Abstract: A position of an actuation unit of a robot and a speed of a motor for driving the actuation unit are detected. A speed reference is produced on the basis of a deviation between a movement value and a position detected. Further, a torque reference is produced on the basis of a deviation between the speed reference and a speed detected. The motor for driving the actuation unit is subjected to current control. The magnitude of the torque reference is limited by a limiter. This limiter operates only when a command for allowing the robot to be subjected to emergency stop is received, and carries out limiting operation on the basis of a function which rises from the time point when the command is received.