WO2007046182A1 - ギヤ付きモータの多回転絶対値エンコーダ - Google Patents
ギヤ付きモータの多回転絶対値エンコーダ Download PDFInfo
- Publication number
- WO2007046182A1 WO2007046182A1 PCT/JP2006/315641 JP2006315641W WO2007046182A1 WO 2007046182 A1 WO2007046182 A1 WO 2007046182A1 JP 2006315641 W JP2006315641 W JP 2006315641W WO 2007046182 A1 WO2007046182 A1 WO 2007046182A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation
- motor
- shaft
- absolute value
- value encoder
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 239000000284 extract Substances 0.000 description 1
- 230000005405 multipole Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/80—Manufacturing details of magnetic targets for magnetic encoders
Definitions
- the present invention relates to a multi-rotation absolute value encoder of a geared motor suitable for use when the operating range of a load-side device driven by a geared motor corresponds to the multi-rotation of a gear shaft. It is. Background art
- the geared motor has a motor 1 and a reduction gear 3 coupled to the motor shaft 2, and drives the mechanical device 5 by the gear shaft 4 of the reduction gear 3. It is like this.
- the motor driver 6 includes the motor rotational position information obtained from the motor shaft encoder 7 via the signal processing circuit 8, and the operational reference of the mechanical device 5.
- the motor 1 is driven and controlled based on the origin signal obtained from the origin sensor 9 that detects the machine origin.
- a state in which the mechanical device 5 is positioned at the origin is established as follows.
- the motor 1 is driven to rotate in one direction until the mechanical device 5 returns to the origin.
- the origin sensor 9 detects that the origin has been reached, the motor 1 is rotated at a low speed, and the mechanical device 5 is driven in the same direction until the Z-phase signal is output from the motor shaft encoder 7.
- the motor 1 is rotated at a low speed in the reverse direction, and after the machine 5 reaches the machine origin, the motor 1 is reversed and rotated at a very low speed by a certain amount to position the machine 5 at the machine origin. Establish the state.
- the motor shaft 2 is rotated at the maximum by the reduction ratio of the reduction gear 3. It is necessary to make it. For example, if the reduction ratio of the reduction gear 3 is 1:50, the motor shaft 2 needs to be rotated 50 times at the maximum.
- the positioning operation range of the mechanical device 5 corresponds to multiple rotations of the gear shaft, it is necessary to rotate the motor shaft 2 more.
- the positioning operation range of the mechanical device 5 corresponds to two rotations (720 degrees) of the gear shaft and the reduction ratio of the reduction gear 3 is 1:50
- An object of the present invention is to reduce the output rotation of the motor shaft and take out the gear shaft force, and at the start of the geared motor that drives the load side device in the operation range corresponding to the multiple rotation of the gear shaft. This is to propose a multi-rotation absolute value encoder that can perform the origin position establishing operation in a short time without attaching an origin sensor to the load side device.
- the present invention reduces the output rotation of the motor shaft, extracts the gear shaft force, and drives the load-side device in an operating range corresponding to multiple rotations of the gear shaft.
- the multi-turn absolute value encoder for geared motors In the multi-turn absolute value encoder for geared motors,
- a gear shaft absolute value encoder including a first two-pole magnet attached to the gear shaft, and a first magnetic sensor for detecting a change in a rotating magnetic field by the first two-pole magnet; and rotation of the gear shaft
- a deceleration mechanism that decelerates
- the speed reduction ratio of the speed reduction mechanism is set so that the second dipole magnet rotates within a range within one rotation in the operating range of the load side device.
- the second dipole magnet is decelerated by reducing the rotation of the gear shaft so that the operating range of the load side device corresponds to a range within one rotation of the second dipole magnet. Is rotating. Therefore, the absolute operating position of the device on the load side can be obtained from the output of the second magnetic sensor that detects the rotating magnetic field of the second two-pole magnet. Therefore, the origin position of the load-side device can be obtained based on the absolute position of the motor shaft that can be obtained by the motor shaft or the origin position.
- the motor shaft encoder when the motor shaft encoder is an absolute value encoder, the motor rotation angle up to the origin position of the load side device can be calculated without rotating the motor shaft at the start. If the motor shaft encoder is an incremental encoder, a Z-phase signal indicating the origin position can be obtained by rotating the motor shaft once at maximum, and the motor rotation angle from that position to the origin position of the load side device. Therefore, it is only necessary to rotate the motor shaft once at the maximum at the start.
- a magnetic gear composed of a multi-pole magnet having four or more poles rotating with the rotation of the first two-pole magnet is adopted, and the second gear is mounted on the shaft of the magnetic gear. It is desirable to have a configuration with a 2-pole magnet attached.
- the rotation of the gear shaft can be decelerated in a non-contact state, so that unnecessary loads do not act on the gear shaft.
- the operating range of the load-side device can be set to be within the angular range of one rotation of the second two-pole magnet simply by increasing the number of magnetic poles of the magnetic gear without adding parts. Therefore, the operation range on the load side can be handled with a very simple configuration.
- FIG. 1A is a schematic configuration diagram showing a geared motor to which the present invention is applied.
- FIG. 1B is a configuration diagram showing a magnetic gear and a gear shaft absolute value encoder of a geared motor to which the present invention is applied.
- FIG. 2 is a configuration diagram showing another example of a magnetic gear.
- FIG. 3 is an explanatory view showing a general geared motor. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1A is a schematic configuration diagram showing a geared motor of this example
- FIG. 1B is a partial configuration diagram thereof.
- the geared motor 10 includes a motor body 11 and a reduction gear 13 connected to the motor shaft 12 of the motor body 11.
- a gear shaft 14 that is an output shaft of the reduction gear 13 is connected to a mechanical device 15 on the load side.
- the mechanical device 15 is positioned and controlled within a predetermined operating range by the geared motor 10.
- the operating range of the mechanical device 15 corresponds to multiple rotations of the gear shaft 14.
- the operating range of the mechanical device 15 corresponds to two rotations (720 degrees) of the gear shaft 14.
- the reduction ratio of the reduction gear 13 is set to, for example, 1:50. Therefore, 100 rotations of the motor shaft 12 correspond to the operating range of the mechanical device 15.
- the motor shaft 12 is a hollow shaft, for example, and a motor shaft encoder 16 is attached to the rear end thereof.
- the motor shaft encoder 16 is an incremental encoder, for example, and outputs phase A, phase B and phase Z signals.
- the gear shaft 14 extends through the hollow portion of the motor shaft 12 to the rear side of the motor, and a multi-turn absolute value encoder 20 is attached to the rear end portion thereof.
- the multi-turn absolute value encoder 20 outputs a signal indicating the absolute position of the gear shaft 14 and a signal indicating the absolute position of the load-side mechanical device 15.
- the outputs of the motor shaft encoder 16 and the multi-turn absolute value encoder 20 are processed by the signal processing unit 17 and then supplied to the motor driver 18.
- the motor driver 18 drives and controls the motor body 11 based on the supplied position information of each part, and performs a positioning operation for positioning the mechanical device 15 at the target position.
- the multi-turn absolute value encoder 20 includes a gear shaft absolute value encoder 30 for detecting the absolute value of the gear shaft 14.
- the gear shaft absolute value encoder 30 consists of a disk-shaped two-pole magnet 31 fixed coaxially to the rear end of the gear shaft 14 and two opposed to the outer peripheral surface of the two-pole magnet 31 with a certain gap.
- the magnetic sensor 32 is provided. As shown in FIG. 1B, the magnetic sensor 32 is disposed at a position offset by 90 degrees. When the two-pole magnet 31 is rotated along with the gear shaft 14, one rotation corresponding to the change of the rotating magnetic field generated therefrom is performed. Outputs a sinusoidal detection signal whose phase is 90 degrees out of phase.
- the multi-turn absolute value encoder 20 includes a magnetic gear that functions as a speed reduction mechanism for decelerating and taking out the rotation of the gear shaft 14.
- the magnetic gear of this example is a disc-shaped four-pole magnet 40, which is a rotation center parallel to the rotation center axis of the two-pole magnet 31 attached to the gear shaft 14. It is arranged so as to rotate around the axis, and its outer peripheral surface faces the outer peripheral surface of the two-pole magnet 31 with a certain gap! Since the two-pole magnet 31 and the four-pole magnet 40 are magnetically coupled in this way, when the two-pole magnet 31 rotates together with the gear shaft 14, the four-pole magnet 40 also rotates accordingly. Further, since the 4-pole magnet 40 rotates 1Z2 while the 2-pole magnet 31 makes one rotation, the rotation of the gear shaft 14 is decelerated to 1Z2.
- the multi-turn absolute value encoder 20 further includes a disc-shaped two-pole magnet 51 that rotates at a speed reduced to 1Z2 that is the gear shaft speed, and a fixed gap on the outer peripheral surface of the two-pole magnet 51.
- the load side absolute value encoder 50 having the magnetic sensor 52 opposed to each other is provided.
- the 2-pole magnet 51 is coaxially fixed to the rotation shaft 41 of the 4-pole magnet 40 and rotates together with the 4-pole magnet 40.
- the magnetic sensor 52 is disposed at a position offset from the outer peripheral surface of the two-pole magnet 51 by 90 degrees.
- a sinusoidal detection signal that is 90 ° out of phase for one rotation and one cycle corresponding to the change in the rotating magnetic field generated from this is output. Based on this detection signal, the absolute position within one rotation of the 2-pole magnet 51 can be known.
- the absolute position of the mechanical device 15 can be known based on the detection signal of the magnetic sensor 52.
- the start position can be shortened because the exact position of the mechanical device 15 can be recognized without an extra start operation when the operation starts. Play. That is, at the start of operation, the motor body 11 is driven by the motor driver 18 and the motor shaft 12 is rotated until the first Z-phase signal is output from the motor shaft encoder 16.
- the signal processing unit 17 can know the absolute position of the mechanical device 15 from the detection signal of the load side absolute value encoder 50 at the time when the Z-phase signal is output.
- the motor rotation angle from this absolute position to the machine origin of the machine device 15 can be calculated. As a result, it is not necessary to actually return the mechanical device 15 to the mechanical origin. For this reason, at the start of operation, it is only necessary to rotate the motor shaft 12 once (360 degrees) at maximum.
- the motor shaft encoder 16 is an absolute value encoder, it is possible to recognize the origin position of the mechanical device 15 without performing the starting operation, that is, without rotating the motor shaft 12.
- the number of magnetic poles of the magnetic gear may be increased.
- the reduction ratio of the magnetic gear may be set to 1: 4. That is, as shown in FIG. 2, an 8-pole magnet 40A may be used instead of the 4-pole magnet 40 for a disk-shaped magnet used as a magnetic gear.
- the reduction gear 13 various mechanisms such as a planetary gear reducer can be used.
- a wave gear reducer with a small number of parts and a high reduction ratio can be used. It is out.
- a magnetic gear is used as a speed reduction mechanism for reducing the rotational speed of the gear shaft 14, but a gear type speed reducer can also be used.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/992,810 US7994749B2 (en) | 2005-10-18 | 2006-08-08 | Multiple-rotation absolute-value encoder of geared motor |
DE112006002824T DE112006002824T5 (de) | 2005-10-18 | 2006-08-08 | Mehrfachrotations-Absolutwertkodierer eines Getriebemotors |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005302821A JP2007113932A (ja) | 2005-10-18 | 2005-10-18 | ギヤ付きモータの多回転絶対値エンコーダ |
JP2005-302821 | 2005-10-18 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007046182A1 true WO2007046182A1 (ja) | 2007-04-26 |
Family
ID=37962281
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/315641 WO2007046182A1 (ja) | 2005-10-18 | 2006-08-08 | ギヤ付きモータの多回転絶対値エンコーダ |
Country Status (4)
Country | Link |
---|---|
US (1) | US7994749B2 (ja) |
JP (1) | JP2007113932A (ja) |
DE (1) | DE112006002824T5 (ja) |
WO (1) | WO2007046182A1 (ja) |
Cited By (3)
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CN105958735A (zh) * | 2016-06-12 | 2016-09-21 | 浙江湖州森富机电有限责任公司 | 一种管状电机的绝对编码器 |
CN113631893A (zh) * | 2019-03-28 | 2021-11-09 | 美蓓亚三美株式会社 | 绝对编码器 |
WO2024009515A1 (ja) * | 2022-07-08 | 2024-01-11 | ファナック株式会社 | 位置検出システムおよびアクチュエータ |
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US7583080B2 (en) * | 2005-02-10 | 2009-09-01 | Panasonic Corporation | Rotation angle detection device and rotation angle correction method |
US8384332B2 (en) * | 2008-12-22 | 2013-02-26 | Texas Instruments Incorporated | Integrated gearbox/encoder and control system |
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WO2010127807A2 (en) * | 2009-05-06 | 2010-11-11 | Aktiebolaget Skf | Rotary position encoding method and unit |
JP5671255B2 (ja) * | 2009-06-30 | 2015-02-18 | Ntn株式会社 | 自動車駆動用モータの回転角度検出装置および回転角度検出装置付き軸受 |
DE102009050208A1 (de) * | 2009-10-22 | 2011-05-12 | Schaeffler Technologies Gmbh & Co. Kg | Absolutwert-Winkelmesssystem |
US8947076B2 (en) | 2010-01-18 | 2015-02-03 | Bourns, Inc. | High resolution non-contacting multi-turn position sensor |
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JP6109151B2 (ja) | 2012-03-30 | 2017-04-05 | 株式会社デンソーウェーブ | エンコーダ、エンコーダの取り付け方法、トルク制限機構、駆動装置及びロボット装置 |
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US20140288883A1 (en) * | 2013-03-25 | 2014-09-25 | Infineon Technologies Ag | Method for determining an angle of a magnetic pole of a rotating object |
US9484060B2 (en) * | 2013-08-19 | 2016-11-01 | Canon Kabushiki Kaisha | Encoder |
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US10295376B2 (en) | 2015-09-18 | 2019-05-21 | Honeywell International Inc. | Multi-turn angle position sensor (extendible for more than 10 turns) |
JP7076683B2 (ja) * | 2016-06-27 | 2022-05-30 | Smc株式会社 | 位置検出装置 |
US10613113B2 (en) * | 2016-06-27 | 2020-04-07 | Smc Corporation | Position detecting device |
US10036654B1 (en) * | 2017-01-31 | 2018-07-31 | Kitty Hawk Corporation | Fault tolerant servo sensor with linear hall sensors and discrete hall sensors |
JP7077109B2 (ja) * | 2018-04-05 | 2022-05-30 | 株式会社ミツバ | 減速機付モータ、ワイパ駆動装置及びパワーウインドウ装置 |
CN113383209B (zh) | 2018-12-06 | 2024-03-29 | 谐波传动系统有限公司 | 双绝对式编码器 |
JP7327192B2 (ja) * | 2019-03-28 | 2023-08-16 | 株式会社デンソー | 検出装置、および、制御装置 |
US11946773B2 (en) * | 2019-03-28 | 2024-04-02 | Denso Corporation | Motor rotation and position detection device and control unit |
JP7277295B2 (ja) * | 2019-07-10 | 2023-05-18 | ファナック株式会社 | サーボモータの制御装置 |
CN112600361B (zh) * | 2020-12-17 | 2024-03-12 | 李宏双 | 一种机械式同步马达定位结构 |
CN116131539A (zh) * | 2023-02-01 | 2023-05-16 | 哈尔滨理工大学 | 一种多圈式非接触永磁体磁电编码器及其计数方法 |
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JPH0534105A (ja) * | 1991-07-30 | 1993-02-09 | Mitsubishi Electric Corp | 多回転絶対値エンコーダ |
JP2000065599A (ja) * | 1998-08-26 | 2000-03-03 | Yaskawa Electric Corp | 多回転式絶対値エンコーダ |
JP2002372405A (ja) * | 2001-06-14 | 2002-12-26 | Yazaki Corp | 回転角センサ及び液位検出装置 |
WO2003036237A1 (fr) * | 2001-10-19 | 2003-05-01 | Kabushiki Kaisha Yaskawa Denki | Codeur de type a rotations multiples |
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JP2511094B2 (ja) * | 1988-02-04 | 1996-06-26 | 株式会社日立製作所 | 回転角制御によるねじ締付け装置 |
JPH08271286A (ja) * | 1995-03-28 | 1996-10-18 | Japan Steel Works Ltd:The | 絶対位置検出機能を有する回転型インクリメンタルエンコーダ |
JP4459463B2 (ja) * | 2001-02-19 | 2010-04-28 | 株式会社ハーモニック・ドライブ・システムズ | アクチュエータの位置決め誤差補正方法 |
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JP2005172721A (ja) * | 2003-12-15 | 2005-06-30 | Harmonic Drive Syst Ind Co Ltd | アブソリュート磁気エンコーダ |
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- 2005-10-18 JP JP2005302821A patent/JP2007113932A/ja active Pending
-
2006
- 2006-08-08 WO PCT/JP2006/315641 patent/WO2007046182A1/ja active Application Filing
- 2006-08-08 US US11/992,810 patent/US7994749B2/en active Active
- 2006-08-08 DE DE112006002824T patent/DE112006002824T5/de active Pending
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JPH0534105A (ja) * | 1991-07-30 | 1993-02-09 | Mitsubishi Electric Corp | 多回転絶対値エンコーダ |
JP2000065599A (ja) * | 1998-08-26 | 2000-03-03 | Yaskawa Electric Corp | 多回転式絶対値エンコーダ |
JP2002372405A (ja) * | 2001-06-14 | 2002-12-26 | Yazaki Corp | 回転角センサ及び液位検出装置 |
WO2003036237A1 (fr) * | 2001-10-19 | 2003-05-01 | Kabushiki Kaisha Yaskawa Denki | Codeur de type a rotations multiples |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105958735A (zh) * | 2016-06-12 | 2016-09-21 | 浙江湖州森富机电有限责任公司 | 一种管状电机的绝对编码器 |
CN113631893A (zh) * | 2019-03-28 | 2021-11-09 | 美蓓亚三美株式会社 | 绝对编码器 |
WO2024009515A1 (ja) * | 2022-07-08 | 2024-01-11 | ファナック株式会社 | 位置検出システムおよびアクチュエータ |
Also Published As
Publication number | Publication date |
---|---|
JP2007113932A (ja) | 2007-05-10 |
US20090140731A1 (en) | 2009-06-04 |
US7994749B2 (en) | 2011-08-09 |
DE112006002824T5 (de) | 2008-09-11 |
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