# US 12,000,893 B2 · Fault detection response in a robot arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,000,893 B2 - Document ID: US12000893B2 - Status: Granted - Kind: B2 - Application number: 17/768,067 - Filed: 2020-10-09 - Published: 2024-03-21 - Granted: 2024-06-04 - Earliest claimed: 2019-10-11 - Assignees: Cmr Surgical Limited - Applicants: Cmr Surgical Limited - Inventors: Ivan Cronin; Hamish Henderson - Web page: https://patentgrep.com/patent/US12000893B2 ## CPC - G01R 31/343: {in operation} - H02P 1/00: Arrangements for starting electric motors or dynamo-electric converters (starting of synchronous motors with electronic commutators H02P6/20, H02P6/22; starting dynamo-electric motors rotating step by step H02P8/04; vector control H02P21/00) - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - 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}) ## Abstract A method of testing a motor of a robot arm for a fault during a start-up procedure of the robot arm. The robot arm comprises a first link connected to a second link by a joint, the joint permitting the second link to move relative to the first link. The motor is for driving the joint and is a multiple-phase motor, each phase of the motor comprising a motor winding and a motor drive circuit for applying power to the motor winding from a power supply rail and for applying drive signals to the motor winding. The method comprises, in the following order: (i) driving the motor to a known state; (ii) connecting a first phase only of the motor to the power supply rail; (iii) driving a Pulse Width Modulation (PWM) signal through the motor drive circuit of the first phase of the motor; (iv) driving the motor to a known state; (v) with the first phase of the motor disconnected from the power supply rail, driving the PWM signal through the motor drive circuit of the first phase of the motor; and (vi) repeating steps (ii) to (v) for each of the other phases of the motor; the method further comprising, during each of steps (i) to (vi), testing whether the current from the power supply rail to the motor drive circuit exceeds a current limit. ## Claims ### Claim 1 A method of testing a motor of a robot arm for a fault during a start-up procedure of the robot arm, the robot arm comprising a first link connected to a second link by a joint, the joint permitting the second link to move relative to the first link, the motor configured to drive the joint, the motor being a multiple-phase motor, each phase of the motor comprising a motor winding and a motor drive circuit configured to apply power to the motor winding from a power supply rail and to apply drive signals to the motor winding, the method comprising, in the following order: (i) driving the motor to a known state; (ii) connecting a first phase only of the motor to the power supply rail; (iii) driving a Pulse Width Modulation (PWM) signal through the motor drive circuit of the first phase of the motor; (iv) driving the motor to a known state; (v) with the first phase of the motor disconnected from the power supply rail, driving the PWM signal through the motor drive circuit of the first phase of the motor; and (vi) repeating steps (ii) to (v) for each of the other phases of the motor; the method further comprising, during each of steps (i) to (vi), testing whether the current from the power supply rail to the motor drive circuit exceeds a current limit. ### Claim 2 (depends on 1) A method as claimed in claim 1, further comprising during each of steps (i) to (vi), testing whether the voltage supplied to the motor winding of the first phase of the motor differs from each of the power supply rail voltage and ground by more than respective values. ### Claim 3 (depends on 2) A method as claimed in claim 2, wherein the testing step of claim 2 comprises comparing the voltage supplied to the winding to a high threshold during a high pulse of the PWM signal, and comparing the voltage supplied to the winding to a low threshold during a low pulse of the PWM signal. ### Claim 4 (depends on 3) A method as claimed in claim 3, comprising detecting a fault if the voltage supplied to the winding is below the high threshold and/or detecting a fault if the voltage supplied to the winding is above the low threshold. ### Claim 5 (depends on 4) A method as claimed in claim 4, wherein each motor drive circuit comprises a high side transistor and a low side transistor configured to drive the PWM signal to the motor winding of that phase, the method comprising detecting a fault with the high side transistor if the voltage supplied to the winding is below the high threshold and/or detecting a fault with the low side transistor if the voltage supplied to the winding is above the low threshold. ### Claim 6 (depends on 1, 4) A method as claimed in claim 4, wherein for each phase of the motor, the motor comprises a load switch configured to connect the power supply rail to the motor drive circuit of that phase, the method comprises detecting a fault with the load switch of the first phase if, after a predetermined period of driving the PWM signal at step (v) of claim 1, the voltage supplied to the winding is above the high threshold. ### Claim 7 (depends on 4) A method as claimed in claim 4, comprising in response to detecting the fault, applying a braking current to the motor so as to maintain the position of the joint against gravity. ### Claim 8 (depends on 7) A method as claimed in claim 7, comprising applying the braking current between a first pair of phases of the motor only, from the first phase of the first pair to the second phase of the first pair. ### Claim 9 (depends on 8) A method as claimed in claim 8, further comprising if a fault continues to be detected after a predetermined time period, applying a braking current between a second pair of phases of the motor only, from the first phase of the second pair to the second phase of the second pair. ### Claim 10 (depends on 9) A method as claimed in claim 9, further comprising if a fault continues to be detected after a predetermined time period, applying a braking current between a third pair of phases of the motor only, from the first phase of the third pair to the second phase of the third pair. ### Claim 11 (depends on 10) A method as claimed in claim 10, further comprising if a fault continues to be detected after a predetermined time period, applying a braking current between the first pair of phases of the motor only, from the second phase of the first pair to the first phase of the first pair. ### Claim 12 (depends on 11) A method as claimed in claim 11, further comprising if a fault continues to be detected after a predetermined time period, applying a braking current between the second pair of phases of the motor only, from the second phase of the second pair to the first phase of the second pair. ### Claim 13 (depends on 12) A method as claimed in claim 12, further comprising if a fault continues to be detected after a predetermined time period, applying a braking current between the third pair of phases of the motor only, from the second phase of the third pair to the first phase of the third pair. ### Claim 14 (depends on 1) A method as claimed in claim 1, wherein for each phase of the motor, the motor comprises a load switch configured to connect the power supply rail to the motor drive circuit of that phase, and each motor drive circuit comprises a high side transistor and a low side transistor configured to drive the PWM signal to the motor winding of that phase, wherein step (i) and/or (iv) comprises opening the load switch of every phase of the motor and turning on the low side transistor of every phase of the motor. ### Claim 15 (depends on 1) A method as claimed in claim 1, wherein for each phase of the motor, the motor comprises a load switch configured to connect the power supply rail to the motor drive circuit of that phase, wherein step (ii) comprises closing the load switch of the first phase of the motor with the load switches of all the other phases of the motor being open. ### Claim 16 (depends on 1) A method as claimed in claim 1, wherein for each phase of the motor, the motor comprises a load switch configured to connect the power supply rail to the motor drive circuit of that phase, wherein step (v) comprises with all load switches of every phase of the motor being open, driving the PWM signal through the motor drive circuit of the first phase of the motor. ### Claim 17 (depends on 1) A method as claimed in claim 1, wherein for each phase of the motor, the motor comprises a load switch configured to connect the power supply rail to the motor drive circuit of that phase, and a current sensor between the load switch and the motor drive circuit, the method comprising detecting a fault in response to sensing at the current sensor that the current from the power supply rail to the motor drive circuit exceeds a current limit. ### Claim 18 (depends on 17) A method as claimed in claim 17, wherein each motor drive circuit comprises a high side transistor and a low side transistor configured to drive the PWM signal to the motor winding of that phase, the method comprising detecting a fault with the load switch of the first phase and/or the high side transistor and/or the low side transistor on sensing that the current from the power supply rail to the motor drive circuit exceeds a current limit. ### Claim 19 (depends on 1) A method as claimed in claim 1, wherein power is applied to the power supply rail from one of a plurality of power supplies, the method comprising: comparing the voltage supplied at a time t to a threshold voltage value for the time t; and detecting a fault if the supplied voltage at the time t is lower than the threshold voltage value for the time t. ### Claim 20 (depends on 19) A method as claimed in claim 19, comprising detecting a fault with a power supply on sensing that the voltage from that power supply at time t drops below the threshold voltage value for the time t.