A robot control device includes manual pulse generation units that generate pulses having a pulse number depending on an operation amount of an operator, command signal calculation units that calculate an operation command signal to a robot based on a pulse number to be input, and a pulse number limiting unit that limits, to a threshold, the pulse number to be input into the command signal calculation units, in a case or cases where the pulse number generated by the manual pulse generation units is larger than the predetermined threshold, where, in a case or cases where the pulse number generated by the manual pulse generation units is equal to or less than the threshold, the pulse number is output as it is.

A robot control device includes manual pulse generation units that generate pulses having a pulse number depending on an operation amount of an operator, command signal calculation units that calculate an operation command signal to a robot based on a pulse number to be input, and a pulse number limiting unit that limits, to a threshold, the pulse number to be input into the command signal calculation units, in a case or cases where the pulse number generated by the manual pulse generation units is larger than the predetermined threshold, where, in a case or cases where the pulse number generated by the manual pulse generation units is equal to or less than the threshold, the pulse number is output as it is.

A number of pulses output from an encoder is counted, a number of pulses output from a command pulse output unit is counted, and a difference between the number of pulses that has been counted by the command pulse counting unit and the number of pulses from the encoder is calculated. Then, a condition is changed such that speed/acceleration of a pulse motor increases when a difference value between a deviation threshold and the difference is smaller than a predetermined range, and the speed/acceleration of the pulse motor decreases when the difference value is greater than the predetermined range, and whereby the pulse motor is controlled based on a position of a slider detected by a slider position detection unit, a position of the slider that has been set, and the pulse condition that has been changed.

A manual pulse generating device includes a rotatable dial, a pulse generating unit configured to generate drive pulses for commanding axial movement in accordance with an amount of rotation of the dial, an enable switch configured to switch between enablement and disablement of axial movement in accordance with the drive pulses, and a casing having the dial and the enable switch disposed on a surface thereof, and accommodating the pulse generating unit in the interior thereof. The dial is mounted on one end side in a longitudinal direction of the casing, and on a front surface of the casing, and the enable switch is mounted on another end side, i.e., a side in the positive X direction, in the longitudinal direction of the casing, and on the front surface of the casing, or on a side surface of the casing that extends along a lateral direction of the casing.

A manual pulse generating device is equipped with a rotatable dial, a pulse generating unit configured to generate drive pulses for commanding axial movement in accordance with an amount of rotation of the dial, an enable switch configured to switch between enablement and disablement of axial movement in accordance with the drive pulses, and a casing having the dial and the enable switch disposed on a surface thereof, and configured to accommodate the pulse generating unit in the interior thereof. The guard configured to cover at least a portion of an outer circumferential surface of the dial is attached to the casing.