FAILURE DIAGNOSING DEVICE OF DRIVE MECHANISM, METHOD OF DIAGNOSING FAILURE, AND MECHANICAL APPARATUS PROVIDED WITH FAILURE DIAGNOSING DEVICE

摘要

A failure diagnosing device of a drive mechanism of a mechanical apparatus with a body including a motor, a speed reducer configured to slow down rotational power of the motor, and an operation part configured to operate by the slowed rotational power, and a vibration-proof controller configured to perform a vibration-proof control to prevent vibration of the body, the mechanism including the speed reducer and the motor. The device sends a command for suspending the vibration-proof control to the controller, then identifies an acceleration-and-deceleration period during which operation of the mechanical apparatus of which the control is suspended accelerates and decelerates, and determines whether the mechanism indicates a sign of failure based on a change in a frequency spectrum of load current of the motor or a current value having a correlation with the load current to a change in a rotational speed of the motor during the acceleration-and-deceleration period.