Emergency shutdown system for controlling industrial robot

A system for controlling an industrial robot comprising:

• sensor means for detecting an amount of external force applied to a forward end of a moving part of a main body of said robot;
• means for controlling a driving force of the main body in accordance with the amount of external force detected by said sensor means, said means for controlling having a normal position control mode and direct teach control mode;
• and
• warning display means for displaying a warning when the amount of said external force exceeds a preset reference value.

A system for controlling an industrial robot comprising:

• sensor means for detecting an amount of external force applied to a forward end of a moving part of a main body of said robot;
• means for controlling a driving force of the main body in accordance with the amount of external force detected by said sensor means, said means for controlling having a normal position control mode and a direct teach control mode;
• and
• direct teach control mode reset means for resetting said direct teach control mode when the amount of said external force exceeds a preset reference value.

A system for controlling an industrial robot comprising:

• sensor means for detecting an amount of external force applied to a forward end of a moving part of a main body of said robot;
• means for controlling a driving force of the main body in accordance with the amount of external force detected by said sensor means, said means for controlling having a normal position control mode and a direct teach control mode;
• and
• offset correcting means for correcting an offset of said sensor means when the control mode of the robot is switched from said normal position control modes to said direct teach control mode.