Controller for monitoring movement direction of operation tool

A controller for controlling a robot, in which a reference coordinate system of the robot, a flange coordinate system that is transformed from the reference coordinate system with an origin 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 that stores a configuration file in which a tool coordinate system is set, the tool coordinate system including a coordinate axis extending in a permission direction for permitting a movement of the operation tool;
• a direction calculating unit that calculates 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 that determines whether or not the origin of the tool coordinate system moves in a direction of a coordinate axis other than the coordinate axis extending in the permission direction;
• and
• a speed limiting unit that limits a motion speed of the robot based on a motion program, wherein
• the speed limiting unit performs a speed reduction control for reducing a movement speed of the operation tool or a stop control for stopping the robot if the origin of the tool coordinate system moves in the direction of the coordinate axis other than the coordinate axis extending in the permission direction.