Robot controller and emergency stop method of robot

A robot controller configured to control a robot which comprises a plurality of axes and is driven by motors provided for each axis, the robot controller comprising:

• an all-axes control part which collectively calculates position command values for the plurality of the axes based on a predetermined trajectory of the robot;
• and
• motor drive control parts which are provided for each axis, each of the motor drive control parts servo-controlling the motor for each axis based on the position command value of a corresponding axis transmitted from the all-axes control part;
• wherein the motor drive control part comprises a stopping position command calculation part which calculates a stopping position command value for each axis for stopping a corresponding motor with a motor coordinate system as a reference;
• wherein the motor drive control part switches the position command value used for servo-control from the position command value transmitted from the all-axes control part to the stopping position command value for each axis and servo-controls the corresponding motor when an emergency stop signal is inputted and, after that, the motor drive control part returns the position command value used for servo-control from the stopping position command value for each axis to the position command value transmitted from the all-axes control part to continue servo-control of the corresponding motor;
• and
• wherein the all-axes control part starts calculation for outputting an emergency stop position command value for stopping the robot on the predetermined trajectory when the emergency stop signal is inputted.