Abstract: Image processing unit is provided in computer, and performs: for each of input images constituting a moving image obtained by capturing a workpiece during arc welding, a spatter detection step of detecting a spatter from an input image constituting a moving image of the workpiece, the moving image being generated by capturing the workpiece during the arc welding; a background bright spot identification step of identifying, as a background bright spot, a position in the moving image, the position being a position where a number of times of the detection in the spatter detection step is equal to or more than a predetermined reference number of times; and a spatter number identification step of identifying, for one input image, a number of spatters excluding spatters each corresponding to the background bright spot identified by the background bright spot identification step among the spatters detected by the spatter detection processing.

Abstract: Enable switch device (100) transitions to position 1 when not operated, to position 2 when mid-operated, and to position 3 when full-operated. Enable switch device (100) includes first switch (SW1) and second switch (SW2) each being a two-position switch, and first signal processor (10). First signal processor (10) determines in which one of positions 1 to 3 an operated state of enable switch device (100) is, based on an output signal of first switch (SW1) and an output signal of second switch (SW2). First signal processor (10) detects presence or absence of failure in each of first switch (SW1) and second switch (SW2).

Abstract: An abnormality detection method for detecting an abnormality of an encoder provided for a robot includes: obtaining corrected position information according to commanded position information output from a controller that designates the rotational position of a motor and an output signal output from the encoder; and, determining, after comparing the corrected position information with the detected position information according to the output signal output from the encoder, the abnormality of the encoder, if there is a difference greater than or equal to a predetermined value between the corrected position information and the detected position information. The controller removes a vibration component of the robot corresponding to the weight of an attachment load from the commanded position information and compensates for a time delay to obtain the corrected position information.

Abstract: A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

Abstract: In a robot including a motor and an encoder for detecting the rotational position of the motor, the controller outputs a speed command indicating the rotational position of the motor and sends commanded-position information indicating the rotational position of the motor according to the speed command to a safety unit for detecting a fault in the encoder. When the controller is holding modified point-of-origin information of the motor and the safety unit is holding the original point-of-origin information, the controller sends commanded-position information generated based on the original point-of-origin information to the safety unit.

Abstract: Image processing unit is provided in computer, and performs: for each of input images constituting a moving image obtained by capturing a workpiece during arc welding, a spatter detection step of detecting a spatter from an input image constituting a moving image of the workpiece, the moving image being generated by capturing the workpiece during the arc welding; a background bright spot identification step of identifying, as a background bright spot, a position in the moving image, the position being a position where a number of times of the detection in the spatter detection step is equal to or more than a predetermined reference number of times; and a spatter number identification step of identifying, for one input image, a number of spatters excluding spatters each corresponding to the background bright spot identified by the background bright spot identification step among the spatters detected by the spatter detection processing.

Abstract: An abnormality detection method of an encoder includes an output step, a control step, an information acquisition step, and an abnormality determination step. The abnormality determination step compares command position information with detection position information of a motor calculated based on an output signal, and determines that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.

Abstract: A robot control method includes defining a robot monitor model that covers at least a part of the robot and defining a monitor region parallel to a coordinate system for the robot. The monitor region is configured to monitor a range of motion of the robot. The method further includes transforming a position of a definition point that is an arbitrary point contained in the robot monitor model into a position of the definition point in a coordinate system different from the coordinate system for the robot (ST9), determining whether or not the robot monitor model is put into contact with a boundary surface of the monitor region by using the transformed position of the definition point (ST6), and stopping motion of the robot if the robot monitor model is put into contact with the boundary surface (ST8).

Abstract: An abnormality detection method for detecting an abnormality of an encoder provided for a robot includes: obtaining corrected position information according to commanded position information output from a controller that designates the rotational position of a motor and an output signal output from the encoder; and, determining, after comparing the corrected position information with the detected position information according to the output signal output from the encoder, the abnormality of the encoder, if there is a difference greater than or equal to a predetermined value between the corrected position information and the detected position information. The controller removes a vibration component of the robot corresponding to the weight of an attachment load from the commanded position information and compensates for a time delay to obtain the corrected position information.

Abstract: A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

Abstract: In a robot including a motor and an encoder for detecting the rotational position of the motor, the controller outputs a speed command indicating the rotational position of the motor and sends commanded-position information indicating the rotational position of the motor according to the speed command to a safety unit for detecting a fault in the encoder. When the controller is holding modified point-of-origin information of the motor and the safety unit is holding the original point-of-origin information, the controller sends commanded-position information generated based on the original point-of-origin information to the safety unit.

Abstract: An abnormality detection method of an encoder includes an output step, a control step, an information acquisition step, and an abnormality determination step. The abnormality determination step compares command position information with detection position information of a motor calculated based on an output signal, and determines that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.

Abstract: A robot control method includes defining a robot monitor model that covers at least a part of the robot and defining a monitor region parallel to a coordinate system for the robot. The monitor region is configured to monitor a range of motion of the robot. The method further includes transforming a position of a definition point that is an arbitrary point contained in the robot monitor model into a position of the definition point in a coordinate system different from the coordinate system for the robot (ST9), determining whether or not the robot monitor model is put into contact with a boundary surface of the monitor region by using the transformed position of the definition point (ST6), and stopping motion of the robot if the robot monitor model is put into contact with the boundary surface (ST8).

Abstract: A failure of a robot can be determined while a production line is operating by determining when a motor output torque moving average value, which is an average value of N (N is a positive integer) pieces of motor output torque values, exceeds a first failure determination reference value, and an external force torque estimated moving average value, which is an average value of N pieces of external force torque estimated values, exceeds a second failure determination reference value.

Abstract: A failure can be determined while a production line is operating by determining as a failure when motor output torque average value ?mAA, which is an average value of N (N is a positive integer) pieces of motor output torque values ?mA, exceeds first failure determination reference value ?mth, and external force torque estimated average value ?dAA, which is an average value of N pieces of external force torque estimated values ?dA, exceeds second failure determination reference value ?dth.