| 摘要 |
The present invention does not need to measure or store reference data and able to determine a failure while the production line is operating by determining as a failure when motor output torque average value ÄmAA, which is an average value of N (N is a positive integer) pieces of motor output torque values ÄmA, exceeds first failure determination reference value Ämth, and external force torque estimated average value ÄdAA, which is an average value of N pieces of external force torque estimated values ÄdA, exceeds second failure determination reference value Ädth. |
