| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller capable of avoiding abnormal operation such as falling down of a robot even in a state where a local controller in charge of the operation control of each actuator for moving the robot can not receive command data normally from a central controller. SOLUTION: When the local motor controller 17 for conducting operation control for an electric motor 16 based on the command data from a central controller 15 can not receive the command data normally, the controller conducts operation control for the electric motor 16 based on the command data stored and maintained in a memory 28. In the memory 28, past command data in a prescribed period sent form the central controller 15 or predetermined command data is stored and maintained.
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