Robot controller for halting a robot based on the speed of a robot hand portion

A robot controller for controlling a robot, in which a robot body, comprising a multi-articulated arm and equipped with a robot hand portion, is attached to a slider which slides on a traveling rail supported by struts, comprising:

• speed calculation means for calculating moving speeds of said robot hand portion and for converting the moving speeds into moving speeds of the robot hand portion on each of the coordinate axes of a rectangular coordinate system set for said robot controller, one coordinate axis of said rectangular coordinate system is in parallel with said traveling rail;
• comparator means for comparing said moving speeds on the coordinate axes calculated by said speed calculation means with threshold values on the coordinate axes of said rectangular coordinate system, respectively;
• and
• halting means for halting said robot in case at least any one of said moving speeds on the remaining coordinate axes which are perpendicular to said traveling rail is higher than the corresponding threshold value.