Robot system

A robot system, comprising:

• a servo motor;
• a robot arm driven by the servo motor;
• a robot controller controlling an operation of the robot arm;
• a first detection section detecting a rotation amount of the servo motor;
• a second detection section attached to a tip portion of the robot arm, and detecting a velocity or acceleration of the tip portion of the robot arm;
• a computation section computing the velocity or acceleration of the tip portion of the robot arm based on values detected by the first detection section when the robot arm is driven, and computing a deviation between this computed velocity or acceleration and the velocity or acceleration detected by the second detection section when the robot arm is driven;
• and,
• an emergency stop section for bringing the servo motor to an emergency stop when a magnitude of the deviation computed by the computation section is greater than a reference value,
• wherein the acceleration detected by the second detection section has a sensor for detecting gravity acceleration when the robot is stopped,
• wherein the computation section computes gravity acceleration of the tip portion of the robot arm based on the values detected by the first detection section when the robot arm is stopped, and computes a deviation between this computed gravity acceleration and the gravity acceleration detected by the second detection section, and
• wherein the emergency stop section brings the servo motor to an emergency stop when a magnitude of the deviation of the gravity acceleration computed by the computation section is greater than the reference value.