Unlike other facilities, maintaining processes is essential in industrial facilities. Pipe racks, which support pipes of various diameters, are important structures used in industrial facilities. Since the transport process of pipes directly affects the operation of industrial facilities, a fragility curve should be derived based on considering not only the pipe racks' structural safety but also the pipes' transport process. There are several studies where the fragility curves have been determined based on the structural behavior of pipe racks. However, few studies consider the damage criteria of pipes to ensure the transportation process, such as local buckling and tensile failure with surface defects. In this study, an analysis model of a typical straight pipe rack used in domestic industrial facilities is constructed, and incremental dynamic analysis using nonlinear response history analysis is performed to estimate the parameters of the fragility curve by the maximum likelihood estimation. In addition, the pipe rack's structural behavior and the pipe's damage criteria are considered the limit state for the fragility curve. The limit states considered in this paper to evaluate fragility curves are more reasonable to ensure the transportation process of the pipe systems.