Robot control device, abnormality diagnosis method, and non-transitory computer readable medium

An abnormality diagnosis method,

• in which a robot control device diagnoses an abnormality of a robot body comprising a motor that rotates a rotational shaft from a starting angle position to a target angle position, wherein the rotational shaft transmits power to an arm so that the arm performs a predetermined operation,
• wherein the robot control device executes:
• a step for driving the motor so that the rotational shaft rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft in which it is possible to detect a vibration component caused by the abnormality from among the vibration components generated along with a rotation of the rotational shaft;
• a step for detecting the vibration component;
• and
• a step for performing the abnormality diagnosis based on the vibration component that has been detected.

An non-transitory computer readable medium storing an abnormality diagnosis program for causing a robot control device to execute abnormality diagnosis of a robot body comprising a motor that rotates a rotational shaft from a starting angle position to a target angle position, wherein the rotational shaft transmits power to an arm so that the arm performs a predetermined operation,

• wherein the robot control device is caused to execute:
• a step for driving the motor so that the rotational shaft rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft in which it is possible to detect a vibration component caused by an abnormality from among the vibration components generated along with a rotation of the rotational shaft;
• a step for detecting the vibration component;
• and
• a step for performing the abnormality diagnosis based on the vibration component that has been detected.