Robot system for anomaly detection

A method for detecting an anomaly in operation of an industrial robot, the method comprising:

• executing an operation program on a controller to control operation of the industrial robot according to a cycle, the cycle comprising operations to be performed by the industrial robot, the operation program comprising program nodes, each of the program nodes being associated with an operation;
• obtaining reference data based on parameters associated with execution of the operation program, wherein the reference data is obtained by processing values of the one or more parameters obtained over previous cycles of the industrial robot;
• and
• using an anomaly detector to evaluate, based on the reference data, one or more values of the one or more of the parameters obtained during the cycle to detect the anomaly.

One or more non-transitory machine-readable storage media storing instructions that are executable by one or more processing devices to detect an anomaly in operation of an industrial robot, the instructions being executable to perform operations comprising:

• comparing at least one node condition of a program node to reference data obtained by processing one or more values of one or more parameters relating to operation of the industrial robot, wherein the one or more values of the one or more parameters are obtained by executing the program node over previous cycles of the industrial robot, where each cycle comprises the same operations to be performed by the industrial robot;
• wherein the at least one node condition is specified in a node condition set associated with the program node;
• and
• detecting the anomaly based on the comparing operation.