When a motor replacement detection portion (4) detects replacement of a motor (M), a control portion (2) of the motor control apparatus executes limiting processing for limiting action of the motor (M), at least until an acceptance portion (5) accepts an input of confirmation information from a user.

In a determination device including at least one sub-device and a control device that controls the sub-device, and determining suitability of the sub-device, the control device includes a selection unit that selects a type of an actual operation characteristic to be obtained from the sub-device, a model information obtaining unit that obtains, as model information, an operation characteristic estimated to be output from the sub-device that is suitable, the operation characteristic corresponding to the selected type, an operation information obtaining unit that obtains actual operation information representing operation information regarding the actual operation characteristic of the sub-device, a determination unit that determines the suitability of the sub-device in accordance with a difference between the obtained actual operation information and the obtained model information, and a determination result output unit that outputs a determination result of the determination unit.

A robot includes at least two or more types of component units and a control unit configured to control an operation of each component unit. The respective units are configured to be detachable from each other. The control unit is configured to be able to collect configuration data of each of the component units and acquire connection data regarding connection states of all the component units connected to the control unit based on the collected configuration data. A determination portion that stores a predetermined connection form of each component unit, which is controllable by the control unit, in advance as verification data and determines whether or not connection data acquired by the control unit matches the verification data is further provided.

When a motor replacement detection portion (4) detects replacement of a motor (M), a control portion (2) of the motor control apparatus executes limiting processing for limiting action of the motor (M), at least until an acceptance portion (5) accepts an input of confirmation information from a user.

The invention relates to a method (100) for a configuration of a modular industrial robot (10), the method (100) comprising: obtaining (101) a module specification about a current structure of the robot (10), the module specification being specific for a number of modules (20) of the robot (10); configuring (102) identifiers for the modules (20) using the module specification, the identifiers being used for addressing the modules (20) via a industrial communication network (30); triggering (103) responses of the modules (20) depending on the configured identifiers; receiving (104) each of the responses via an additional communication network (40); identifying (105) each of the modules (20) from which the responses originate, a module identity of a respective identified module (20) being assigned to the response originating from it; and verifying (106) the configured identifiers using the module identities.