Patent ID: 9701022
Date: 2017-07-11
CPC Classifications: B25J,G05B,G06F,Y10S

Claim:
1. A method for displaying an abnormality of a robot, the method comprising: detecting, using a motor position detector, a motor position of each of a plurality of shafts of the robot, and obtaining operation values for the robot in operation using the detected motor position of each of the plurality of shafts of the robot; detecting, in a sensor-less manner, a first abnormality of the robot using the operation values, the first abnormality being a collision of the robot, and displaying the first abnormality; and after the detecting the first abnormality, (i) detecting a second abnormality of the robot using the operation values and (ii) displaying the second abnormality of the robot when a calculation using the operation values is greater than a display determination threshold corresponding to the second abnormality, the second abnormality being different from the first abnormality, wherein the display determination threshold corresponding to the second abnormality is less than an abnormality determination threshold corresponding to the second abnormality, the abnormality determination threshold corresponding to the second abnormality being used to determine an occurrence of the second abnormality.