A workpiece transport apparatus for transporting a workpiece includes: a hand device; a moving device that includes a movable part mounted with the hand device and that includes at least one drive axis configured to operate the movable part; a current measurement section configured to measure a current value of a motor that drives the drive axis; and a workpiece number detection section configured to detect that a number of workpieces held by the hand device is different from an expected number based on a comparison result between the current value measured by the current measurement section when the hand device holds the workpiece, and a predetermined threshold value.

A tool management system of a machine tool includes: a detection unit to detect at least one of vibration, acoustic waves produced during operation of the machine tool, and current value of a server motor of a driving machine tool; a tool replacement determination unit that determines the necessity to replace the tool on the basis of information related to a detection value of at least one of the vibration, the acoustic waves, and the current value detected during operation of the machine tool; and a detection start/end command setting unit that adds commands for a detection start point and a detection end point of at least one of the vibration, the acoustic waves, and the current value of the servo motor to a machining program.

A motor control system includes first processing circuitry that controls a motor. An upper-level communication path connects an upper-level communication port of the first processing circuitry to second processing circuitry that sends an instruction to the first processing circuitry via the upper-level communication path. A lower-level communication path connects a lower-level communication port of the first processing circuitry to a plurality of devices connected in series to each other. The devices include rotational angle detection circuitry and output circuitry. The rotational angle detection circuitry detects a rotation angle of the motor. The output circuitry outputs associated information that is associated with the motor and is different from the rotational angle or that is associated with an industrial device associated with the motor. The first processing circuitry performs a predetermined processing based on the rotational angle and the associated information, and sends a result of the predetermined processing to the second processing circuitry.

A mechanical equipment control system includes a mechanical apparatus, a load ratio detection circuit, and an integration control circuit. The mechanical apparatus includes a motor which is configured to drive the mechanical apparatus. The load ratio detection circuit is configured to detect a load ratio of the motor. The integration control circuit is configured to control the mechanical apparatus based on an operation parameter while keeping the load ratio in an allowable load state.

A robot includes a motor driven by a three-phase alternating current, an AC conversion section configured to convert a direct current into a three-phase alternating current and output the three-phase alternating current to the motor, a first detecting section configured to detect a current value of the direct current before being input to the AC conversion section, a second detecting section configured to detect a current value of the direct current before being input to the AC conversion section or the three-phase alternating current output by the AC conversion section, a power-supply adjusting section configured to adjust power supply to the motor, and a control section configured to control operation of the power-supply adjusting section based on at least one of a detection result of the first detecting section and a detection result of the second detecting section.

A main spindle monitoring device determines an abnormality of a main spindle in a machine tool. The main spindle monitoring device includes a main spindle operation monitoring unit and a feed axis operation monitoring unit. The main spindle operation monitoring unit monitors a change of an operation condition of the main spindle based on a main spindle load. The feed axis operation monitoring unit monitors a change of an operation condition of a feed axis based on a feed axis load. The abnormality of the main spindle is determined when the main spindle operation monitoring unit detects the change of the operation condition of the main spindle and the feed axis operation monitoring unit does not detect the change of the operation condition of the feed axis in a state where a constant rotation speed is commanded to the main spindle while the feed axis is driving.

Conveyor system may comprise conveyor mechanism(s) provided with transport path(s) along which conveyed object(s) are conveyed to transport destination(s); electric current detector(s) and/or abnormality detector(s) that detect triggering event(s) which may be event(s) occurring at conveyor mechanism(s) due to conveyed object(s) during transport of conveyed object(s); and removal processor(s) that, when triggering event(s) detected by electric current detector(s) and/or abnormality detector(s) satisfy triggering condition(s), cause conveyed object(s) to be transported by conveyor mechanism(s) to removal area(s) which are not transport destination(s).

A workpiece transport apparatus for transporting a workpiece includes: a hand device; a moving device that includes a movable part mounted with the hand device and that includes at least one drive axis configured to operate the movable part; a current measurement section configured to measure a current value of a motor that drives the drive axis; and a workpiece number detection section configured to detect that a number of workpieces held by the hand device is different from an expected number based on a comparison result between the current value measured by the current measurement section when the hand device holds the workpiece, and a predetermined threshold value.

A mechanical equipment control system includes a mechanical apparatus, a load ratio detection circuit, and an integration control circuit. The mechanical apparatus includes a motor which is configured to drive the mechanical apparatus. The load ratio detection circuit is configured to detect a load ratio of the motor. The integration control circuit is configured to control the mechanical apparatus based on an operation parameter while keeping the load ratio in an allowable load state.

A monitoring device of a robot system including: a current sensor detecting a value of a current flowing through the servo motor; a current/torque converting the value of the current flowing through the servo motor which is detected by the current sensor into a torque value; a driving torque estimating section estimating at least a part of driving torque required to drive the servo motor; a differential torque calculating differential torque between the torque value obtained by conversion in the current/torque converting section and an estimated value of the driving torque; an external force converting the differential torque calculated by the differential torque calculating section into an external force applied to the robot; and a stop signal generating section which generates to stop the robot based on a value of the external force obtained by conversion in the external force converting section, and supplies the stop signal to the controller.