| 摘要 |
A robot controller issues a command to move a servo tool unit to a servo tool unit detachment position. During this movement, a command is issued to stop power supply to an amplifier of the servo tool unit, and a process of invalidating a disconnection error of a power line and a signal line and a process of invalidating servo parameters are executed. The robot controller confirms that power supply has been stopped, and that the process of invalidating the disconnection error and the process of invalidating the servo parameters have been completed. When the robot arrives at a servo tool unit detachment position, a mechanical servo tool unit detachment process is executed. With the attachment of the servo tool unit, a software process required for attachment is executed during a next movement after mechanical attachment of the servo tool unit.
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