Patent US 4,814,969

A control apparatus for performing a self test of a robot arm or the like has a solenoid for controlling the movement of the arm, a keyboard for allowing the operator to set operation conditions of the robot, sensors for sensing the operation state of the robot such as temperatures or pressures, and a CPU for controlling the operation of the robot in accordance with detection results of the sensors. The self-test can be performed under different reset conditions to which the robot is assumed to be exposed during actual operation.