| 摘要 |
PROBLEM TO BE SOLVED: To take a diagnosis at any time even while a production line is in operation. SOLUTION: Data of respective axes (i) constituting a robot mechanism part are inputted from a servo system which controls a servo motor (step 1). After load torque To is calculated from mass point models for the robot itself and a load and the data of the respective axes (i) in consideration of interference of other axes, the power Wo of the load side which is the product of the load torque To and an angular velocityωi is calculated (steps 4, 5). The data of the driving current Ii of the servo motor which drives the respective axes is inputted from the servo system and multiplied by the corresponding torque constant ki of the servo motor to calculate driving torque Ti and then the power Wi of the driving side which is the product of the driving torque Ti and angular velocityωi is calculated (steps 2, 3). The ratio (Wi /Wo ) is calculated from the power Wo of the load side and the power Wi of the driving side and compared with a previously set decision value to decide whether or not the robot mechanism part has deteriorated (steps 6, 7).
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