Patent ID: 12216451

DETAILED DESCRIPTION OF THE INVENTION

Hereinafter, an embodiment for embodying the present disclosure will be described based on the drawings.

Configuration of Robot System

A configuration of a robot system100according to an embodiment will be described with reference toFIGS.1to9. As illustrated inFIG.1, the robot system100includes a robot1and a controller2. The robot1is a clean robot disposed in a clean room. The robot1is a substrate transport robot that transports a substrate in the clean room. The robot1is a horizontal articulated robot having a plurality of joints, and includes a base portion, an arm portion connected to the base portion, and a hand portion connected to the arm portion. The hand portion holds a substrate. The substrate is, for example, a semiconductor wafer. The controller2is an example of a control unit.

The robot1also includes a motor11, an encoder12, and a board13. A plurality of motors11are provided to correspond to the plurality of joints of the robot1, respectively. Each of the plurality of motors11drives the corresponding joint. A plurality of encoders12are provided to correspond to the plurality of motors11, respectively. Each of the plurality of encoders12is connected to the corresponding motor11and detects the rotational position of the corresponding motor11. Each of the plurality of encoders12includes a storage unit12a. The storage unit12ais a non-volatile memory and stores information regarding the operation of the encoder12and the like. In the present embodiment, the storage unit12astores identification information of the motor11. The storage unit12ais an example of a first storage unit.

The board13is a circuit board provided at the arm portion of the robot1. The board13includes a storage unit13a. The storage unit13ais a non-volatile memory, and stores information on the model of the robot1and the like. In the present embodiment, the storage unit13astores identification information of the motor11. One storage unit13ais provided at the arm portion of the robot1. The storage unit13ais provided separately from the storage unit12a. The storage unit12aand the storage unit13aare provided in the robot1. The storage unit13ais an example of a second storage unit.

The controller2controls the operation of the robot1. Specifically, the controller2controls the operation of the robot1by controlling the power supplied to the motor11of the robot1. The controller2can be connected to a plurality of robots1and can control the operations of the plurality of robots1.FIG.1illustrates only one robot1for convenience.

Here, in the present embodiment, as illustrated inFIGS.2and3, at the time of start, the controller2detects whether or not the motor11attached to the robot1is a motor11to which identification information has been assigned in advance, by comparing the identification information of the motor11stored in the storage unit12aand the identification information of the motor11stored in the storage unit13a. Specifically, when the identification information of the motor11stored in the storage unit12acoincides with the identification information of the motor11stored in the storage unit13a(seeFIG.2), the controller2detects that the motor11is the motor11to which the identification information has been assigned in advance. When the identification information of the motor11stored in the storage unit12adoes not coincide with the identification information of the motor11stored in the storage unit13a(seeFIG.3), the controller2detects that the motor11is a motor11to which the identification information has not been assigned in advance.

As will be described later, identification information is assigned to an authorized motor11in advance, and identification information is not assigned to an unauthorized motor11in advance. Therefore, by detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance, it is possible to detect whether the motor11is an authorized motor or an unauthorized motor. When the motor11is replaced, normally, the encoder12is replaced together with the motor11. Therefore, by comparing the identification information of the motor11stored in the storage unit12aof the encoder12and the identification information of the motor11stored in the storage unit13a, it is possible to detect whether or not the motor11is the motor11to which the identification information has been assigned in advance.

In the present embodiment, the controller2sets a normal operation mode when detecting that the motor11is a motor11to which the identification information has been assigned in advance. Specifically, when the controller2detects that all of the plurality of motors11are motors11to which respective pieces of identification information have been assigned in advance, the controller2sets the normal operation mode. In the normal operation mode, the robot1operates normally and without restrictions when operated by the controller2. Further, when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance, the controller2sets a performance restriction mode in which the performance is restricted as compared with the performance in the normal operation mode. Specifically, when the controller2detects that at least one of the plurality of motors11is not the motor11to which the identification information has been assigned in advance, the controller2sets the performance restriction mode.

For example, when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance, the controller2sets the performance restriction mode in which the speed is set to be lower than the speed in the normal operation mode. In the performance restriction mode, when the robot1is operated by the controller2, the robot1is operated at an operation speed that is reduced by a predetermined ratio with respect to a normal speed. Further, for example, when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance, the controller2sets the performance restriction mode in which the operations of some of the plurality of joints in the robot1are restricted. In the performance restriction mode, when the robot1is operated by the controller2, predetermined joints among the plurality of joints are inoperable, and other joints are operable.

In comparison of the identification information of the motor11, when the storage unit13ais not attached to the robot1and it is not possible to read the identification information of the motor11from the storage unit13a, the controller2sets the performance restriction mode. The case where the storage unit13ais not attached to the robot1is, for example, the case where the board13is detached from the robot1for some reason. Further, the case where it is not possible to read the identification information of the motor11from the storage unit13ais, for example, the case where the wiring for communicating with the board13has been changed for some reason. In the cases, the performance restriction mode is set because the motor11may have been replaced unauthorizedly.

In the present embodiment, the controller2performs a notification of an error when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance. Specifically, the controller2notifies a host device that manages the robot system100of the error. When notified of an error, the host device displays the content of the error on a display unit. This enables a user to recognize an error caused by a situation in which the motor11attached to the robot1is not the motor11to which the identification information has been assigned in advance.

The setting of the identification information of the motor11will be described with reference toFIGS.4to8. The setting is performed by connecting a setting device200to the controller2. The setting device200is, for example, a personal computer, and includes an operation unit that inputs an operation of an operator and a display unit that displays a screen. The operator is a person who can authorizedly perform work on the robot system100, such as an engineer of the manufacturer of the robot system100or a direct user who is not an end user who actually uses the robot system100.

In the present embodiment, as illustrated inFIGS.4and5, when setting the identification information of the motor11, the controller2executes a process of receiving an input of the identification information of the motor11by the operator, a process of storing the received identification information of the motor11in the storage unit12a, and a process of storing the identification information of the motor11stored in the storage unit12a, in the storage unit13a.

In the present embodiment, as illustrated inFIG.6, the controller2performs switching of a function (for convenience, may be referred to as an “unauthorized motor detection function” below) of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance, to be enabled or disabled based on the operation of the operator. When the unauthorized motor detection function is switched to be enabled or disabled, the controller2receives an input of a password. The password is automatically set by the controller2in accordance with a predetermined rule. The operator ascertains the password automatically set by the controller2, in accordance with a predetermined rule.

The operator displays a setting screen201on the display unit of the setting device200, and operates the controller2by using the operation unit of the setting device200, and thereby switching the unauthorized motor detection function to be enabled or disabled. Specifically, the operator inputs a program name to execute a program for switching the unauthorized motor detection function to be enabled or disabled. When the program is executed, the input of the password is required. Therefore, the operator inputs the ascertained password. When the correct password is input, an input of being enabled or disabled is required. Thus, the operator inputs the desired setting of being enabled or disabled. When being enabled is input, it is displayed that the unauthorized motor detection function is enabled. In addition, the controller2sets the unauthorized motor detection function to be enabled. Similarly, when being disabled is input, it is displayed that the unauthorized motor detection function is disabled. In addition, the controller2sets the unauthorized motor detection function to be disabled.FIG.6illustrates an example in which being enabled is input.

The identification information of the motor11is set in a state where the unauthorized motor detection function is switched to be enabled. Specifically, as illustrated inFIG.7, the operator displays a setting screen202on the display unit of the setting device200, and operates the controller2by using the operation unit of the setting device200. In this manner, the identification information of the motor11is input and stored in the storage unit12a. Specifically, the operator inputs the program name to execute the program for inputting the identification information of the motor11and storing the identification information in the storage unit12a. When the program is executed, the input of the password is required. Therefore, the operator inputs the ascertained password. When the correct password is input, an input of the number of the robot1is required. The number of the robot1means the number set for each of a plurality of robots1when the plurality of robots1are connected to the controller2. The operator inputs the number of the robot1for which the identification information of the motor11is desired to be set. Thus, it is possible to set the identification information of the motor11for each robot1.

When the number of the robot1is input, the input of the identification information of the motor11of the robot1of which the number has been input is required. Therefore, the operator inputs the identification information of the motor11. The identification information is configured by numbers, for example. In this case, the operator inputs any number as the identification information of the motor11. When the identification information is input, as illustrated inFIG.4, the controller2writes and stores the input identification information in the storage unit12acorresponding to the motor11to which the identification information has been input. As a result, the identification information is assigned to the motor11. As illustrated inFIG.7, it is displayed that the writing of the identification information of the motor11in the storage unit12ahas been normally completed.

Further, as illustrated inFIG.8, the operator displays a setting screen203on the display unit of the setting device200, and operates the controller2by using the operation unit of the setting device200, thereby storing the identification information of the motor11stored in the storage unit12a, in the storage unit13a. Specifically, the operator inputs the program name to execute a program for storing the identification information of the motor11stored in the storage unit12a, in the storage unit13a. When the program is executed, the input of the password is required. Therefore, the operator inputs the ascertained password. When the correct password is input, an input of the number of the robot1is required. The operator inputs the number of the robot1for which the identification information of the motor11is desired to be set.

When the number of the robot1is input, as illustrated inFIG.5, the controller2reads the identification information of the motor11from the storage unit12aof the robot1of which the number has been input. Then, the controller2writes and stores the read identification information of the motor11in the storage unit13aof the robot1of which the number has been input. Thus, the same information as the identification information of the motor11stored in the storage unit12ais stored in the storage unit13a. As illustrated inFIG.8, it is displayed that the writing of the identification information of the motor11in the storage unit13ahas been completed. The processing contents of each of the above programs are encrypted. As a result, it is not possible to easily interpret the processing contents of each program, including the setting of the password.

FIGS.4to8illustrate an example of setting the identification information of the motor11for the first time. When the identification information of the motors11is set for the first time, pieces of the identification information of all the plurality of motors11attached to the robot1are set. Further, when the motor11is authorizedly replaced, setting of identification information is performed on the replaced motor11as described with reference toFIGS.7and8. That is, the controller2executes a process of receiving an input of the identification information of the replaced motor11, a process of storing the received identification information of the motor11in the storage unit12a, and a process of storing the identification information of the motor11stored in the storage unit12a, in the storage unit13a. Therefore, identification information is assigned in advance to the authorized motor11. In addition, the identification information of the motor11stored in the storage unit12acoincides with the identification information of the motor11stored in the storage unit13a.

On the other hand, when the motor11is replaced unauthorizedly, the motor11is replaced by a person other than the person who can authorizedly replace the motor. Thus, the identification information is not set, as described with reference toFIGS.7and8. Therefore, the identification information is not assigned in advance to the unauthorized motor11. In this case, the identification information of the motor11stored in the storage unit12adoes not coincide with the identification information of the motor11stored in the storage unit13a.

When the performance restriction mode is set due to unauthorized replacement of the motor11, the unauthorized replacement of the motor11is replaced with an authorized motor, and the identification information of the motor11is set. Therefore, it is possible to cancel the performance restriction mode. By setting the identification information, the identification information of the motor11stored in the storage unit12acoincides with the identification information of the motor11stored in the storage unit13a. Thus, in comparison of the identification information, the normal operation mode is set and the performance restriction mode is canceled.

As illustrated inFIG.9, the operator displays a check screen204on the display unit of the setting device200and operates the controller2by using the operation unit of the setting device200, thereby checking the setting of the unauthorized motor detection function. Specifically, the operator inputs the program name to execute a program for checking the setting of the unauthorized motor detection function. When the program is executed, the input of the password is required. Therefore, the operator inputs the ascertained password. When the correct password is input, the controller2notifies the setting device200of a state of enabling the unauthorized motor detection function, the identification information of the motor11stored in the storage unit12afor each robot1, and the identification information of the motor11stored in the storage unit13afor each robot1. The setting device200displays the state of enabling the unauthorized motor detection function, the identification information of the motor11stored in the storage unit12afor each robot1, and the identification information of the motor11stored in the storage unit13afor each robot1, on the display unit. Thus, the operator can check the state of enabling the unauthorized motor detection function, the identification information of the motor11stored in the storage unit12afor each robot1, and the identification information of the motor11stored in the storage unit13afor each robot1.

Control processing of the unauthorized motor detection function by the robot system100of the present embodiment will be described based on a flowchart with reference toFIG.10. Each process in the flowchart is executed by the controller2.

When the controller2is started, as illustrated inFIG.10, in Step S1, the identification information of the motor11is acquired from the storage units12aand13a. In Step S2, the identification information of the motor11stored in the storage unit12ais compared with the identification information of the motor11stored in the storage unit13a. In Step S3, it is determined whether or not the identification information of the motor11stored in the storage unit12acoincides with the identification information of the motor11stored in the storage unit13a. When the identification information of the motor11stored in the storage unit12acoincides with the identification information of the motor11stored in the storage unit13a, the process proceeds to Step S4, and the normal operation mode is set. The control processing is then ended.

When the identification information of the motor11stored in the storage unit12adoes not coincide with the identification information of the motor11stored in the storage unit13ain Step S3, the process proceeds to Step S5, and the host device is notified of an error. The error is displayed on the display unit of the host device. In Step S6, the performance restriction mode is set. The control processing is then ended.

Effect of Present Embodiment

In the present embodiment, as described above, the robot system100includes the robot1including the motor11, the storage unit12athat is provided to correspond to the motor11and stores the identification information of the motor11, the storage unit13athat is provided separately from the storage unit12a, and stores the identification information of the motor11, and the controller2that detects whether or not the motor11attached to the robot1is a motor11to which the identification information has been assigned in advance, by comparing the identification information of the motor11stored in the storage unit12aand the identification information of the motor11stored in the storage unit13a.

Thus, it is possible to detect whether an authorized motor11to which identification information has been assigned in advance is attached to a robot1or an unauthorized motor11to which the identification information has not been assigned in advance is attached to the robot1. As a result, it is possible to easily detect that the motor11has been replaced unauthorizedly.

Further, in the present embodiment, as described above, when the controller2detects that the motor11is the motor11to which the identification information has been assigned in advance, the controller2sets the normal operation mode. In addition, when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance, the controller2sets the performance restriction mode in which the performance is restricted as compared to the performance in the normal operation mode. Thus, when an authorized motor11to which identification information has been assigned in advance is attached to the robot1, the normal operation mode can be set, so that it is possible to appropriately operate the robot1as usual. On the other hand, when an unauthorized motor11to which identification information has not been assigned in advance is attached to the robot1, the performance restriction mode can be set. Thus, it is possible to suppress an occurrence of a problem in the robot1to which the unauthorized motor11having deteriorated performance as compared with an authorized motor is attached. Further, when the performance restriction mode is set, it is possible to operate the robot1even though the performance is restricted. Thus, it is possible to wait for replacement of an authorized motor11while continuously operating the robot1. As a result, compared to the case where the robot1does not operate, it is possible to reduce an influence on the production efficiency and the like caused by the delay in the work of the robot1until the authorized motor11is replaced.

Further, in the present embodiment, as described above, when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance, the controller2sets the performance restriction mode in which the speed is set to be lower than the speed in the normal operation mode. Thus, it is possible to wait for replacement of the authorized motor11while operating the robot1at a low speed. Accordingly, it is possible to easily reduce the influence on the production efficiency and the like caused by the delay in the work of the robot1until the authorized motor11is replaced.

Further, in the present embodiment, as described above, the robot1is an articulated robot. When the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance, the controller2sets the performance restriction mode in which the operations of some of the plurality of joints in the robot1are restricted. As a result, it is possible to wait for the replacement of the authorized motor11while operating the joints of which the operation is not restricted among the plurality of joints of the robot1. Thus, it is possible to easily reduce the influence on the production efficiency and the like caused by the delay in the work of the robot1until the authorized motor11is replaced.

In the present embodiment, as described above, the controller2performs a notification of an error when the controller2detects that the motor11is not the motor11to which the identification information has been assigned in advance. Thus, when an unauthorized motor11to which identification information has not been assigned in advance is attached to the robot1, it is possible to easily recognize that the unauthorized motor11is attached to the robot1, by the error notification.

Further, in the present embodiment, as described above, the controller2performs switching of the function of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance, to be enabled or disabled based on the operation of the operator. As a result, by the determination of the operator, it is possible to perform switching of the function of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance, to be enabled or disabled. Thus, it is possible to flexibly handle even a case where it is desired to temporarily disable the function of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance.

Further, in the present embodiment, as described above, the controller2receives the input of a password when the controller2performs switching of the function of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance, to be enabled or disabled. Thus, it is possible to disable switching of the function of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance, to be enabled or disabled unless the password is input. Thus, it is possible to suppress an occurrence of incorrect switching of the function.

Further, in the present embodiment, as described above, when setting the identification information of the motor11, the controller2executes a process of receiving an input of the identification information of the motor11by the operator, a process of storing the received identification information of the motor11in the storage unit12a, and a process of storing the identification information of the motor11stored in the storage unit12a, in the storage unit13a. Thus, it is possible to assign the identification information by the input of the operator and to store the identification information assigned to the motor11, in the storage unit12aand the storage unit13a. Thus, it is possible to easily realize a configuration of detecting whether or not the motor11is the motor11to which the identification information has been assigned in advance.

In addition, in the present embodiment, as described above, the storage unit12ais a storage unit of the encoder provided to correspond to the motor11. Thus, it is possible to store the identification information of the motor11by effectively using the storage unit of the encoder, so there is no need to provide the storage unit12aindependently of the storage unit of the encoder. As a result, it is possible to suppress an increase in the number of components as compared to the case where the storage unit12ais provided independently of the storage unit of the encoder.

Further, in the present embodiment, the storage unit12aand the storage unit13aare provided in the robot1as described above. Thus, even when the robot1itself is replaced, since the robot1is provided with both the storage unit12aand the storage unit13a, it is possible to easily acquire the identification information of the motor11stored in the storage unit12aand the identification information of the motor11stored in the storage unit13a, from the robot1. As a result, even when the robot1itself is replaced, it is possible to easily realize a configuration of detecting whether or not the motor11is a motor11to which the identification information has been assigned in advance.

Further, in the present embodiment, as described above, the robot1is a clean robot disposed in a clean room. As a result, even when the motor11is replaced unauthorizedly due to a failure of the motor11in the clean robot or the like, it is possible to easily detect that the motor11has been unauthorizedly replaced. Also, when the robot1is a clean robot that is greatly affected by stopping the operation, if the performance restriction mode is set, it is possible to wait for replacement of an authorized motor11while continuously operating the robot1. Thus, it is possible to effectively reduce the influence on the production efficiency and the like caused by the delay in the work of the robot1until the authorized motor11is replaced.

MODIFICATION EXAMPLES

It should be noted that the embodiment disclosed this time is exemplary in all respects and is not considered to be restrictive. The scope of the present disclosure is shown by the scope of claims rather than the description of the embodiment described above, and further includes all changes (modification examples) within the meaning and scope equivalent to the scope of claims.

For example, in the above embodiment, an example in which the robot is a clean robot disposed in a clean room has been described, but the present disclosure is not limited to this. In the present disclosure, the robot may be a robot disposed outside the clean room.

Further, in the above embodiment, an example in which the robot is a substrate transport robot that transports substrates has been described, but the present disclosure is not limited to this. In the present disclosure, the robot may be an industrial robot other than the substrate transport robot.

Further, in the above embodiment, an example in which the robot is a horizontal articulated robot has been described, but the present disclosure is not limited to this. In the present disclosure, the robot may be a robot such as a vertical articulated robot other than a horizontal articulated robot.

Further, in the above embodiment, an example in which the first storage unit is the storage unit of the encoder has been described, but the present disclosure is not limited to this. In the present disclosure, the first storage unit may be a storage unit other than the storage unit included in the encoder as long as the storage unit is provided to correspond to the motor. For example, the first storage unit may be a storage unit provided in a driver that drives and controls a motor, or may be a storage unit provided in a mechanical component such as a speed reducer connected to the motor.

Further, in the above embodiment, an example in which the board including the second storage unit is provided at the arm portion of the robot has been described, but the present disclosure is not limited to this. In the present disclosure, the board including the second storage unit may be provided at the base portion of the robot.

Further, in the above embodiment, an example in which, when it is detected that the motor is not a motor to which identification information has been assigned in advance, the performance restriction mode is set has been described, but the present disclosure is not limited to this. In the present disclosure, when it is detected that the motor is not a motor to which the identification information has been assigned in advance, the robot may be caused not to operate. As a result, when an unauthorized motor to which identification information is not assigned in advance is attached to the robot, it is possible to cause the robot not to operate. Thus, it is possible to suppress an occurrence of an inappropriate operation in the robot to which the unauthorized motor is attached.

Further, in the above embodiment, an example in which, when it is detected that the motor is not a motor to which identification information has been assigned in advance, the performance restriction mode in which the speed is set to be lower than the speed in the normal operation mode, or operations of some of the plurality of joints in the robot are restricted is set has been described. However, the present disclosure is not limited to this. In the present disclosure, when it is detected that the motor is not a motor to which identification information has been assigned in advance, a performance restriction mode other than the performance restriction mode in which the speed is set to be lower than the speed in the normal operation mode and the performance restriction mode in which the operations of some of the plurality of joints in the robot are restricted may be set.

Further, in the above embodiment, an example in which the identification information of the motor is stored in the first storage unit, and then the identification information of the motor stored in the first storage unit is stored in the second storage unit, but the present disclosure is not limited to this. In the present disclosure, the identification information of the motor may be simultaneously stored in parallel in the first storage unit and the second storage unit.

Although an example in which the second storage unit is provided in the robot has been described in the above embodiment, the present disclosure is not limited to this. In the present disclosure, the second storage unit may be provided in the controller.

The functionality of the elements disclosed herein can be implemented by using circuits or processing circuits including general purpose processors, special purpose processors, integrated circuits, application specific integrated circuits (ASICs), conventional circuits, and/or combinations thereof configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because the processor includes transistors and other circuits. In the present disclosure, a circuit, a unit, or means is hardware that performs the described functions or is programmed to perform the described functions. The hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the described functions. When the hardware is a processor considered as one type of circuit, a circuit, means, or a unit is a combination of hardware and software, and the software is used for the configuration of the hardware and/or the processor.

ASPECTS

It will be understood by those skilled in the art that the above exemplary embodiments are specific examples of the following aspects.

Item 1

A robot system including: a robot including a motor; a first storage unit that is provided to correspond to the motor and stores identification information of the motor; a second storage unit that is provided separately from the first storage unit and stores the identification information of the motor; and a control unit that detects whether or not the motor attached to the robot is a motor to which the identification information has been assigned in advance, by comparing the identification information of the motor stored in the first storage unit and the identification information of the motor stored in the second storage unit.

Item 2

The robot system described in Item 1, in which the control unit sets a normal operation mode when the control unit detects that the motor is the motor to which the identification information has been assigned in advance, and causes the robot not to operate or sets a performance restriction mode in which performance is restricted as compared with performance in the normal operation mode, when the control unit detects that the motor is not the motor to which the identification information has been assigned in advance.

Item 3

The robot system described in Item 2, in which the control unit sets the performance restriction mode in which a speed is set to be lower than a speed in the normal operation mode, when the control unit detects that the motor is not the motor to which the identification information has been assigned in advance.

Item 4

The robot system described in Item 2, in which the robot is an articulated robot, and the control unit sets the performance restriction mode in which operations of some of a plurality of joints of the robot are restricted, when the control unit detects that the motor is not the motor to which the identification information has been assigned in advance.

Item 5

The robot system described in any one of Items 1 to 4, in which the control unit performs a notification of an error when the control unit detects that the motor is not the motor to which the identification information has been assigned in advance.

Item 6

The robot system described in any one of Items 1 to 5, in which the control unit performs switching of a function of detecting whether or not the motor is the motor to which the identification information has been assigned in advance, to be enabled or disabled, based on an operation of an operator.

Item 7

The robot system described in Item 6, in which the control unit receives an input of a password when the function of detecting whether or not the motor is the motor to which the identification information has been assigned in advance is switched to be enabled or disabled.

Item 8

The robot system described in any one of Items 1 to 7, in which when setting the identification information of the motor, the control unit executes a process of receiving an input of the identification information of the motor by an operator, a process of storing the received identification information of the motor in the first storage unit, and a process of storing the identification information of the motor, which has been stored in the first storage unit, in the second storage unit.

Item 9

The robot system described in any one of Items 1 to 8, in which the first storage unit is provided in an encoder provided to correspond to the motor.

Item 10

The robot system described in any one of Items 1 to 9, in which the first storage unit and the second storage unit are provided in the robot.

Item 11

The robot system described in any one of Items 1 to 10, in which the robot is a clean robot disposed in a clean room.