Motor drive circuit for motor and robot system
AssigneeSeiko Epson Corporation
InventorJunpei Nakayama
Life of this patent
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Abstract
A motor drive circuit for a robot includes a switching unit switching among a normal state in which regenerative power is supplied to a regenerative capacitor, a first state in which a voltage is applied to a first resistor, and a second state in which a voltage is applied to the first resistor and a second resistor based on a detection result of a detection unit, wherein the switching unit switches to the first state when the voltage applied to the regenerative capacitor detected in the detection unit is equal to or larger than a first threshold in the normal state, and switches to the second state when the voltage applied to the first resistor is equal to or larger than a second threshold larger than the first threshold in the first state.
Claims7
A motor drive circuit for a robot comprising:
- an input terminal coupled to a power supply, to which power from the power supply is input;
- an output terminal outputting the power to a motor actuating the robot arm;
- a regenerative capacitor placed between the input terminal and the output terminal and storing regenerative power from the motor;
- a first resistor provided in parallel to the regenerative capacitor;
- a second resistor provided in parallel to the first resistor;
- a detection unit detecting a voltage applied to the regenerative capacitor and a voltage applied to the first resistor;
- and
- a switching unit switching among a normal state in which the regenerative power is supplied to the regenerative capacitor, a first state in which a voltage is applied to the first resistor, and a second state in which a voltage is applied to the first resistor and the second resistor based on a detection result of the detection unit, wherein
- the switching unit switches to the first state when the voltage applied to the regenerative capacitor detected in the detection unit is equal to or larger than a first threshold in the normal state, and switches to the second state when the voltage applied to the first resistor is equal to or larger than a second threshold larger than the first threshold in the first state.
A robot system comprising:
- a robot arm;
- a motor driving the robot arm;
- and
- a motor drive circuit for a robot supplying power to the motor,
- the motor drive circuit for a robot including
- an input terminal coupled to a power supply, to which power from the power supply is input,
- an output terminal outputting the power to a motor actuating the robot arm,
- a regenerative capacitor placed between the input terminal and the output terminal and storing regenerative power from the motor,
- a first resistor provided in parallel to the regenerative capacitor,
- a second resistor provided in parallel to the first resistor,
- a detection unit detecting a voltage applied to the regenerative capacitor and a voltage applied to the first resistor, and
- a switching unit switching among a normal state in which the regenerative power is supplied to the regenerative capacitor, a first state in which a voltage is applied to the first resistor, and a second state in which a voltage is applied to the first resistor and the second resistor based on a detection result of the detection unit, wherein
- the switching unit switches to the first state when the voltage applied to the regenerative capacitor detected in the detection unit is equal to or larger than a first threshold in the normal state, and switches to the second state when the voltage applied to the first resistor is equal to or larger than a second threshold larger than the first threshold in the first state.
Dependencies are inferred from the claim text.