Basic specifications 25
• The score output by the reduction gear abnormality detection function is calculated
based on motor feedback data and is a reference value for detecting abnormalities
that leads to a failure. It does not guarantee to certainly detect abnormalities before
part failure. Also, this score targets aged deterioration of the robot.
Set the conditions (weight, center of gravity, and shape) of the actual hand and the
workpiece to be used correctly. If the settings differ from the actual robot conditions,
mis-detection may occur or abnormalities may not be detected.
Use parameters HNDDAT* and WRKDAT* to set hand work conditions and use
Loadset commands to specify hand work conditions.
For details of hand work condition setting, refer to the separate "Instruction
Manual/Detailed Explanations of Functions and Operations".
The reduction gear abnormality detection function calculates when the motor is
operating at a motor speed of 500 rpm or faster.
The score is not calculated for axes operating at less than 500 rpm.
The operation speed can be checked using the oscillograph of RT ToolBox3 or the
monitoring function.
(Refer to "Checking scores with the real-time monitor oscillograph", "How to check
the motor speed with the RT ToolBox3 monitor function”.)
When there is a vibration source outside the robot arm or robot operation is hindered
by an external cable, and others. Abnormalities or deterioration of parts may not be
diagnosed correctly.
• Since the score of the reduction gear abnormality detection varies depending on the
operating speed and operation conditions such as the hand load by the hand and the
workpiece, set the detection level according to the actual operating conditions.
If the operating conditions such as the workpiece, the hand, and the operation
program are changed, review the setting of the detection level. If the setting of the
detection level is not appropriate, abnormalities may not be detected or mis-detection
may occur.
The reduction gear abnormality detection function may detect failure of driving parts
other than the reduction gear, such as the bearing and the timing belt. In addition, the
score of the axis without abnormality may also change.
The score may fluctuate depending on changes in the ambient temperature.
To ensure that the score does not fluctuate during detection, use the robot in an
environment which has a stable temperature. Review the detection level settings if
the ambient temperature changes.
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