| 摘要 |
<p>A robot controller comprising a control unit (7) which sends a control signal to or receives it from a servo unit (6) which supplies signals to and feeds the signals back to a motor (5) for Z-axis linear motion drive, and a threshold signal generator (8) which supplies a threshold value to said control unit. When the comparison of a motor torque instruction value in the control unit with a threshold value supplied from the threshold value input unit indicates that the motor torque instruction value is greater than a predetermined threshold value, an alarm is generated and the process proceeds toward coping with the occurrence of abnormal conditions. The control operation is then executed based upon the detected force of the robot along the Z-axis.</p> |
