Abnormality diagnostic method and device thereof

摘要: An abnormality diagnostic device selects a previously stored measuring orbit (S 110 ), and makes machine to perform specified operation for diagnosis so as measure driving power value of an actuator 120 ). In S 140, the compares measured at time normal driving, extracts non-corresponding portion characteristic point based on set determination criteria. When extracting is confirmed in 170, extracted with predicted occur occurring mechanism element, calculates evaluation index from corresponding degree both. threshold or more 180, estimates element having 190.