| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method and device which can precisely and simply extract data used for failure determination and lifetime diagnosis of a drive system for an industrial robot while performing a normal operation program. <P>SOLUTION: On a torque signal Tf output to a motor 12 from a motor driver 10 for controlling the motor 12 in accordance with a position command Xs generated based on an operation program of a robot 8, a high pass filter 34 is applied after removing gravity compensating torque and interference torque caused by other shafts of the robot from the torque signal Tf, and an failure in a speed reducer 14 is determined based on an extracted oscillating component of the speed reducer 14. <P>COPYRIGHT: (C)2012,JPO&INPIT |
