the target robot, and the control unit is structured such that, in the case where the information on the configuration in the device specific data does not match a configuration of the target robot of the model as the target of the robot controller, the control unit disallows the start of the robot system. ### Claim 5 (depends on 4) The robot system according to claim 4, wherein the individual difference parameter is an offset value from a position of an origin. ### Claim 6 (depends on 1) The robot system according to claim 1, wherein the control unit is structured to detect replacement of the motor in the target robot on the basis of the device specific data, and, when detecting the replacement of the motor, disallow the start of the robot system. ### Claim 7 (depends on 1) The robot system according to claim 1, wherein the device specific data comprises information on the model of the target robot, and the control unit is structured such that, in the case where the information on the model in the device specific data does not match the model as the target of the robot controller, the control unit disallows a start of the robot system. ### Claim 8 (depends on 1) The robot system according to claim 1, wherein the device specific data comprises information on a configuration of the target robot, and the control unit is structured such that, in the case where the information on the configuration in the device specific data does not match a configuration of the target robot of the model as the target of the robot controller, the control unit disallows a start of the robot system. ### Claim 9 (depends on 1) The robot system according to claim 1, wherein the individual difference parameter is an offset value from a position of an origin. ### Claim 10 A robot system comprising: a robot controller; and a target robot as a target of control by the robot controller, wherein the target robot comprises plural drive shaft, each of the plural drive shafts comprises: a motor; an encoder that detects a rotary position of the motor; and a first memory provided in the encoder structured to store device specific data comprising: individual identification data used to identify said target robot; and an individual difference parameter unique to the encoder, wherein the robot controller comprises: a second memory structured to store the individual identification data and the individual difference parameter provided in the encoder of each of the plural drive shafts of the target robot connected to said robot controller; and a controller structured to control the target robot on the basis of model configuration information common to a same model as the target robot and the individual difference parameter stored in the second memory, and wherein the controller is structured to check the individual identification data and the individual difference parameter read from the first memory provided in the encoder of each of the plural drive shafts against the individual identification data and the individual difference parameter stored in the second memory and, in accordance with a checking result, update the individual difference parameter stored in the second memory with the individual difference parameter read from the first memory in a case that the individual difference parameter stored in the second memory unit does not match the individual difference parameter read from the first memory unit provided in the encoder of each of the plural drive shafts.