Robot control device and robot programming device

A robot control device comprising:

• one or more processors comprising hardware, the one or more processors being configured to:
• compare a magnitude of each of force components detected by a force sensor with a predetermined threshold value for each of the directions when a robot equipped with the force sensor capable of detecting the force components of a same type in a plurality of directions operates;
• and
• in response to determining that a magnitude of a force component in any of the directions exceeds the threshold value, control the robot to avoid an increase in the magnitude of the force component in the direction;
• wherein the threshold value includes a first threshold value that represents a rated value of the force sensor and a second threshold value that represents a withstand load of the force sensor;
• wherein the second threshold value is larger than the first threshold value;
• wherein, in response to the magnitude of any of the force components exceeding the first threshold value, the controlling of the robot reduces an operation speed of the robot;
• wherein, in response to the magnitude of any of the force components exceeding the second threshold value, the controlling of the robot stops the operation of the robot and operates the robot along a reverse path after stopping;
• and
• when the robot is to be reduced in speed, stopped, or operated along the reverse path, the controlling of the robot further controls acceleration and deceleration of the robot so as to reduce the magnitude of each of the force components relative to a rated load and a withstand load.