Industrial robot and a recording medium for recording the fault detection method as well as for industrial robot fault detection program

摘要

PROBLEM TO BE SOLVED: To provide a device and a method to detect a failure of a robot mechanism part and a servo control system at any time even during operation, in an industrial robot comprising the robot mechanism part consisting of a robot arm, a servomotor and an encoder, and the servo control system consisting of a position loop, a speed loop and a current loop. ;SOLUTION: Based on a command angle θ_d as command data to respective drive shafts of which a robot mechanism part 28 consists, an actual angle θ_i as position data of a servo motor 25 to drive the drive shafts, and the drive current I_i of the servo motor 25, a power W_d on the command side being the input side of a servo control system 29, a power W_i on the drive side being the output side of the servo control system 29 or the input side of a robot mechanism part 28, and a power W_o on the load side being the output side of the robot mechanism part 28 are calculated. From a ratio or a difference between the powers on the load side and the drive side, the presence of a failure of the robot mechanism part 28 is decided and from a ratio or a difference between the command side and the drive side, the presence of the failure of the servo control system 29 is decided.;COPYRIGHT: (C)1999,JPO