# US 12,216,451 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 12,216,451 B2 - Document ID: US12216451B2 - Status: Granted - Kind: B2 - Application number: 17/852,443 - Filed: 2022-06-29 - Published: 2024-01-04 - Granted: 2025-02-04 - Earliest claimed: 2022-06-29 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha; Kawasaki Robotics (USA), Inc. - Applicants: Kawasaki Jukogyo Kabushiki Kaisha; Kawasaki Robotics (USA), INC. - Inventors: Haruhiko Tan; Masahiko Sumitomo; Junichi Sugahara; Nobuyasu Shimomura; Avish Ashok Bharwani - Web page: https://patentgrep.com/patent/US12216451B2 ## CPC - B25J 19/06: Safety devices - G05B 19/4155: characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 19/0066: {Means or methods for maintaining or repairing manipulators} - B25J 21/005: {Clean rooms} - G05B 2219/45031: Manufacturing semiconductor wafers - G05B 2219/50391: Robot - 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 includes a robot that includes a motor, a first storage unit that is provided to correspond to the motor and stores identification information of the motor, a second storage unit that is provided separately from the first storage unit and stores the identification information of the motor, and a control unit that detects whether or not the motor attached to the robot is a motor to which the identification information has been assigned in advance, by comparing the identification information of the motor stored in the first storage unit and the identification information of the motor stored in the second storage unit. ## Claims ### Claim 1 A robot system comprising: a robot that includes a motor; a first storage unit comprising a memory that is provided to correspond to the motor and stores identification information of the motor; a second storage unit comprising a memory that is provided separately from the first storage unit and stores the identification information of the motor; and a control unit comprising a hardware controller that detects whether or not the motor attached to the robot is a motor to which the identification information has been assigned in advance, by comparing the identification information of the motor stored in the first storage unit and the identification information of the motor stored in the second storage unit, and sets a performance restriction mode in which performance is restricted as compared with performance in a normal operation mode, in response to detecting that the motor is not the motor to which the identification information has been assigned in advance, the performance restriction mode not including stopping the operation of the robot. ### Claim 2 (depends on 1) The robot system according to claim 1, wherein the control unit sets the normal operation mode when the control unit detects that the motor is the motor to which the identification information has been assigned in advance. ### Claim 3 (depends on 1) The robot system according to claim 1, wherein the control unit sets the performance restriction mode in which a speed is set to be lower than a speed in the normal operation mode, in response to detecting that the motor is not the motor to which the identification information has been assigned in advance. ### Claim 4 (depends on 1) The robot system according to claim 1, wherein the robot is an articulated robot, and the control unit sets the performance restriction mode in which operations of some of a plurality of joints of the robot are restricted, in response to detecting that the motor is not the motor to which the identification information has been assigned in advance. ### Claim 5 (depends on 1) The robot system according to claim 1, wherein the control unit performs a notification of an error in response to detecting that the motor is not the motor to which the identification information has been assigned in advance. ### Claim 6 (depends on 1) The robot system according to claim 1, wherein the control unit performs switching of a function of detecting whether or not the motor is the motor to which the identification information has been assigned in advance, to be enabled or disabled, based on an operation input. ### Claim 7 (depends on 6) The robot system according to claim 6, wherein the control unit receives an input of a password when the function of detecting whether or not the motor is the motor to which the identification information has been assigned in advance is switched to be enabled or disabled. ### Claim 8 (depends on 1) The robot system according to claim 1, wherein the control unit sets the identification information of the motor, by executing a process of receiving an input of the identification information of the motor, a process of storing the received identification information of the motor in the first storage unit, and a process of storing the identification information of the motor, which has been stored in the first storage unit, in the second storage unit. ### Claim 9 (depends on 1) The robot system according to claim 1, wherein the first storage unit is provided in an encoder provided to correspond to the motor. ### Claim 10 (depends on 1) The robot system according to claim 1, wherein the first storage unit and the second storage unit are provided at the robot. ### Claim 11 (depends on 1) The robot system according to claim 1, wherein the robot is a clean robot disposed in a clean room. ### Claim 12 A method of controlling a robot that includes a motor, a first storage unit corresponding to the motor and storing identification information of the motor, and a second storage unit provided separately from the first storage unit and storing the identification information of the motor, the method comprising: detecting whether the motor attached to the robot is a motor to which the identification information has been assigned in advance, by comparing the identification information of the motor stored in the first storage unit and the identification information of the motor stored in the second storage unit, and setting a performance restriction mode in which performance is restricted as compared with performance in a normal operation mode, in response to detecting that the motor is not a motor to which the identification information has been assigned in advance, wherein the performance restriction mode does not include stopping the operation of the robot. ### Claim 13 (depends on 12) The method according to claim 12, further comprising: setting the normal operation mode in response to detecting that the motor is the motor to which the identification information has been assigned in advance. ### Claim 14 (depends on 12) The method according to claim 12, wherein: setting the performance restriction mode in response to detecting that the motor is not the motor to which the identification information has been assigned in advance comprises setting a speed to be lower than a speed in the normal operation mode. ### Claim 15 (depends on 12) The method according to claim 12, wherein the robot is an articulated robot comprising a plurality of joints, and setting the performance restriction mode comprises restricting the operations of some of the plurality of joints, in response to detecting that the motor is not the motor to which the identification information has been assigned in advance. ### Claim 16 (depends on 12) The method according to claim 12, further comprising performing a notification of an error in response to detecting that the motor is not the motor to which the identification information has been assigned in advance. ### Claim 17 (depends on 12) The method according to claim 12, further comprising performing switching of a function of detecting whether the motor is the motor to which the identification information has been assigned in advance, between being enabled and being disabled, based on an operation input. ### Claim 18 (depends on 17) The method according to claim 17, wherein the switching of a function of detecting whether the motor is the motor to which the identification information has been assigned in advance, between being enabled and being disabled, based on an operation input is performed in response to receiving an input of a password. ### Claim 19 (depends on 12) The method according to claim 12, further comprises setting the identification information of the motor by: receiving an input of the identification information of the motor, storing the received identification information of the motor in the first storage unit, and storing the identification information of the motor, which has been stored in the first storage unit, in the second storage unit. ### Claim 20 (depends on 12) The method according to claim 12, wherein the robot is a clean robot disposed in a clean room.