| 摘要 |
PROBLEM TO BE SOLVED: To provide technologies for selectivity corresponding to both specifications of shutting off the motor driving power and of not shutting off the motor driving power upon the safety stop, and for integrating control programs used in the respective specifications. SOLUTION: A driving power control set value for setting whether the driving power to the motor 2 should be shut off or not after the safety stop is previously reserved, and the driving power to the motor 2 is controlled based on the set value. The information indicating whether the driving power is fed to the motor 2 or not before the operation of a safety protection device 6 is reserved, and when a command to execute the continuation is given, it is determined whether the driving power is fed to the motor 2 or not before the safety protection device 6 is operated based on the reserved information. If it is determined that the driving power is fed and the driving power to the motor 2 is shut off at the present time, the driving power is fed to the motor 2 as the state recovery process and the robot 1 is returned to the safety stop position. COPYRIGHT: (C)2003,JPO
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