Robot controller permitting lead-through teaching

A robot controller for permitting an operator to perform lead-through teaching for a robot having a mechanical brake provided in respective robot axis and a hand portion, using a teaching handle mounted on the hand portion, said apparatus comprising:

• a main body having a servo control unit for controlling said respective robot axis, and a power source for supplying electric power to said servo control unit;
• and a lead-through-teach control circuit,
• said lead-through teach control circuit including servo on/off switching means for switching on and off the power supply from said power source to said servo control unit, brake switching signal output means for outputting a signal for switching said mechanical brake to be effective/ineffective, a deadman switch provided on said teaching handle, and a lead-through-teach enabling switch provided on said main body,
• wherein said brake switching signal output means outputs a signal for setting said mechanical brake ineffective and said servo on/off switching means turns on the power supply to said servo control unit when said lead-through-teach enabling switch is turned effective, and said deadman switch is operated by the operator, and
• said brake switching signal output means does not output the signal for setting said mechanical brake ineffective and said servo on/off switching means turns off the power supply to said servo control unit when said lead-through-teach enabling switch is turned effective and said deadman switch is not operated by the operator.