| 摘要 |
PURPOSE: To detect an abnormality early even if an abnormality is not detected in the operation of a manipulator irrespective of the fact that an abnormality occurs in a manipulator main body. CONSTITUTION: A variableΔis initialized to zero (step S18). Next, the following process is repeated by selecting an instruction point pi which becomes a travel target, a sampling point pj, and an axis for processing ax sequentially. First, a value ofΔ' which corresponds to each axis at each sampling point is calculated (step S19). Here,Δ' is an absolute value of a difference between a motor torque command value at the time of regeneration and a motor torque command value at the time of trial run. Thus the obtainedΔ' is added toΔ(step S20). When a total valueΔofΔ' which is obtained for all axes at all the sampling points pj is larger than a valueεwhich is determined in advance, it is judged that an abnormality occurs in a manipulator, and an alarm message is displayed (step S21).
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