Abstract: In a control system for a robot having a servo motor driving an operation axis, position error detecting means, detects an error of the actual position with reference to a desired instantaneous position, and a drive circuit receives the position error for supplying a current to the servo motor to reduce the position error. The control system is characterized by means for limiting the current supplied from the drive circuit to the servo motor thereby to limit the torque of the servo motor when the servo motor is driving the operation axis in a first mode in which movement of the operation axis is subject to undesired obstruction.