Controller for monitoring movement direction of operation tool

A controller for controlling a robot, the robot being an articulated robot including a plurality of joints,

• wherein, in the controller, a reference coordinate system of the robot, a flange coordinate system that is transformed from the reference coordinate system with an origin of the flange coordinate system set on a surface of a flange at a tip of the robot where an operation tool is attached, and a tool coordinate system that is transformed from the flange coordinate system are predetermined,
• the controller comprising:
• a storage unit configured to store a configuration file in which the tool coordinate system is set, the tool coordinate system including a first coordinate axis extending in a permission direction for a movement of the operation tool and a second coordinate axis extending in a restriction direction for restricting the movement of the operation tool,
• a direction calculating unit configured to calculate a movement direction of an origin of the tool coordinate system based on the tool coordinate system set in the configuration file and a position and posture of the robot;
• a determination unit configured to determine whether the origin of the tool coordinate system moves in a direction of the first coordinate axis extending in the permission direction or in a direction of the second coordinate axis extending in the restriction direction;
• and
• a speed limiting unit configured to limit a motion speed of the robot based on a motion program, wherein
• the speed limiting unit is further configured to
• perform a speed reduction control for reducing a movement speed of the operation tool or a stop control for stopping the robot in response to a start of a movement of the origin of the tool coordinate system in the direction of the second coordinate axis extending in the restriction direction, and
• continue moving the operation tool and controlling the robot in response to a movement of the origin of the tool coordinate system in the direction of the first coordinate axis extending in the permission direction.