摘要 |
<P>PROBLEM TO BE SOLVED: To provide a brake performance detecting method and a brake performance detecting device capable of simply and accurately detecting the brake performance of a brake means. <P>SOLUTION: While braking force is added to a motor, a command signal for brake performance detection instructing the motor to operate only by predetermined operation amount is added to the motor. The change amount of the motor between before adding the command signal and after adding the command signal is detected. Therefore, driving force corresponding to gravity added to an arm can be generated in the motor, and the brake performance of a brake can be detected regardless the gravity of the arm. Even when the holding torque of the brake is lowered, the arm driven by the motor can be prevented from excessively moving and colliding to another device or work. <P>COPYRIGHT: (C)2005,JPO&NCIPI |