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SYSTEM FOR DETERMINING ABNORMAL CONDITION OF DETECTION DEVICE, DETECTION DEVICE, DEVICE FOR DETERMINING ABNORMAL CONDITION OF DETECTION DEVICE, AND METHOD OF DETERMINING ABORMAL CONDITION OF DETECTION DEVICE
SYSTEM FOR DETERMINING ABNORMAL CONDITION OF DETECTION DEVICE, DETECTION DEVICE, DEVICE FOR DETERMINING ABNORMAL CONDITION OF DETECTION DEVICE, AND METHOD OF DETERMINING ABORMAL CONDITION OF DETECTION DEVICE
An abnormal condition determination system includes a detection device which detects rotation of each rotation shaft of a robot and an abnormal condition determination device which detects an encoder abnormal condition based on an absolute signal and an incremental signal from the detection device. The abnormal condition determination device calculates an absolute angle of the rotation shaft based on an amount of variation in angle of rotation of the rotation shaft indicated by an incremental signal from an incremental encoder. The abnormal condition determination device determines the detection device as abnormal when a difference between the absolute angle of the rotation shaft calculated based on the incremental signal and the absolute angle of the rotation shaft indicated by the absolute signal from an absolute encoder is out of an allowable range.
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