Patent ID: 11858190
Assignee: FANUC CORPORATION
Field: Other special machines (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. The abnormality detection device according to claim 1, further comprising: a first abnormality detection unit and a second abnormality detection unit,
wherein
the first abnormality detection unit is configured to compare the current physical quantity notified from the physical quantity detection unit with the reference physical quantity read from the first storage unit in a manner that the current and reference physical quantities are associated with the time that has elapsed during the operation of the movable part or the position of the movable part in the operation of the movable part, to obtain the first physical quantity deviation, and
the second abnormality detection unit is configured to compare the current physical quantity notified from the physical quantity detection unit with the reference physical quantity read from the second storage unit in a manner that the current and reference physical quantities are associated with the time that has elapsed during the operation of the movable part or the position of the movable part in the operation of the movable part, to obtain the second physical quantity deviation,
the second abnormality detection unit is configured to notify the first abnormality detection unit of abnormality in response to the second physical quantity deviation exceeding the threshold value, and
the first abnormality detection unit is configured to notify the servo amplifier of the instruction to stop or decelerate the movable part in response to any of (i) the first abnormality detection unit being notified of abnormality from the second abnormality detection unit and (ii) the first physical quantity deviation exceeding the threshold value.