Robot control system for presetting limit values corresponding to limits of deviation

A robot control apparatus for controlling a robot of the type in which a deviation between a number of command pulses generated in accordance with predetermined instructive data, including a deviation check instruction, and in accordance with a number of feedback pulses generated in accordance with the movement of the robot, is stored in an error register and the robot is driven in such a manner that the deviation approaches zero, said apparatus comprising:

• means for operating the robot in accordance with the predetermined instructive data;
• means for reading the deviation out of the error register while the robot is operating in accordance with the predetermined instructive data;
• means for computing the limit values in accordance with a deviation read out of the error register;
• a memory for storing the limit values corresponding to limits of the deviation;
• means for reading the deviation during the operation of the robot, in response to the deviation check instruction being read;
• means for comparing the deviation with the limit value, in response to the deviation check instruction being read;
• means for halting the movemet of the robot when the deviation is found to be outside the range of the limit values.