Installation mode determination device, computer program and recording medium for determining installation mode

An installation mode determination device, comprising:

• a processor configured to:
• acquire estimated torque that is required for maintaining a stationary state in which a position of an automatic machine that includes a plurality of axes that is driven by a servomotor is retained in a set installation mode among a plurality of installation modes applicable to the automatic machine,
• calculate actual torque that is actually provided by the servomotor for maintaining the stationary state,
• determine whether the set installation mode and an actual installation mode of the automatic machine are different or not, based on the estimated torque corresponding to the set installation mode and the actual torque, and
• in response to determining a difference between the set installation mode and the actual installation mode of the automatic machine, restrict an operation of the automatic machine, wherein
• the processor is configured to
• determine that the set installation mode and the actual installation mode of the automatic machine are different in response to
• a number of axes with which an absolute value of a difference between the estimated torque and the actual torque being not less than a predetermined threshold among the plurality of axes, or
• a difference in a number of axes with which an output direction of the servomotor corresponding to the estimated torque and an output direction of the servomotor corresponding to the actual torque being not less than a predetermined number.

A non-transitory computer readable storage medium storing an installation mode determination computer program for causing a computer to execute:

• acquiring estimated torque that is required for maintaining a stationary state in which a position of an automatic machine that includes at least one axis that is driven by a servomotor is retained in a set installation mode among a plurality of installation modes applicable to the automatic machine;
• calculating actual torque that is actually provided by the servomotor for maintaining the stationary state;
• determining whether the set installation mode and the actual installation mode of the automatic machine are different, based on the estimated torque and the actual torque corresponding to the set installation mode, wherein said determining comprises
• in response to an output direction of the servomotor corresponding to the estimated torque being different from an output direction of the servomotor corresponding to the actual torque, determining that the set installation mode and the actual installation mode of the automatic machine are different;
• and
• in response to determining a difference between the set installation mode and the actual installation mode of the automatic machine, restricting an operation of the automatic machine.

An installation mode determination device, comprising:

• a sensor configured to measure torque-related information that is output from a servomotor;
• a processor configured to:
• acquire, for each of a plurality of installation modes applicable to an automatic machine that includes at least one axis that is driven by the servomotor, estimated torque that is required for maintaining a stationary state in which a position of the automatic machine is retained,
• calculate actual torque that is actually provided by the servomotor for maintaining the stationary state, based on the torque-related information by the sensor,
• calculate, for each of the plurality of installation modes, an absolute value of a difference between the estimated torque in the installation mode and the actual torque, and
• estimate an installation mode with a smallest absolute value of the difference among the plurality of installation modes as an actual installation mode of the automatic machine;
• and
• a notification device including a user interface or a display, and configured to notify the estimated installation mode.

A non-transitory computer readable storage medium storing an installation mode determination computer program for causing a computer to execute:

• causing a sensor to measure torque-related information that is output from a servomotor;
• acquiring, for each of a plurality of installation modes applicable to an automatic machine that includes at least one axis that is driven by the servomotor, estimated torque that is required for maintaining a stationary state in which a position of the automatic machine is retained;
• calculating actual torque that is actually provided by the servomotor for maintaining the stationary state, based on the measured torque-related information by the sensor;
• calculating, for each of the plurality of installation modes, an absolute value of a difference between the estimated torque in the installation mode and the actual torque;
• estimating an installation mode with a smallest absolute value of the difference among the plurality of installation modes as an actual installation mode of the automatic machine;
• and
• notifying the estimated installation mode via a notification device including a user interface or a display.