Patent ID: 7221119

Claim:
A robot system comprising a robot, and at least one apparatus which is driven by a servomotor and carries out operation in cooperation with the robot, wherein the robot system further comprises: a detection unit to detect an operator's approach to the specified apparatus including at least one apparatus which carries out operation in cooperation with the robot or operator's entry to an off-limit region set for the specified apparatus and to output a notice of operator's approach or entry, provided for each specified apparatus; and a controller to control the robot, the controller comprising: a unit connecting and interrupting power supply to the servomotor which drives the specified apparatus, provided for each specified apparatus, an emergency stop unit receiving the notice of operator's approach or entry from the detection unit to bring the robot system into an emergency stopped state, wherein power supply to the robot and to each specified apparatus is automatically interrupted based upon the notice, and a monitoring unit for each specified apparatus to monitor a connection state and an interruption state of power supply to the servomotor which drives the specified apparatus, and canceling the notice of operator's approach or entry to prevent the notice from inputting to the emergency stop unit, for the specified apparatus when the power supply is interrupted by said unit connecting and interrupting power supply to the servomotor which drives the specified apparatus.