A frequency characteristic measurement device that measures the frequency characteristic of a measurement target includes: a multi-sine signal generation unit that generates a multi-sine signal; a sweep sinusoidal wave generation unit that generates a plurality of sweep sinusoidal waves; an input signal switching unit that selects any one of the multi-sine signal and the sweep sinusoidal waves so as to input the selected one to the measurement target; a data acquisition unit that acquires, at a predetermined sampling frequency, sampling data of an input signal which is input to the measurement target and sampling data of an output signal which is output from the measurement target; and a characteristic calculation unit that calculates a frequency characteristic including the gain and the phase of the input and output signals in the measurement target from the sampling data of the input and output acquired.

A vibration analysis apparatus includes: a storage unit storing a regression equation indicating correspondence between rotation speed change of a rotation mechanism and a peak occurrence frequency of acceleration of vibration, for each acceleration peak; an analysis unit extracting a peak occurrence frequency of acceleration of vibration for each acceleration peak, based on vibration data of the rotation mechanism and calculating, for each acceleration peak, a waveform area of the acceleration peak by integrating the acceleration peak over a specific frequency section; and an anomaly determination unit determining whether operational anomaly occurs in the rotation mechanism for each acceleration peak. The analysis unit tracks, in accordance with the regression equation, change in peak occurrence frequency due to rotation speed change when vibration of the rotation mechanism is analyzed, and calculates, for each second acceleration peak, the waveform area of the second acceleration peak corresponding to the second vibration frequency tracked.

Methods and devices for diagnosing a robot. A method includes obtaining a spectrum of a motion signal generated by a rotating component of the robot during operation of the robot. A frequency amplitude of a sub-component of the rotating component is determined from the spectrum, based on a physical characteristic and a speed of the sub-component. A failure of the sub-component is detected by comparing the frequency amplitude with a threshold amplitude.

In the disclosure, a failure of a device performing work while moving is more reliably detected while the data amount of failure diagnosis data is reduced. The disclosure includes a frequency analyzing part which performs a frequency analysis on acquired data from an acceleration sensor; a maximum frequency detecting part which detects a maximum frequency from a result of the frequency analysis; and a failure diagnosis data generating part which sets a frequency twice or more of the maximum frequency as a sampling frequency, samples the acquired data from the acceleration sensor, and generates the failure diagnosis data.

Methods and devices for diagnosing a robot. The method includes obtaining a first signal generated by a rotating component of the robot during operation of the robot. The first signal includes motion information of the rotating component. The first signal is preprocessed to filter out a part of the motion information in the first signal. The preprocessed first signal or spectrum information about the preprocessed first signal is sent to a server for diagnosing the robotU. A second signal is received from the server, wherein the second signal includes diagnostic information indicating whether a sub-component of the rotating component has a failure.

A vibration analysis apparatus includes: a storage unit storing a regression equation indicating correspondence between rotation speed change of a rotation mechanism and a peak occurrence frequency of acceleration of vibration, for each acceleration peak; an analysis unit extracting a peak occurrence frequency of acceleration of vibration for each acceleration peak, based on vibration data of the rotation mechanism and calculating, for each acceleration peak, a waveform area of the acceleration peak by integrating the acceleration peak over a specific frequency section; and an anomaly determination unit determining whether operational anomaly occurs in the rotation mechanism for each acceleration peak. The analysis unit tracks, in accordance with the regression equation, change in peak occurrence frequency due to rotation speed change when vibration of the rotation mechanism is analyzed, and calculates, for each second acceleration peak, the waveform area of the second acceleration peak corresponding to the second vibration frequency tracked.

A diagnostic apparatus includes a receiving unit to receive context information defining an operation of a tool of a machine, rotation information of a spindle, tool information, and a detection result of a time-varying physical quantity generated by the tool; a frequency analysis unit to frequency-analyze the detection result; a range setting unit to set a frequency range; a bandwidth setting unit to set a bandwidth of a noted frequency band in the frequency range; a band pass filter setting unit to set a band pass filter using center frequencies and the bandwidth; a feature information extraction unit to extract feature information from the detection result using the band pass filter and a frequency analysis result of the detection result; and a determining unit to determine a machining state using the feature information. The center frequencies are set using the rotation information, the tool information, and the frequency range.

A diagnostic apparatus includes circuitry that acquires a detection result of a time-varying physical quantity generated by a machine that performs a plurality of processes; generates a determination result of the processing based on the detection result; and outputs, to the machine, batch determination information in units of a plurality of same type processes performed by the machine. The batch determination information indicates whether at least one of the plurality of same type processes is determined as abnormal. Based on the batch determination information, the machine performs an action.

In order to improve usability during parameter adjustment, this adjustment device performs a simulation in which a set value of a servo parameter received during a slide operation period of a slider bar is reflected in a FFT analysis result of response characteristics of speed control or position control, and the simulation display of the frequency characteristics and phase characteristics is updated on the adjustment screen.

A control device includes: a processor wherein the processor is configured to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal, output one control signal among the first control signal and the one or more second control signals, receive an instruction indicating execution of a reduction in the frequency component, generate a driving signal for driving a robot based on the control signal output from the processor and output the driving signal, output the first control signal when a first condition including non-input of the instruction indicating the execution of the reduction in the frequency component is satisfied, and output the second control signal when a second condition including input of the instruction indicating the execution of the reduction in the frequency component is satisfied.