| 摘要 |
PROBLEM TO BE SOLVED: To automatically control a robot according to this rotating speed by detecting a rotating speed of a blade tool. SOLUTION: A pneumatic tool 1 is gripped by a robot 20 through a tool replacing device 27. A photoelectric detector arranged in the pneumatic tool 1 detects pulse output. A rotating speed of a blade tool 31 of the pneumatic tool 1 is detected by the pulse output. When the rotating speed of the blade tool 31 reaches a specified rotating speed or less predetermined by a user, the specified rotating speed of the blade tool 31 is maintained by adjusting a work feeding speed by a robot program stored in a control controller 29.
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