Robot monitoring device and robot system

Abstract

To provide a technique that can easily execute operation of moving a robot to a position at which the robot does not interfere with a virtual safety fence.SOLUTION: A robot monitoring device comprises a position monitoring part having a position monitoring function of calculating a position of a robot and monitoring whether the robot may interfere with a virtual safety fence or not, and a speed monitoring part having a speed monitoring function of calculating a speed of the robot and monitoring the robot. The robot monitoring device has: a first monitoring mode in which when the robot operates in an automatic operation mode, the robot is stopped if the position monitoring function shows that the robot interferes with the virtual safety fence and if the speed monitoring function shows that the speed of the robot exceeds a first upper limit value; and a second monitoring mode in which when the robot operates in a manual operation mode, the position monitoring function is disabled and the robot is stopped if the speed monitoring function shows that the speed of the robot exceeds a second upper limit value smaller than the first upper limit value.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a robot monitoring device and a robot system.

Background Art

[0002] Patent Document 1 discloses a technique for controlling the operation of a robot using a virtual safety fence. In this technique, a virtual safety fence is defined on a memory, and two or more three-dimensional space regions enclosing a part of the robot are defined. Then, the predicted position of the defined three-dimensional space region is compared with the virtual safety fence, and when the predicted position of any of the defined three-dimensional space regions is included in the virtual safety fence, control is performed to stop the movement of the robot arm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described conventional technology, when the robot stops because the predicted position of the robot is included in the virtual safety fence, there is a problem that the procedure for making the robot operable again is complicated. That is, after the robot stops, it is necessary to identify which virtual safety fence the predicted position of the robot is included in, perform an operation to invalidate the identified virtual safety fence, and then move the robot to a position where the predicted position of the robot is not included in the virtual safety fence. This procedure is complicated and may not be easily executed.

Means for Solving the Problems

[0005] According to a first aspect of the present disclosure, a robot monitoring device for monitoring a robot is provided. The robot monitoring device calculates the posture of the robot from encoder values given from encoders provided at respective joints of the robot, and the robot any part is provided with a position monitoring unit having a position monitoring function for monitoring whether or not the robot interferes with a virtual safety fence, and a speed monitoring unit having a speed monitoring function for calculating the speed of the robot from the encoder values and monitoring whether or not the speed of the robot exceeds an upper limit value. When the robot operates in the automatic operation mode, the robot monitoring device stops the robot in a first monitoring mode when the robot interferes with the virtual safety fence in the position monitoring function and when the speed of the robot exceeds a first upper limit value in the speed monitoring function. When the robot operates in the manual operation mode, the robot monitoring device has a second monitoring mode in which the position monitoring function is disabled and the robot is stopped when the speed of the robot exceeds a second upper limit value smaller than the first upper limit value in the speed monitoring function.

[0006] According to a second aspect of the present disclosure, there is provided a robot system including a robot, a control device that controls the robot, and a robot monitoring device that monitors the robot. The robot monitoring device calculates the posture of the robot from encoder values provided from encoders provided at respective joints of the robot, and has a position monitoring unit having a position monitoring function of monitoring whether any part of the robot interferes with a virtual safety fence, and calculates the speed of the robot from the encoder values, and has a speed monitoring unit having a speed monitoring function of monitoring whether the speed of the robot exceeds an upper limit value. When the robot operates in the automatic operation mode, the robot monitoring device has a first monitoring mode in which the robot is stopped when the robot interferes with the virtual safety fence in the position monitoring function and when the speed of the robot exceeds a first upper limit value in the speed monitoring function, and when the robot operates in the manual operation mode, the robot monitoring device has a second monitoring mode in which the position monitoring function is disabled and the robot is stopped when the speed of the robot exceeds a second upper limit value smaller than the first upper limit value in the speed monitoring function. When a safety input signal for switching between enabling and disabling the position monitoring function and the speed monitoring function is input to the robot monitoring device in the automatic driving mode, the position monitoring function and the speed monitoring function are switched from disabled to enabled, and the robot is monitored in the first monitoring mode. In the manual driving mode, the robot is monitored in the second monitoring mode regardless of whether the safety input signal is input to the robot monitoring device.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0008] FIG. 1 is an explanatory diagram showing an example of a robot system. This robot system includes a robot 100, a control device 200, a power-off device 300, and a robot monitoring device 400. When teaching the robot 100, it is possible to connect a teaching pendant 500 to the control device 200. In the example of FIG. 1, the robot monitoring device 400 is depicted separately from the control device 200, but the robot monitoring device 400 may be implemented as an additional board inserted into the same housing as the control device 200.

[0009] The robot 100 includes a base 110 and a robot arm 120. The robot arm 120 is sequentially connected by four joints J1 to J4. Near the tip of the robot arm 120, a TCP (Tool Center Point) serving as a control point of the robot 100 is set. The "control point" is a reference point for controlling the robot arm 120. The TCP can be set at any position. Controlling the robot 100 means controlling the position and orientation of this TCP. In this embodiment, the robot arm 120 is exemplified as a 4-axis robot having four joints J1 to J4, but it is possible to use a robot having an arbitrary arm mechanism having one or more joints. Also, although the robot 100 of this embodiment is a horizontal articulated robot, a vertical articulated robot may be used.

[0010] The periphery of the working area of the robot 100 is surrounded by a safety fence CG. The safety fence CG is provided with a safety door DR through which people can enter and exit. This robot system is provided with a light curtain 610 and a safety door sensor 620 as sensors. The light curtain 610 is an optical sensor that detects an object passing through the safety door DR. The safety door sensor 620 is an open / close sensor that detects the open / closed state of the safety door DR. The sensors can be omitted.

[0011] A virtual safety fence VCG is set around the robot arm 120. This virtual safety fence VCG does not actually exist and is a virtual object defined in the memory of the robot monitoring device 400. The virtual safety fence VCG is preset in consideration of the environment and work content of the robot 100. On the other hand, the safety fence CG is a real object installed in the real three-dimensional space. The virtual safety fence VCG is set inside the safety fence CG. However, the safety fence CG may be omitted.

[0012] Figure 2 is a block diagram showing the functions of the robot monitoring device 400. As will be described later, the robot monitoring device 400 has a first monitoring mode when the robot 100 operates in the automatic operation mode and a second monitoring mode when the robot 100 operates in the manual operation mode. Figure 2 shows the state of the first monitoring mode when the robot 100 operates in the automatic operation mode. In the automatic operation mode, the control device 200 supplies a control command CTC to the robot 100 and operates it according to the control program stored in the control device 200. Therefore, in the automatic operation mode, the robot 100 operates automatically without receiving an instruction from the user during operation. Also, in the automatic operation mode, an automatic operation mode activation signal AES is input from the control device 200 to the robot monitoring device 400, and in response, the robot monitoring device 400 monitors the robot 100 in a mode suitable for the automatic operation mode.

[0013] The robot monitoring device 400 includes a speed monitoring unit 410, a position monitoring unit 420, an emergency stop monitoring unit 430, an enable switch signal monitoring unit 440, and a safety input signal monitoring unit 450.

[0014] The speed monitoring unit 410 has a speed monitoring function of calculating the speed of the robot 100 from the encoder values given from the encoders EJ1 to EJ4 provided at each joint of the robot 100 and monitoring whether the speed of the robot 100 exceeds the upper limit value. In the present disclosure, the "speed of the robot" means the speed of the TCP, which is the control point of the robot 100.

[0015] The position monitoring unit 420 has a position monitoring function that calculates the posture of the robot 100 from the encoder values given by the encoders EJ1 to EJ4 and monitors whether the robot 100 interferes with the virtual safety fence VCG. In the present disclosure, the "posture of the robot" means the three-dimensional position and posture of the entire robot arm 120. Therefore, the position monitoring unit 420 monitors whether any part of the robot arm 120 overlaps with the virtual safety fence VCG. In the following description, the speed monitoring function and the position monitoring function are collectively referred to as the "safety function".

[0016] The emergency stop monitoring unit 430 has a function of monitoring whether an emergency stop signal ESS is input from the emergency stop button 710. When the emergency stop signal ESS is input, the emergency stop monitoring unit 430 gives a power-off command PSC to the power-off device 300 to cut off the power supply to the robot 100.

[0017] The enable switch signal monitoring unit 440 has a function of monitoring whether the enable switch signal ENS input from the enable device 720 is on or off. When the enable switch signal ENS is on, the enable switch signal monitoring unit 440 allows the operation of the robot 100, and when the enable switch signal ENS is switched off, the robot 100 is stopped. The operation of the enable device 720 is performed by the user. The monitoring function by the enable switch signal monitoring unit 440 is not used in the automatic operation mode but is used in the manual operation mode.

[0018] The safety input signal monitoring unit 450 has a function of monitoring whether a safety input signal SIS is input from the safety input device 730. As the safety input device 730, for example, the light curtain 610 and the safety door sensor 620 shown in FIG. 1 can be used. When the safety input signal SIS is input while the robot 100 is operating in the automatic driving mode, the safety input signal monitoring unit 450 switches the position monitoring function and the speed monitoring function, which are safety functions, from invalid to valid. For example, when a person enters the safety fence CG, the safety input signal SIS is input to the robot monitoring device 400, and the safety function is switched from invalid to valid. As a result, the robot monitoring device 400 starts monitoring the robot 100 in the first monitoring mode shown in FIG. 2. Once the safety input signal SIS is input, the input state of the safety input signal SIS is maintained until it is reset by the user, that is, the safety function is maintained in an effective state. However, the safety function may always be enabled in the automatic driving mode without switching the safety function by the safety input signal SIS.

[0019] The various functions of the robot monitoring device 400 described above can be realized by the processor of the robot monitoring device 400 executing a computer program stored in the memory of the robot monitoring device 400. Further, part or all of the functions of the robot monitoring device 400 may be realized by a hardware circuit.

[0020] As shown in FIG. 2, in the first monitoring mode for the automatic driving mode, the functions of each part of the robot monitoring device 400 are in the following states. (1) The speed monitoring function of the speed monitoring unit 410 is valid, and speed monitoring is executed at the first upper limit value V1. (2) The position monitoring function of the position monitoring unit 420 is valid. (3) The monitoring function of the emergency stop monitoring unit 430 is valid. (4) The monitoring function of the enable switch signal monitoring unit 440 is invalid. (5) The monitoring function of the safety input signal monitoring unit 450 is valid.

[0021] Figure 3 shows the state of the second monitoring mode when the robot 100 operates in the manual operation mode. In the manual operation mode, the user manually operates the robot 100 using the teaching pendant 500 or the operation unit of the control device 200. Also, in the manual operation mode, in response to the user's instruction, a manual operation mode activation signal MES is input from the teaching pendant 500 or the control device 200 to the robot monitoring device 400, and accordingly, the robot monitoring device 400 executes monitoring of the robot 100 in the second monitoring mode. In this way, the switching from the first monitoring mode to the second monitoring mode is performed in conjunction with the switching from the automatic operation mode to the manual operation mode according to the user's instruction. Therefore, according to the user's instruction, it is possible to switch from the first monitoring mode for the automatic operation mode to the second monitoring mode for the manual operation mode.

[0022] In the second monitoring mode shown in Figure 3, the functions of each part of the robot monitoring device 400 are in the following states. (1) The speed monitoring function of the speed monitoring unit 410 is effective, and speed monitoring is performed at a second upper limit value V2 smaller than the first upper limit value V1. The second upper limit value V2 can be set to a value equal to, for example, the manual reduction speed defined in the safety standard of the industrial robot. Specifically, in ISO10218, which is the safety standard for industrial robots, the manual reduction speed as the upper limit speed in the manual mode is defined as 250 mm / second, so the second upper limit value V2 can be set to 250 mm / second. In this way, the robot 100 can be operated at a sufficiently low speed. Also, it is preferable to set the second upper limit value V2 to a value smaller than the manual reduction speed defined in the safety standard of the industrial robot. In this way, the robot 100 can be operated at an even lower speed. The first upper limit value V1 in the automatic operation mode can be set to any value larger than the second upper limit value V2 according to the performance of the robot 100 and the work content. (2) The position monitoring function of the position monitoring unit 420 is ineffective. Therefore, the user can operate the robot 100 without considering whether the robot 100 interferes with the virtual safety fence VCG. (3) The monitoring function of the emergency stop monitoring unit 430 is enabled. (4) The monitoring function of the enable switch signal monitoring unit 440 is enabled. (5) The monitoring function of the safety input signal monitoring unit 450 is disabled.

[0023] As described above, in the second monitoring mode for the manual operation mode, since the speed of the robot 100 is limited to be equal to or lower than the second upper limit value V2, the robot 100 only operates slowly. Therefore, when the robot 100 is likely to interfere with other objects, the user can stop the robot 100 by using the enable device 720 or the emergency stop button 710. As a result, an operation of operating the robot 100 until the posture of the robot 100 does not overlap with the virtual safety fence VCG and then making the robot 100 operable again in the automatic operation mode can be easily executed without causing interference with other objects. Also, in the second monitoring mode, regardless of the presence or absence of the input of the safety input signal SIS, it is possible to operate the robot 100 without being aware of the virtual safety fence VCG set in the robot monitoring device 400.

[0024] Note that the manual operation mode is preferably selected by the user after the robot 100 stops due to interference with the virtual safety fence VCG in the automatic operation mode. In the second monitoring mode for the manual operation mode, since the position monitoring function is disabled, an operation of manually operating the robot 100 until the posture of the robot 100 does not interfere with the virtual safety fence VCG and then making the robot 100 operate automatically again can be easily executed.

[0025] FIG. 4 is an explanatory diagram showing various states in the automatic driving mode and the manual driving mode. In the automatic driving mode, the monitoring function of the safety input signal monitoring unit 450 is effective. When a safety input signal is input to the robot monitoring device 400, accordingly, the position monitoring function and the speed monitoring function, which are safety functions, are switched from invalid to valid. On the other hand, in the manual driving mode, the monitoring function of the safety input signal monitoring unit 450 is invalid. Regardless of whether a safety input signal is input or not, the position monitoring function is invalid, and the speed monitoring function using the second upper limit value V2 is effective. In other words, in the manual driving mode, the operation of the robot 100 can be monitored in the second monitoring mode regardless of whether a safety input signal is input or not.

[0026] FIG. 5 is a flowchart showing the monitoring procedure of the robot 100 by the robot monitoring device 400. This control procedure is periodically repeated by the robot monitoring device 400.

[0027] In step S110, the robot monitoring device 400 receives various signals shown in FIGS. 2 and 3. In step S120, it is determined whether the driving mode signal is the automatic driving mode activation signal AES or the manual driving mode activation signal MES. When the driving mode signal is the automatic driving mode activation signal AES, the automatic driving mode after step S210 is executed. On the other hand, when the driving mode signal is the manual driving mode activation signal MES, the manual driving mode after step S310 is executed.

[0028] In the automatic driving mode, in step S210, it is checked whether the safety input signal SIS is input. If the safety input signal SIS is not input, the position monitoring function and the speed monitoring function, which are safety functions, are maintained as invalid, the process of FIG. 5 is terminated, and the operation of the robot 100 in the automatic driving mode is continued. On the other hand, if the safety input signal SIS is input, the safety function is switched from invalid to valid, and the processes of steps S220 to S250 are executed according to the first monitoring mode. In steps S220 and S230, position monitoring using the virtual safety fence VCG is executed. If the posture of the robot 100 interferes with the virtual safety fence VCG, the robot 100 is stopped. Also, in steps S240 and S250, the operation of the robot 100 in the automatic driving mode is continued, speed monitoring using the first upper limit value V1 is performed, and if the speed of the robot 100 exceeds the first upper limit value V1, the robot 100 is stopped.

[0029] In the manual driving mode, steps S310 to S330 are executed according to the second monitoring mode. In steps S310 and S320, while the user is operating the robot 100 in the manual driving mode, speed monitoring using the second upper limit value V2 is performed, and if the speed of the robot 100 exceeds the second upper limit value V2, the robot 100 is stopped. Also, in step S330, the enable switch signal ENS is checked, and if the enable switch signal ENS is turned off, the robot 100 is stopped. As can be understood from the procedure of FIG. 9, when the user switches from the automatic driving mode to the manual driving mode while the robot monitoring device 400 is monitoring in the first monitoring mode, the monitoring mode switches from the first monitoring mode to the second monitoring mode. In other words, the switch from the first monitoring mode to the second monitoring mode is performed in conjunction with the user's instruction to switch from the automatic driving mode to the manual driving mode.

[0030] As described above, in this embodiment, in the manual operation mode, the position monitoring function using the virtual safety fence VCG is disabled, and the upper limit value in the speed monitoring function is set to a value smaller than that in the automatic operation mode. Therefore, the operation of moving the robot 100 to a posture where it does not interfere with the virtual safety fence VCG can be easily executed without causing interference with other objects.

[0031] The present disclosure is not limited to the above-described embodiments, and can be realized in various forms without departing from the spirit thereof. For example, the present disclosure can also be realized by the following aspects (aspects). The technical features in the above embodiments corresponding to the technical features in each of the following aspects can be appropriately replaced or combined in order to solve part or all of the problems of the present disclosure, or to achieve part or all of the effects of the present disclosure. Further, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

[0032] (1) According to the first aspect of the present disclosure, a robot monitoring device for monitoring a robot is provided. The robot monitoring device includes a position monitoring unit having a position monitoring function of calculating the posture of the robot from encoder values given from encoders provided at respective joints of the robot and monitoring whether the robot interferes with a virtual safety fence, and a speed monitoring unit having a speed monitoring function of calculating the speed of the robot from the encoder values and monitoring whether the speed of the robot exceeds an upper limit value. The robot monitoring device has a first monitoring mode of stopping the robot when the robot interferes with the virtual safety fence in the position monitoring function and when the speed of the robot exceeds a first upper limit value in the speed monitoring function when the robot operates in the automatic operation mode, and a second monitoring mode of disabling the position monitoring function and stopping the robot when the speed of the robot exceeds a second upper limit value smaller than the first upper limit value in the speed monitoring function when the robot operates in the manual operation mode. According to this robot monitoring device, in the manual operation mode, the position monitoring function using the virtual safety fence is disabled, and the upper limit value in the speed monitoring function is set to a value smaller than that in the automatic operation mode. Therefore, the operation of moving the robot to a posture where the robot does not interfere with the virtual safety fence can be easily executed without causing interference with other objects.

[0033] (2) In the above robot monitoring device, when a safety input signal for switching whether the position monitoring function and the speed monitoring function are enabled or disabled is input to the robot monitoring device in the automatic operation mode, the position monitoring function and the speed monitoring function are switched from disabled to enabled, and the monitoring of the robot in the first monitoring mode is executed. In the manual operation mode, the monitoring of the robot in the second monitoring mode may be executed regardless of whether the safety input signal is input to the robot monitoring device. According to this robot monitoring device, in the manual operation mode, the operation of the robot can be monitored in the second monitoring mode regardless of whether a safety input signal is input.

[0034] (3) In the above robot monitoring device, the switching from the first monitoring mode to the second monitoring mode may be performed in conjunction with the switching from the automatic operation mode to the manual operation mode according to the user's instruction. According to this robot monitoring device, it is possible to switch from the first monitoring mode for the automatic operation mode to the second monitoring mode for the manual operation mode according to the user's instruction.

[0035] (4) In the above robot monitoring device, the manual operation mode may be selectable after the robot stops due to interference with the virtual safety fence in the automatic operation mode. According to this robot monitoring device, after the robot stops due to interference with the virtual safety fence in the automatic operation mode, the operation of using the manual operation mode to move the robot to a posture where the robot does not interfere with the virtual safety fence and making the robot operable again can be easily executed.

[0036] (5) In the robot monitoring device, the second upper limit value may be the manual reduction speed defined by the safety standard of the industrial robot. According to this robot monitoring device, the robot can be operated at a sufficiently low speed.

[0037] (6) In the robot monitoring device, the second upper limit value may be a value smaller than the manual reduction speed defined by the safety standard of the industrial robot. According to this robot monitoring device, the robot can be operated at an even lower speed.

[0038] (7) According to the second aspect of the present disclosure, there is provided a robot system including a robot, a control device that controls the robot, and a robot monitoring device that monitors the robot. The robot monitoring device includes a position monitoring unit having a position monitoring function of calculating the posture of the robot from encoder values given from encoders provided at each joint of the robot and monitoring whether the robot interferes with a virtual safety fence, and a speed monitoring unit having a speed monitoring function of calculating the speed of the robot from the encoder values and monitoring whether the speed of the robot exceeds an upper limit value. The robot monitoring device has a first monitoring mode for stopping the robot when the robot interferes with the virtual safety fence in the position monitoring function and when the speed of the robot exceeds a first upper limit value in the speed monitoring function when the robot operates in the automatic operation mode, and a second monitoring mode for invalidating the position monitoring function and stopping the robot when the speed of the robot exceeds a second upper limit value smaller than the first upper limit value in the speed monitoring function when the robot operates in the manual operation mode. According to this robot system, in the manual operation mode, the position monitoring function using the virtual safety fence is disabled, and the upper limit value in the speed monitoring function is set to a value smaller than that in the automatic operation mode. Therefore, the operation of moving the robot to a posture where the robot does not interfere with the virtual safety fence can be easily executed without causing interference with other objects.

Description of Signs

[0039] 100…Robot, 110…Base, 120…Robot Arm, 200…Control Device, 300…Power Off Device, 400…Robot Monitoring Device, 410…Speed Monitoring Unit, 420…Position Monitoring Unit, 430…Emergency Stop Monitoring Unit, 440…Enable Switch Signal Monitoring Unit, 450…Safety Input Signal Monitoring Unit, 500…Teaching Pendant, 610…Light Curtain, 620…Safety Door Sensor, 710…Emergency Stop Button, 720…Enable Device, 730…Safety Input Device

Claims

1. A robot monitoring device for monitoring a robot, comprising: a position monitoring unit having a position monitoring function of calculating the posture of the robot from encoder values given from encoders provided on respective joints of the robot and monitoring whether the robot interferes with a virtual safety fence; a speed monitoring unit having a speed monitoring function of calculating the speed of the robot from the encoder values and monitoring whether the speed of the robot exceeds an upper limit value; wherein: when the robot operates in an automatic operation mode, a first monitoring mode for stopping the robot when the robot interferes with the virtual safety fence in the position monitoring function and when the speed of the robot exceeds a first upper limit value in the speed monitoring function; when the robot operates in a manual operation mode, a second monitoring mode for invalidating the position monitoring function and stopping the robot when the speed of the robot exceeds a second upper limit value smaller than the first upper limit value in the speed monitoring function; and having: when a safety input signal for switching whether the position monitoring function and the speed monitoring function are valid or invalid is input to the robot monitoring device in the automatic operation mode, the position monitoring function and the speed monitoring function are switched from invalid to valid and the robot is monitored in the first monitoring mode; in the manual operation mode, regardless of whether the safety input signal is input to the robot monitoring device, the robot is monitored in the second monitoring mode. A robot monitoring device.

2. The robot monitoring device according to claim 1, wherein: the switching from the first monitoring mode to the second monitoring mode is performed in conjunction with a user's instruction to switch from the automatic operation mode to the manual operation mode. A robot monitoring device.

3. The robot monitoring device according to claim 2, wherein: the manual operation mode is selectable after the robot stops due to interference with the virtual safety fence in the automatic operation mode. A robot monitoring device.

4. The robot monitoring device according to any one of claims 1 to 3, wherein: the second upper limit value is a manual reduction speed defined by safety standards for industrial robots. A robot monitoring device.

5. The robot monitoring device according to any one of claims 1 to 3, wherein: A robot monitoring device, wherein the second upper limit value is smaller than the manual reduction speed defined by the safety standard of an industrial robot.

6. A robot system comprising a robot, a control device for controlling the robot, and a robot monitoring device for monitoring the robot, wherein the robot monitoring device has a position monitoring unit that calculates the posture of the robot from encoder values given from encoders provided at respective joints of the robot and monitors whether any part of the robot interferes with a virtual safety fence, has a speed monitoring unit that calculates the speed of the robot from the encoder values and monitors whether the speed of the robot exceeds an upper limit value, and comprises a first monitoring mode for stopping the robot when, in the position monitoring function, the robot interferes with a virtual safety fence and when, in the speed monitoring function, the speed of the robot exceeds a first upper limit value when the robot operates in an automatic operation mode; a second monitoring mode for stopping the robot when, in the speed monitoring function, the speed of the robot exceeds a second upper limit value smaller than the first upper limit value while invalidating the position monitoring function when the robot operates in a manual operation mode; and has when a safety input signal for switching whether the position monitoring function and the speed monitoring function are enabled or disabled is input to the robot monitoring device in the automatic operation mode, the position monitoring function and the speed monitoring function are switched from disabled to enabled, and monitoring of the robot in the first monitoring mode is executed. In the manual operation mode, monitoring of the robot in the second monitoring mode is executed regardless of whether the safety input signal is input to the robot monitoring device.

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