| 摘要 |
A robot controller comprises monitoring means (101) for monitoring whether or not a manual operation suspension condition set in advance in the robot controller is fulfilled, the manual operation suspension condition being fulfilled: when a sense signal from a sensor for sensing contact of a tool attached to a robot, and a workpiece, is output; when a load torque on one or more motor or motors driving each axis of the robot exceeds a set torque; or when a predetermined distance is moved from a manual operation start position. The manual operation is automatically interrupted when fulfilment of the suspension conditions is detected from the monitoring means (101) during a manual feeding. <IMAGE>
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