Abstract: A fault monitoring method for a robot (10) or other work machine (30) is disclosed, in which the period that starts when the robot or the work machine starts moving and ends when the work machine stops moving is set as one unit, the difference between the maximum torque and the minimum torque within the unit is set as a maximum fluctuation range, a fluctuation range control value is set on the basis of the maximum fluctuation range, an average is taken of the maximum fluctuation ranges at plural points during operation, a second average value (t1, t10, t100) is determined, and a fault is determined to have occurred when the second average value exceeds the fluctuation range control value.

Abstract: An apparatus for monitoring the operation of a robot joint in which a second member (43) is displaceably mounted on a first member (41). The distance to a measurement plate provided to the second member (43) is measured by a range finder (42) provided to the first member (41). A monitoring unit (71) compares the distance data measured by the range finder with a reference distance stored in advance, and generates an abnormality signal when the difference between the distance data and the reference distance exceeds an allowable value.

Abstract: An apparatus for monitoring the operation of a robot joint in which a second member (43) is displaceably mounted on a first member (41). The distance to a measurement plate provided to the second member (43) is measured by a range finder (42) provided to the first member (41). A monitoring unit (71) compares the distance data measured by the range finder with a reference distance stored in advance, and generates an abnormality signal when the difference between the distance data and the reference distance exceeds an allowable value.

Abstract: A fault monitoring method for a robot (10) or other work machine (30) is disclosed, in which the period that starts when the robot or the work machine starts moving and ends when the work machine stops moving is set as one unit, the difference between the maximum torque and the minimum torque within the unit is set as a maximum fluctuation range, a fluctuation range control value is set on the basis of the maximum fluctuation range, an average is taken of the maximum fluctuation ranges at plural points during operation, a second average value (t1, t10, t100) is determined, and a fault is determined to have occurred when the second average value exceeds the fluctuation range control value.