US Patent No. 10,899,010

CABLE DAMAGE DETECTION ASSISTANCE APPARATUS AND CABLE DAMAGE DETECTION ASSISTANCE METHOD IN ROBOT MECHANISM


Patent No. 10,899,010
Issue Date January 26, 2021
Title Cable Damage Detection Assistance Apparatus And Cable Damage Detection Assistance Method In Robot Mechanism
Inventorship Soichi Arita, Yamanashi (JP)
Kokoro Hatanaka, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 10,899,010

1. A cable damage detection assistance apparatus in a robot mechanism comprising:a program executor configured to execute a program that includes multiple program steps and operates a robot by driving motors of the robot having axes, a plurality of times, wherein velocity for driving the motors is changed each time the program is executed;
a motor controller configured to control the motors based on a command from the program executor;
a state quantity detector configured to detect a state quantity indicating an operation state of the robot during execution of the program;
an alarm generator configured to compare the state quantity with a threshold value set in advance, and, when the state quantity exceeds the threshold value, generate an alarm, and output information about a line number of the program step in which the alarm has occurred;
an alarm database configured to
count the number of occurrence of alarms on each line number of the program step in which the alarm has occurred when the program step is executed to drive a motor of the robot at a velocity among a plurality of velocities, and
store the counted number of occurrence of alarms on each line number for each velocity among the plurality of velocities; and
an analysis display configured to display, for each line number of the program step, the relationship between (a) the counted number of occurrence of alarms and (b) the velocity at which the alarm occurred.