Patent ID: 8277473

Claim:
A manipulator system equipped with a manipulator and a controller for controlling the manipulator, said manipulator comprising: an operation command unit for inputting an operation command; and a working unit, which is detachable with respect to said operation command unit, comprising an operating member that interacts with and is operated by an actuator of said operation command unit, wherein said working unit comprises an ID retaining section, which holds an ID used for individual discrimination of said working unit; and said controller comprising: an ID identification section for identifying the ID of said ID retaining section; a detachment determining section for determining whether or not said working unit has been detached from said operation command unit, based on the ID identified by said ID identification section; an origin point recognition section for recognizing whether said operating member is in a prescribed origin point position or in a non-origin point position; and a warning section which generates a detachment warning when it is determined, by a judgment of said detachment determining section, that said working unit has been detached from said operation command unit, in the event it is determined that said operating member is in a non-origin point position based on a signal obtained from said origin point recognition section.