Abstract: A power circuit abnormality detection method for a power circuit detects whether an abnormality in a power source relay exists. The power circuit includes a pre-charge circuit opening and closing a connection between a direct current power source and a smoothing condenser by bypassing the power source relay to pre-charge the smoothing condenser, and a discharge circuit connected in parallel to the smoothing condenser to discharge electric charges stored in the smoothing condenser via a discharge resistance when a discharge switch is closed. The power circuit abnormality detection method includes a step of detecting whether the open contact abnormality in the power source relay exists based on whether a charge voltage of the smoothing condenser is reduced when a predetermined period of time has elapsed since both the discharge circuit and the power source relay are closed after the pre-charge circuit is opened.

Abstract: A power circuit abnormality detection method for a power circuit detects whether an abnormality in a power source relay exists. The power circuit includes a pre-charge circuit opening and closing a connection between a direct current power source and a smoothing condenser by bypassing the power source relay to pre-charge the smoothing condenser, and a discharge circuit connected in parallel to the smoothing condenser to discharge electric charges stored in the smoothing condenser via a discharge resistance when a discharge switch is closed. The power circuit abnormality detection method includes a step of detecting whether the open contact abnormality in the power source relay exists based on whether a charge voltage of the smoothing condenser is reduced when a predetermined period of time has elapsed since both the discharge circuit and the power source relay are closed after the pre-charge circuit is opened.

Abstract: A speed change gear includes: an internal gear member; an eccentric member; an oscillating member; a pair of first and second rotating members; and a pin that is supported at both ends by insertion holes of the first and second rotating members. The insertion hole and the insertion hole have the same diameter. The outside diameter of the other side end portion of the pin is smaller than the outside diameter of one side end portion of the pin such that the one side end portion is press-fitted in the corresponding insertion hole and the other side end portion is supported by the corresponding insertion hole.

Abstract: A speed change gear includes: an internal gear member; an eccentric member; an oscillating member; a pair of first and second rotating members; and a pin that is supported at both ends by insertion holes of the first and second rotating members. The insertion hole and the insertion hole have the same diameter. The outside diameter of the other side end portion of the pin is smaller than the outside diameter of one side end portion of the pin such that the one side end portion is press-fitted in the corresponding insertion hole and the other side end portion is supported by the corresponding insertion hole.