Robot teaching device with icon programming function

Abstract

A robot teaching device with an icon programming function is provided. The robot teaching device generates a robot motion program by arranging command icons representing motion commands of the robot. The robot teaching device has a mark display unit that displays, on one command icon, a plurality of marks associated with identifiers of position data in a case where the motion commands include a plurality of position data.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot teaching device, and particularly to a robot teaching device with an icon programming function. BACKGROUND

[0002] As a method of generating a motion program of a robot, an icon programming is proposed in which various motion commands are replaced with icons and the icons are arranged on a generation screen to visually generate a motion program of a robot. As a technique related to this programming method, the following document is known.

[0003] In Japanese Patent No. 6498366, it is described that a function icon is selected from a first area in which a function icon having a state window is displayed, and a function icon copied from the function icon is arranged in a second area, a parameter of a function indicated by the function icon arranged in the second area is set, a control program is generated based on the function icon and the setting, and an appearance of the function icon is changed according to the setting, wherein the state window displays a summary of the setting of the parameter constituting the function of the control program for the robot. As an example of the function icon, a pass point icon having a state window displaying a name of a pass point is disclosed.

[0004] In a motion program of a robot, a motion command of a robot mostly contains position data. In an icon programming environment, by displaying the position data on an icon indicating the motion command of the robot, the user can be prompted that the motion command contains the position data. However, in the case of a high-function motion command, sometimes one motion command contains multiple position data, and if there are multiple position data, the display of the position data on the icon can become complicated. Therefore, it is desirable to visually and concisely express the case where one motion command contains multiple position data. In addition, in the case of a high-function motion command, sometimes the user-set position data is corrected and used inside the robot program. If the user is not prompted about the correction and use of the position data, the user can be confused when a different robot motion from the intended one is executed. Therefore, it is also necessary to be able to visually and concisely grasp the case where the position data is corrected and used.

[0005] On the other hand, in the action program of the robot, there are cases where it is desired to execute a program from a specified middle line. In the case of a text-based program, there is a method of specifying a line as an execution start line by aligning a cursor to the middle line. In the case of an icon-based program, in order to edit a set value of a command icon, the icon needs to be selected. Therefore, if the execution line is to be changed by selection of the icon as in the case of the text-based program, it can not be possible to determine whether the selected operation is intended to edit the program or to specify the execution start line. Therefore, the icon selection for editing can sometimes be accompanied by a change in the execution start line, and can sometimes result in an undesired change in the execution start line. Therefore, a method of being able to independently set the execution line of the program and the selection line for editing is also required. SUMMARY

[0006] In this regard, a technique of improving the convenience of icon programming is sought.

[0007] One embodiment of the present disclosure provides a robot teaching device that generates an action program of a robot by arranging command icons that represent action commands of the robot, the robot teaching device including a mark display unit that displays, on one command icon, a plurality of marks associated with identifiers of position data in a case where the action command includes the plurality of position data.

[0008] Another embodiment of the present disclosure provides a robot teaching device that generates an action program of a robot by arranging command icons that represent action commands of the robot, the robot teaching device including: a mark display unit that displays, on a command icon, a mark associated with an identifier of position data in a case where the action command includes the position data; and a shape change unit that changes a shape of the mark in a case where the position data is corrected and used.

[0009] Another embodiment of the present disclosure provides a robot teaching device that generates an action program of a robot by arranging command icons that represent action commands of the robot, the robot teaching device including an execution start line display unit that displays, on a command icon, an execution start line that represents an execution start position within the action program. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a block diagram that represents an outline structure of a robot teaching device in one embodiment.

[0011] Figure 2 is a functional block diagram of a robot teaching device in one embodiment.

[0012] Figure 3 is a diagram that represents one example of a programming screen.

[0013] Figure 4 This is a 3D diagram representing an example of an action command that includes multiple location data.

[0014] Figure 5 It means Figure 4 An example of a detailed screen showing the action command.

[0015] Figure 6 It is a diagram that represents the state of the identifier and the color of the marker after the location data has been changed.

[0016] Figure 7 This is a 3D diagram representing an example of an action command that modifies and uses position data.

[0017] Figure 8 It means Figure 7 An example of a screen showing the action command settings.

[0018] Figure 9 This is a 3D diagram representing an example of an application command that modifies and uses location data.

[0019] Figure 10 This is a 3D diagram representing an example of the stacking and path patterns of a palletizing timing command.

[0020] Figure 11 It means Figure 9 An example of an icon group for palletizing timing commands.

[0021] Figure 12 It means Figure 11 An example of a detailed screen showing a high-function icon.

[0022] Figure 13 This is a diagram illustrating the situation where location data is modified and path patterns are used.

[0023] Figure 14 This is a diagram illustrating the situation where location data is modified and path patterns are used.

[0024] Figure 15 It is a diagram representing a virtual screen with identifiers and markers configured with location data.

[0025] Figure 16 This is a flowchart illustrating the actions of a robot teaching device in one implementation.

[0026] Figure 17A This is a diagram representing an example of the execution start line.

[0027] Figure 17B This is a diagram illustrating an example of the execution start line.

[0028] Figure 17C This is a diagram illustrating an example of the execution start line. DETAILED DESCRIPTION

[0029] Embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. In the drawings, the same or similar components are designated by the same or similar reference numerals. In addition, the embodiments described below do not limit the scope of the protection of the invention described in the technical solution and the meaning of the terms.

[0030] Figure 1 A schematic configuration of a robot teaching device 10 in the present embodiment is shown. The robot teaching device 10 is a computer device provided with a processor 11, a display section 12, an input section 13, a storage section 14, and the like. The processor 11 is constituted by a CPU (central processing unit), a quantum processor, or the like. The display section 12 is constituted by a liquid crystal display, an organic EL (electro-luminescence) display, or the like. The input section 13 is constituted by a touch panel device, a keyboard, a mouse, or the like, and the storage section 14 is constituted by a semiconductor memory, a magnetic storage device, or the like.

[0031] The robot teaching device 10 is further provided with an icon programming software 15 stored in the storage section 14. The icon programming software 15 is read out and executed by the processor 11 in accordance with information from the input section 13. The icon programming software 15 is constituted by an event-driven program that displays a programming screen on the display section 12 and generates a motion program 16 of the robot 20 in accordance with information from the input section 13.

[0032] The generated motion program 16 is transmitted to a robot control device 30 via a wire or wirelessly. The robot control device 30 is provided with a motion control section 31 that controls the motion of a robot mechanism section 21 and a tool 22 in accordance with the motion program 16. The robot mechanism section 21 can be an industrial robot such as a multi-joint robot, a parallel link robot, or the like, but can also be humanoid or the like. The tool 22 is constituted by a suction hand, a gripping hand, a welding tool, a threaded fastening tool, or the like, in accordance with the work content of the robot 20. The robot 20 can also be provided with a sensor 23. The sensor 23 is constituted by, for example, a vision sensor, a force sensor, a vibration sensor, or the like. The robot control device 30 can also correct position data in the motion program 16 based on information from the sensor 23.

[0033] Figure 2A function block of the robot teaching device 10 is shown. The icon programming software 15 causes the processor of the robot teaching device 10 to function as a programming screen display unit 40, an icon display unit 41, an icon selection unit 42, and a marker display unit 43. In addition, the icon programming software 15 can also cause the processor to function as a detailed data setting unit 44, a color changing unit 45, a shape changing unit 46, a motion program generating unit 47, a virtual screen display unit 48, an execution start line display unit 49, and an execution start line moving unit 32. Details of each unit will be described below.

[0034] Figure 3 An example of the programming screen 50 is shown. The processor 11 functions as the programming screen display unit 40 to display the programming screen 50 on the display section 12. The programming screen 50 can include a generation screen 51 that can generate a motion program 16 by arranging icons representing motion commands of the robot 20 on a time axis 54, a selection screen 52 that can select one icon from various icons 60-67 prepared in advance, and a detailed screen 53 that sets detailed data of the icons 60-61 arranged on the generation screen 51. In addition, the icons can be arranged in time series, in which case the time axis 54 can not be displayed.

[0035] In addition, the processor 11 functions as the icon display unit 41 to display various icons 60-67 representing motion commands of the robot 20 on the selection screen 52. Further, the processor 11 functions as the icon selection unit 42 to select any one of the icons 60-67 on the selection screen 52 and arrange a copy of the icon on the time axis 54 of the generation screen 51.

[0036] The icons 60-67 can include command icons 60-64 representing low-function motion commands and high-function icons 65-67 representing high-function motion commands. The command icons 60-64 include, for example, a straight line movement command, a circular arc movement command, a workpiece acquisition command, a hand closing command, a hand opening command, and the like. The high-function icons 65-67 include, for example, an application command to repeat a predetermined motion pattern, a correction command based on information from the sensor 23, and the like. The high-function icons 65-67 have, for example, aコ shape, and in a region surrounded by the high-function icon 65-67, one or more command icons 60-64 representing a teaching motion pattern can be arranged on the time axis 54. The arranged one or more command icons 60-64 are corrected and used as a motion pattern of the application command, or are corrected and used by the correction command. The application command includes, for example, a stacking timing command to stack workpieces one by one on a pallet, an unstacking timing command to unload the workpieces stacked on the pallet one by one, a spot welding command to weld one or more welding points, a screw fastening command to fasten one or more screws, and the like.

[0037] Furthermore, the processor 11 functions as a marker display unit 43, displaying the marker 69 associated with the identifier 68 of the associated position data on the command icon 60 when the action command includes position data. When the action command includes multiple position data, the processor 11 can display multiple markers 69 associated with one command icon 60. This allows for a visually concise display of an action command containing multiple position data on the command icon. The identifier 68 of the position data is composed of, for example, numbers, letters, or combinations thereof, and is identification information for position data used within the action program. Since the identifier 68 of the position data is common within the action program, the same identifier 68 can be specified when the same position is to be used. Additionally, the marker 69 can be a pin marker piercing the command icon 61, but it can also be other types, such as an arrow marker, a blowout mark, etc.

[0038] Figure 4 This represents an example of a circular movement command that includes multiple position data points. The circular movement command is an action command that moves robot 20 in an arc from its starting point at position 1, through position 2, to position 3, and includes the position data for positions 2 and 3. For example... Figure 3 As shown, when the command icon 61 configured on the timeline 54 is selected, the processor 11 functions as a detailed data setting unit 44, displaying a detailed screen 53 showing the detailed data of the command icon 61.

[0039] Figure 5 express Figure 4 This is an example of a detailed screen displaying motion commands. The detailed data for the circular movement command includes two position data points 70 (position 2 and position 3), the robot's movement speed 71, and the positioning method 72 after movement. Position data 70 can be an automatically input initial value, the current position of the actual or virtual robot set by pressing the arm position response button 73, or position data manually entered by the user. Furthermore, position data 70 can be switched between various coordinate systems, such as the user coordinate system and the robot coordinate system, by pressing the switch button 75. When the arm position action button 74 is pressed, the actual or virtual robot can move to the set position data 70 to confirm the robot's position. Positioning methods include a "positioning" mode that temporarily stops after movement and a "smooth" mode that moves continuously towards the next motion command.

[0040] Furthermore, the processor 11 can also function as a color change unit 45, changing the color of at least one of the identifier 68 and the marker 69 of the position data when the position data 70 on the detailed screen 53 is not input or is invalid.Figure 6 indicates the state of the color of the marker 69 and the identifier 68 representing the change position data. Thereby, it is possible to grasp the case where the position 2 is not input or invalid, respectively, on the command icon 60.

[0041] Further, the processor 11 can function as the shape changing unit 46, and in the case where the position data 70 set on the detail screen 53 is corrected and used, the shape of the marker 69 can be changed. Figure 7 indicates a workpiece acquisition command as an example of the action command of correcting and using the position data. The workpiece acquisition command is an action command in which the robot moves from the start point of the position 1 to the position 2 of acquiring the workpiece via the standby position of the position 2'. Figure 8 indicates Figure 7 indicates an example of the setting screen of the action command of the workpiece acquisition command. The detail data of the workpiece acquisition command includes the correction amount 76 (height) of the position data 70 in addition to the position data 70 of the position 2, the moving speed 71 of the robot, and the positioning form 72 after the movement. When the workpiece acquisition command is executed, the position data 70 of the position 2 is corrected and the position 2' is calculated based on the correction amount 76 (height). In the case where the position data 70 is corrected and used as such, the shape of the marker 69 can be changed, for example, from a pin marker to a diamond marker. Thereby, it is possible to visually and simply grasp the case where the position data 70 is corrected and used on the command icon 60.

[0042] In addition, the processor 11 can change the shape of the marker 69 in the case where the position data 70 is corrected and used according to the application command of the position data 70. Figure 9 indicates a palletizing timing command as an example of the application command of correcting and using the position data. The palletizing timing command is an application command in which the robot 20 acquires the workpiece W and stacks one by one on the pallet as described above, for example, the robot 20 moves from the standby position of the position 1 to the position 2, and moves to the position 3 of acquiring the workpiece W, closes the hand after that, returns to the position 2, moves to the approach point of the pallet, that is, the position 4, moves to the stacking point, that is, the position 5, opens the hand after that, and moves to the retreat point of the position 6, and returns to the standby position of the position 1 via the position 2.

[0043] Figure 10 indicates an example of the stacking pattern and an example of the path pattern of the palletizing timing command. In the palletizing timing command, the workpieces are sequentially stacked only by setting the stacking pattern and the path pattern. The stacking pattern is determined, for example, based on the number of matrix levels, the position data of the representative point, and the like. In addition, the path pattern is determined, for example, based on the position data of the approach point, the stacking point, and the retreat point. The three position data of the path pattern can be relative positions, and are corrected and used based on the detail data of the stacking pattern.

[0044] Figure 11 indicatesFigure 9 This is an example of an icon set for palletizing timing commands. Palletizing timing commands are programmed by placing high-function icons 65 representing the command on the timeline 54 of the generation screen 51, and placing command icons 60 representing path patterns within the area surrounded by the high-function icons 65. In this example, three command icons 60 are placed within the area surrounded by the high-function icons 65, representing linear movement towards an approach point, a stacking point, and a retreat point, which are path patterns. Detailed data for the path pattern can be selected from the command icons 60 and set in the details screen, and detailed data for the stacking pattern can be selected from the high-function icons 65 and set in the details screen.

[0045] Figure 12 express Figure 11 An example of the detailed screen 53 of the high-function icon 65. In the detailed screen 53 of the high-function icon 65, which represents the palletizing timing command, detailed data for the stacking mode is set. Detailed data includes, for example, the number of matrix levels 77, and the position data representing points 70, etc.

[0046] Figure 13 and Figure 14 This indicates a scenario where location data is modified and used in accordance with the path pattern. For example, in the initial execution, such as... Figure 13 As shown, the path pattern position data 70 is corrected based on the stacking pattern, with position [1, 1, 1] as the stacking point. For example, in the second execution, the path pattern position data 70 is corrected based on the stacking pattern so that position [2, 1, 1] becomes the stacking point. In this way, the path pattern is corrected by applying an offset to the path pattern position data 70 according to the stacking pattern.

[0047] Refer again Figure 11 Based on the stacking pattern correction and using the three location data of the path pattern, the processor 11 changes the shape of the mark 69 on the three command icons 60 configured in the area surrounded by the high-function icon 65, for example, from a pin mark to a diamond mark. Thus, it is possible to visually and concisely understand the situation regarding the correction and use of the location data of the command icons 60 configured in the area surrounded by the high-function icon 65.

[0048] Additionally, processor 11, based on data from... Figure 1 When the information from sensor 23 is corrected and position data is used, the shape of marker 69 can also be changed. This allows for a clear visual understanding of how position data is corrected and used based on information from sensor 23.

[0049] Refer again Figure 2, the processor 11 functions as an action program generation unit 47, and generates an action program in the case where the programming ends. In addition, the processor 11 can also function as a virtual screen display unit 48, and displays a virtual screen in which the identifier of the position data and the mark are arranged at the position on the virtual space indicated by the position data 70. Figure 15 A virtual screen 55 in which the identifier 68 of the position data and the mark 69 are arranged is shown. A virtual robot 81 is also arranged in the virtual space 80, and the generated action program can be simulated by the virtual robot 81. Thus, the position of the position data 70 used in the action program can be grasped with the graphic information.

[0050] Figure 16 An example of the action of the robot teaching device in the present embodiment is shown. In step S10, a programming screen including a selection screen, a generation screen, a detail screen, and the like is displayed. In step S11, various icons (command icons, high-function icons, and the like) are displayed on the selection screen. In step S12, an icon is selected and a copy of the icon is arranged on the generation screen. In step S13, in the case where an action command includes position data, a mark of the identifier of the associated position data is displayed in association with the command icon. At this time, in the case where one action command includes a plurality of position data, a plurality of marks can be displayed in association with one command icon. Thus, the case where one action command includes a plurality of position data can be visually and simply displayed on the command icon.

[0051] In step S14, detail data (position data, movement speed, positioning form, and the like) of the action command is set on the detail screen. In step S15, in the case where the position data is not input or is invalid, the color of at least one of the identifier of the position data and the mark is changed. Thus, the case where the position data is not input or is invalid can be grasped on the command icon, respectively. In step S16, in the case where the position data is corrected and used, the shape of the mark is changed. Thus, the case where the position data is corrected and used can be visually and simply grasped on the command icon.

[0052] In step S17, it is determined whether or not the programming ends. In the case where the programming does not end (No in step S17), the process of arranging the icon on the time axis of the generation screen is repeated in step S12. In the case where the programming ends (Yes in step S17), an action program is generated in step S18.

[0053] Figure 17A-17C An example of the execution start line 90 is shown. As shown in FIG. 9, the execution start line 90 is a line connecting the start points of the action commands in the action program. The execution start line 90 is displayed in the virtual space 80. Figure 17AAs shown, the processor 11 functions as an execution start line display unit 49 that displays an execution start line 90 indicating an execution start position within the action program on the command icon 60. For example, the execution start line 90 can take the form of a line orthogonal to the time axis 54. The command icons 60-62 disposed on the time axis 54 are respectively assigned execution numbers indicating execution positions within the action program. Also, the processor 11 displays the execution start line 90 on the command icon 60 of the execution number indicating the execution start position within the action program (hereinafter referred to as the execution start number). In initial setting, the execution start line 90 can be displayed on the first command icon 60.

[0054] As shown, the processor 11 can also function as an execution start line display unit 49 that displays an execution start line 90 indicating an execution start position within the action program on the command icon 60. For example, the execution start line 90 can take the form of a line orthogonal to the time axis 54. The command icons 60-62 disposed on the time axis 54 are respectively assigned execution numbers indicating execution positions within the action program. Also, the processor 11 displays the execution start line 90 on the command icon 60 of the execution number indicating the execution start position within the action program (hereinafter referred to as the execution start number). In initial setting, the execution start line 90 can be displayed on the first command icon 60. Figure 17B As shown, the processor 11 can also function as an execution start line display unit 49 that displays an execution start line 90 indicating an execution start position within the action program on the command icon 60. For example, the execution start line 90 can take the form of a line orthogonal to the time axis 54. The command icons 60-62 disposed on the time axis 54 are respectively assigned execution numbers indicating execution positions within the action program. Also, the processor 11 displays the execution start line 90 on the command icon 60 of the execution number indicating the execution start position within the action program (hereinafter referred to as the execution start number). In initial setting, the execution start line 90 can be displayed on the first command icon 60.

[0055] When the generated action program is executed, the execution of the action program is started from the position of the execution start line 90. During the execution of the action program, the processor 11 can move the execution start line 90 according to the execution status of the action program. In this way, the execution start line 90 moves according to the execution of the action program, so that it is possible to visually grasp which part of the action program is being executed. Also, at the end of the action program, the processor 11 stops the execution start line 90 on the command icon being executed at that time. The execution start number for the next execution is set to the execution number of the command icon.

[0056] If an ongoing action program is temporarily paused, the processor 11 temporarily stops the execution start line 90 on the currently executing command icon. The next execution start number is set to the execution number of that command icon. If the action program is executed again, the intermediate action command is restarted. While the action program is temporarily paused, if the position of the execution start line 90 has been changed, the processor 11 can display a confirmation screen asking whether the execution start number can be changed from the temporarily paused command icon to another command icon. If "Yes" is selected on the confirmation screen, the next execution start number is changed to the execution number of the command icon after the execution start line 90 has been moved; if "No" is selected, the next execution start number remains unchanged. When "No" is selected, the actual execution start number differs from the position of the execution start line 90. Therefore, when the action program is restarted, the execution start number can be changed (whether the action program can start from the command icon with the currently existing execution start line 90), or the confirmation screen can be displayed again. Furthermore, even when "No" is selected, and the execution start line 90 is moved to another command icon, the execution start number can be changed from the temporarily stopped command icon to another command icon, or a confirmation screen can be displayed. Once the execution start number is changed from the temporarily stopped command icon to another command icon, the confirmation screen will not be displayed even if the position of the execution start line 90 is changed afterwards. This improves user convenience.

[0057] By setting such an execution start line 90, the execution start position within the action program can be set without selecting the command icon 61. On the other hand, as... Figure 17C As shown, when command icon 60 is selected, detailed data of the action command can be set without changing the execution start position within the action program. Command icon 60 can simultaneously have both an executing state and an editing state, but in this embodiment, command icon 60 has an editing state, and execution start line 90 has an executing state. Since execution start line 90 can be moved arbitrarily by the user, the executing state can be changed without changing the editing state. Furthermore, if execution start line 90 is not moved, the content of command icon 60 can be edited without changing the executing state. In other words, when a command icon is selected, unwanted changes to the execution start position can be prevented.

[0058] Based on the above implementation method, the convenience of icon programming function is improved.

[0059] The program executed by the processor may also be provided by recording on a computer-readable, non-transitory recording medium, such as a CD-ROM.

[0060] In the present specification, various embodiments are described, but the present application is not limited to the described embodiments, and various changes are possible within the scope of the technical idea recited in the claims.

Claims

1. A robot teaching device that generates a motion program for the robot by configuring command icons representing motion commands of the robot. Its features are, The robot teaching device includes a marker display unit. When the action command contains multiple location data points, the marker display unit displays multiple markers that associate the location data with an identifier on a single command icon. The types of command icons displayed by the marker include at least one of the following: move command, workpiece acquisition command, and manual drive command.

2. The robot teaching device according to claim 1, characterized in that, The mark is a pin mark that pierces the command icon.

3. The robot teaching device according to claim 1 or 2, characterized in that, The robot teaching device also includes a color changing unit, which changes the color of at least one of the identifier of the position data and the mark when the position data is not input or is invalid.

4. The robot teaching device according to claim 1 or 2, characterized in that, The robot teaching device also includes a shape change unit that changes the shape of the marker by correcting and using the position data.

5. The robot teaching device according to claim 4, characterized in that, The robot teaching device also includes a detailed data setting unit, which sets detailed data including the correction amount of the position data.

6. The robot teaching device according to claim 4, characterized in that, When the location data is corrected and used according to an application command that uses the location data or a correction command based on information from the sensor, the shape change unit changes the shape of the mark.

7. The robot teaching device according to claim 6, characterized in that, The robot teaching device also includes an icon display unit that displays high-function icons representing the application command or the correction command.

8. The robot teaching device according to claim 1 or 2, characterized in that, The robot teaching device also includes a virtual screen display unit, which displays a virtual screen of the location data in a virtual space, along with an identifier for the location data and the marked virtual screen.

9. The robot teaching device according to claim 1 or 2, characterized in that, The robot teaching device also includes an execution start line display unit, which displays an execution start line on the command icon that indicates the start position of the execution within the action program.

10. A robot teaching device that generates a motion program for the robot by configuring command icons representing motion commands of the robot. Its features are, The robot teaching device includes: A marker display unit, which, when the action command contains location data, displays a marker that associates the identifier of the location data on the command icon; as well as A shape-changing unit that changes the shape of the marker by modifying and using the position data. The types of command icons displayed by the marker include at least one of the following: move command, workpiece acquisition command, and manual drive command.

11. The robot teaching device according to claim 10, characterized in that, When the location data is corrected and used according to an application command that uses the location data or a correction command based on information from the sensor, the shape change unit changes the shape of the mark.

12. The robot teaching device according to claim 10 or 11, characterized in that, The robot teaching device also includes a virtual screen display unit, which displays a virtual screen of the location data in a virtual space, along with an identifier for the location data and the marked virtual screen.

13. The robot teaching device according to claim 10 or 11, characterized in that, The robot teaching device also includes an execution start line display unit, which displays an execution start line on the command icon that indicates the start position of the execution within the action program.

14. A robot teaching device that generates a motion program for the robot by configuring command icons representing motion commands of the robot. Its features are, The robot teaching device includes an execution start line display unit, which displays an execution start line on the command icon indicating the start position of execution within the action program. The execution start line moves according to the execution status of the action program, and the action program can be executed from the execution start line configured in the middle of the action program.

15. The robot teaching device according to claim 14, characterized in that, The robot teaching device also includes an execution start line moving unit, which moves the execution start line to other command icons according to the user's operation.

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