Patent ID: 11945120
Assignee: OMRON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 4:
5. A non-transitory computer readable medium storing an abnormality diagnosis program for causing a robot control device to execute abnormality diagnosis of a robot body comprising a motor that rotates a rotational shaft from a starting angle position to a target angle position, wherein the rotational shaft transmits power to an arm so that the arm performs a predetermined operation,
wherein the robot control device is caused to execute:
a step for driving the motor so that the rotational shaft rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft in which it is possible to detect a frequency of a vibration component caused by an abnormality from among the vibration components generated along with a rotation of the rotational shaft;
a step for detecting the frequency of the vibration component by using a torque sensor; and
a step for performing the abnormality diagnosis based on the frequency of the vibration component that has been detected,
wherein the starting angle position of the rotational shaft in the abnormality diagnosis is the same as the starting angle position in a normal operation, and the target angle position of the rotational shaft in the abnormality diagnosis is the same as the target angle position of the rotational shaft in the abnormality diagnosis,
wherein a rotational speed profile of the rotational shaft during abnormality diagnosis is adjusted into a trapezoid shape by the robot control device, so as to include a period during which the rotational speed becomes constant.