Robot control device, robot control system, and robot control method

Abstract

The present application provides a kind of robot control device, the robot control device does not need to alternately carry out the forwarding operation on the robot teaching operation panel and the confirmation operation on the screen of programmable logic controller.In a kind of robot control device connected with programmable logic controller and control robot, wherein, it is equipped with: forwarding unit, in order to store the current position of robot to the predetermined area in programmable logic controller, and the current position is forwarded to programmable logic controller;Acquisition unit, from programmable logic controller, the current position or the associated information of current position stored in programmable logic controller is acquired;And display control unit, the current position or the associated information of current position acquired is displayed on the screen of robot teaching operation panel.

Description

Technical Field

[0001] This invention relates to robot control devices, robot control systems, and robot control methods, and particularly to robot control devices, robot control systems, and robot control methods that are connected to and control robots by programmable logic controllers (hereinafter referred to as PLCs). Background Technology

[0002] In recent years, systems that use PLC programs to control robot movements, exemplified by the PLCopen specification, have become increasingly popular. For a robot to move from a PLC, the robot control unit forwards the robot's current position to the PLC, which must first store that current position in its memory.

[0003] Users will be required to perform the following tasks: After operating the robot teaching control panel and forwarding the robot's current position to the PLC, confirm on the PLC screen whether the current position has been saved.

[0004] Systems including PLCs and robot control devices are described, for example, in Patent Document 1.

[0005] Patent Document 1 describes a robot simulation device capable of simulating the actions of a system combining a robot and surrounding machines. In this device, a PC identifies a robot using robot identification information, and the identified robot control device reads and stores the taught action program in the PC's memory. The robot control device, identified by the robot identification information, executes the action program, and a PLC executes the sequence program corresponding to the robot identification information. I / O data from surrounding machines such as welding machines is retrieved from the PC and stored as control history. Then, based on information from the robot control device and the PLC, a robot animation is displayed on the PC's graphics display screen, and the motion status information of the surrounding machines is also displayed.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2003-117863 Summary of the Invention

[0009] The problem the invention aims to solve

[0010] When a user operates the robot teaching control panel to forward the robot's current position to the PLC for storage, the user must alternate between forwarding operations on the robot teaching control panel and confirming operations on the PLC screen, which consumes time.

[0011] means for solving problems

[0012] (1) A first aspect of this disclosure is a robot control device that is connected to and controls a robot by a programmable logic controller, wherein the robot control device comprises:

[0013] The forwarding unit forwards the current position of the robot to the programmable logic controller in order to store the current position of the robot in a predetermined area within the programmable logic controller.

[0014] The acquisition unit obtains the current position or associated information of the current position stored in the programmable logic controller from the programmable logic controller.

[0015] The display control unit displays the acquired current position or associated information on the screen of the robot teaching control panel.

[0016] (2) A second aspect of this disclosure is a robot control system, wherein the robot control device described in (1) above and a programmable logic controller connected to the robot control device are included.

[0017] (3) The third aspect of this disclosure is a robot control method that uses a programmable logic controller (PLC) and a robot control device connected to the PLC to control the robot, wherein,

[0018] In order to store the robot's current position in a predetermined area within the programmable logic controller, the robot control device forwards the current position to the programmable logic controller;

[0019] The robot control device obtains the current position or associated information of the current position stored in the programmable logic controller from the programmable logic controller;

[0020] The robot control device displays the obtained current position or related information on the screen of the robot teaching control panel.

[0021] Invention Effects

[0022] According to the various methods of this disclosure, when forwarding the robot's current position to the PLC for storage, it is not necessary to alternate between forwarding operations on the robot teaching control panel and confirmation operations on the PLC screen; a series of operations can be completed solely using the robot teaching control panel. Attached Figure Description

[0023] Figure 1 This is a block diagram illustrating a configuration example of a robot control system that includes the robot control device of the first embodiment of this disclosure.

[0024] Figure 2 This is a block diagram showing the structure of the robot control device according to the first embodiment.

[0025] Figure 3 This is a flowchart illustrating the operation of the robot control device according to the first embodiment.

[0026] Figure 4 This is a diagram showing the changes in the display information of the robot teaching control panel and the stored information of the position sequence of the PLC in the first embodiment.

[0027] Figure 5 This diagram shows the display information of the robot teaching control panel and the storage information of the PLC in the second embodiment of this disclosure.

[0028] Figure 6 This is a diagram showing a confirmation pop-up window displayed on the screen of the robot teaching control panel via the robot control device of the third embodiment of this disclosure.

[0029] Figure 7 This is a flowchart illustrating the operation of the robot control device according to the third embodiment. Detailed Implementation

[0030] Hereinafter, embodiments of the present invention will be described in detail using the accompanying drawings.

[0031] (First Implementation)

[0032] Figure 1 This is a block diagram showing a structural example of a robot control system that includes a robot control device according to a first embodiment of the present disclosure.

[0033] like Figure 1 As shown, the robot control system 10 includes a PLC 20, a robot teaching control panel 30, a robot control device 40, and a robot 50.

[0034] The robot control unit 40 is connected to the PLC 20, the robot teaching pendant 30, and the robot 50. The robot teaching pendant 30 can also be set as part of the robot control unit 40.

[0035] PLC 20 specifies the sequence of assembly operations, etc., performed by robot 50 and outputs motion commands to robot control device 40. Robot control device 40 controls robot 50 based on motion commands.

[0036] The robot control device 40 forwards the current position of the robot 50 to the PLC 20. The PLC 20 stores the current position and controls the robot 50 based on the current position and through the robot control device 40.

[0037] A position sequence (for a predetermined area) is prepared in PLC20 as the area for storing the current position of robot 50. For example, as Figure 1 As shown, the position sequence POS[3] of PLC20 stores: X=30, Y=20, Z=15, W=0, P=0, R=0, which serves as the current position of robot 50. When the current position of robot 50 has been input from robot control device 40, if the input current position is different from the position stored in position sequence POS[3] of PLC20, PLC20 will overwrite the position stored in position sequence POS[3] of PLC20 with the input current position.

[0038] The robot teaching pendant 30 is a device with display and information input functions, such as an LCD display with a touch panel, an LCD display device, and a keyboard. The robot teaching pendant 30 includes a screen 31. This screen 31 displays position index numbers as setting items, specifying which position sequence element is stored in the PLC 20. Furthermore, the screen 31 displays the current position of the robot 50 and the position of the specified position sequence element stored in the PLC 20 (PLC position).

[0039] For example, in Figure 1 In the robot teaching operation panel 30, the screen 31 displays a position index [3] as the position index number, and displays: X=30, Y=20, Z=15, W=0, P=0, R=0, as the current position of the robot 50. In addition, the screen of the robot teaching operation panel 30 displays X=30, Y=20, Z=15, W=0, P=0, R=0, as the PLC position. This PLC position is the same as the position POS [3] stored in the position sequence of PLC 20. Therefore, by viewing the screen of the robot teaching operation panel 30, the user can confirm that the current position of the robot 50 has been correctly stored in the position sequence POS of PLC 20 [3].

[0040] The user uses the robot teaching pendant 30 to instruct the robot 50 to forward its current position to the PLC 20, and to retrieve from the PLC 20 the position or related information stored in the PLC 20. The robot teaching pendant 30 outputs these instructions as operation signals to the robot control device 40.

[0041] Robot 50 is, for example, a multi-joint robot, and includes a robot mechanism 51 and an end effector 52 mounted at the front end of the robot mechanism 51. The current position of robot 50 is, for example, the position of the end effector 52 mounted at the front end of the robot mechanism 51 of robot 50.

[0042] Robot mechanism 51 has multiple joint axes, for example in Figure 1 The robot has six joint axes. Each joint axis is equipped with a motor. The end effector 52 is, for example, a robotic arm, a welding torch, or a paint sprayer. Each motor has a position detection unit, such as an encoder. The position detection signals from each joint axis's position detection unit are transmitted to the robot control unit 40.

[0043] The robot control device 40 controls each motor of multiple joint axes of the robot mechanism 51 based on the motion instructions from the PLC 20.

[0044] In addition, the robot control device 40 calculates the current position (X, Y, Z, W, P, R) of the robot 50 based on the position detection signal output from the robot mechanism 51 of the robot 50, and displays the position (X, Y, Z, W, P, R) value on the screen 31 of the robot teaching operation panel 30 as the current position.

[0045] Figure 2 It is a block diagram showing the structure of the robot control device.

[0046] like Figure 2 As shown, the robot control device 40 includes a forwarding unit 41, a data acquisition unit 42, a motion control unit 43, a control unit 44, and a display control unit 45.

[0047] When the forwarding unit 41 receives a forwarding instruction from the control unit 44, it forwards the current position of the robot 50, i.e., X=30, Y=20, Z=15, W=0, P=0, R=0, to the PLC 20.

[0048] When the data acquisition unit 42 receives a data acquisition instruction from the control unit 44, it acquires the position sequence POS[3] stored in the PLC 20, where X=30, Y=20, Z=15, W=0, P=0, and R=0.

[0049] Based on motion commands from PLC 20, motion control unit 43 outputs motor control commands to robot 50 for each motor in order to control the motors of each joint axis of robot mechanism section 51 of robot 50. In addition, motion control unit 43 outputs position detection signals from position detection units of each joint axis to control unit 44.

[0050] Based on the position detection signals from the position detection units of each joint axis, the control unit 44 calculates the current position (X, Y, Z, W, P, R) of the robot 50, stores the current position, and outputs it to the display control unit 45.

[0051] Furthermore, when the operation signal received from the robot teaching control panel 30 is an operation signal to forward the current position of the robot 50 to the PLC 20, the control unit 44 outputs the stored current position and forwarding instruction to the forwarding unit 41. When the operation signal received from the robot teaching control panel 30 is an operation signal to retrieve the position or position-related information stored in the PLC 20, the control unit 44 outputs a data acquisition instruction to the data acquisition unit 42.

[0052] The display control unit 45 displays the position (X, Y, Z, W, P, R) values ​​on the screen 31 of the robot teaching control panel 30 as the current position.

[0053] The functional program blocks included in the robot control device 40 have been described above. To implement these functional program blocks, the robot control device 40 includes an arithmetic processing unit such as a CPU (Central Processing Unit). In addition, the robot control device 40 also includes auxiliary storage devices such as HDDs (Hard Disk Drives) that store application software and various control programs such as OSs (Operating Systems), and main storage devices such as RAMs (Random Access Memory) that store data temporarily needed after the arithmetic processing unit executes the program.

[0054] Furthermore, in the robot control device 40, the arithmetic processing unit reads application software or operating system from the auxiliary storage device, and while expanding the read application software or operating system in the main storage device, performs arithmetic processing based on these application software or operating system. Additionally, based on the results of this processing, it controls various hardware components of each device. Thus, the functional program blocks of the robot control device 40 of this embodiment are implemented. In other words, this embodiment can be implemented through the collaborative cooperation of hardware and software.

[0055] The following describes the actions of the robot control device 40 when the current position of robot 50 changes from X=30, Y=20, Z=15, W=30, P=20, R=15 to X=30, Y=20, Z=15, W=0, P=0, R=0. Figure 3 as well as Figure 4 To illustrate. Figure 3 This is a flowchart illustrating the actions of the robot control device 40. Figure 4 This is a diagram showing the changes in the information displayed on the robot teaching control panel 30 and the stored information of the position sequence of the PLC 20.

[0056] like Figure 4 As shown, firstly, in the screen 31 of the robot teaching control panel 30, the current position of the robot 50 is displayed as X=30, Y=20, Z=15, W=30, P=20, R=15, and the position of the PLC is displayed as X=30, Y=20, Z=15, W=30, P=20, R=15. The display information of the screen 31 at this time is set as display information 30A. The position sequence POS[3] of the PLC 20 stores X=30, Y=20, Z=15, W=30, P=20, R=15. The stored information at this time is set as storage information 20A.

[0057] The robot control device 40 rotates the end effector 52 at the front end of the robot mechanism 51 of the robot 50, so that the position of the end effector 52 is X=30, Y=20, Z=15, W=0, P=0, R=0.

[0058] exist Figure 3 In step S11, the robot control device 40, based on the position detection signal from the robot 50, such as... Figure 4 As shown, the current position of robot 50 is changed from X=30, Y=20, Z=15, W=30, P=20, R=15 to X=30, Y=20, Z=15, W=0, P=0, R=0, and displayed on screen 31 of the robot teaching control panel 30. As a result, the displayed information on screen 31 changes from display information 30A to display information 30B.

[0059] The user views the display information 30B of the screen 31 and identifies that the POS[3] of the position sequence of PLC 20 still stores the state X=30, Y=20, Z=15, W=30, P=20, R=15.

[0060] In step S12, the robot control device 40 detects whether a forwarding operation has been performed by the user on the robot teaching control panel 30. The forwarding operation is performed, for example, by the user pressing a forwarding button (not shown) on the LCD display device with an attached touch panel of the robot teaching control panel 30. If a forwarding operation has been performed, the process proceeds to step S13; otherwise, it remains in standby mode until a forwarding operation is performed.

[0061] In step S13, the robot control device 40 forwards the current position, i.e., X=30, Y=20, Z=15, W=0, P=0, R=0, to the PLC 20. The PLC 20 overwrites the X=30, Y=20, Z=15, W=30, P=20, R=15 stored in the position sequence POS[3] with X=30, Y=20, Z=15, W=0, P=0, R=0. Thus, the stored information changes from stored information 20A to stored information 20B.

[0062] In step S14, the robot control device 40 detects whether the user has performed a position data acquisition operation on the PLC of the robot teaching operation panel 30. The position data acquisition operation is performed, for example, by the user selecting the position index [3] of the LCD display device with the touch panel attached to the robot teaching operation panel 30 and pressing the confirmation key (not shown). If the position data acquisition operation has been performed, the process proceeds to step S15; otherwise, it waits until the position data acquisition operation is performed.

[0063] In step S15, the robot control device 40 obtains the position sequence POS[3] stored in the PLC 20, where X=30, Y=20, Z=15, W=0, P=0, and R=0. Then, the robot control device 40 changes the PLC position of the screen 31 on the robot teaching operation panel 30 to X=30, Y=20, Z=15, W=0, P=0, and R=0. The display information on the screen 31 changes from display information 30B to display information 30C.

[0064] The user views the display information 30C on the robot teaching operation panel 30 and identifies that the POS[3] of the position sequence in the PLC20 is overwritten and stored as X=30, Y=20, Z=15, W=0, P=0, R=0.

[0065] Through the above actions, the user can confirm that the robot's current position has been correctly stored in the position sequence of the PLC 20 by viewing screen 31 on the robot teaching control panel 30. As a result, the user no longer needs to perform the following task: after operating the robot teaching control panel 30 to forward the robot's current position to the PLC 20, check on the PLC 20 screen whether the position has been stored.

[0066] (Second Implementation)

[0067] In the first embodiment, the PLC position of the position sequence POS[3] stored in the PLC20 is obtained by the user pressing the confirmation key (not shown) on the robot teaching operation panel 30, and the PLC position is displayed on the robot teaching operation panel 30.

[0068] In this embodiment, by pressing the confirmation key (not shown) on the robot teaching control panel 30, the user retrieves the location association information stored in the PLC 20 and displays it on screen 31 of the robot teaching control panel 30. The location association information includes, for example, the name of the function block (FB) of the PLC that refers to the robot's location stored in the PLC, the line number of the PLC program that teaches the FB, and the comments of the FB.

[0069] Figure 5 This diagram represents the display information of the robot teaching control panel 30 and the stored information of the PLC 20.

[0070] For example, when the user selects the location index [3] and presses the confirmation key (not shown), the location sequence elements within the PLC 20 are retrieved from the PLC 20: the name of the function block (FB) of the PLC that references the POS [3], the line number of the PLC program that teaches the FB, and the FB's comments, and are displayed on screen 31 of the robot teaching control panel 30. Thus, it can be seen, for example, that the location is referenced by an FB named "FB3," and that "FB3" is taught on the third line of the PLC program. If the FB has comments, they are also displayed on this screen. Figure 5 In the text, "PICK_POS" is displayed as a comment, indicating the robot's pick-up position.

[0071] (Third Implementation)

[0072] In the first embodiment, when the user presses the forward key (not shown) on the robot teaching operation panel 30, the robot control device 40 forwards the current position of the robot 50 to the PLC 20, and the PLC 20 overwrites the position of POS[3] stored in the position sequence with the current position forwarded from the robot control device 40.

[0073] In this embodiment, it is assumed that the PLC20 asks the user whether it can overwrite the position of POS[3] stored in the position sequence before overwriting the current position forwarded from the robot control device 40.

[0074] When a user performs an operation on screen 31 of the robot teaching control panel 30 to forward the robot's current position to the PLC 20, the control unit 44 of the robot control device 40 will receive the operation signal. When the control unit 44 receives the operation signal, if the specified position sequence element has already been stored, it will display a confirmation pop-up window 30D on screen 31 with a message such as "Overwrite this position?". Figure 6This refers to the confirmation pop-up window displayed on screen 31. If the user selects "Yes," the current position can be forwarded to that position sequence element for overwriting. If the user selects "No," the forwarding will be interrupted, and the position of the position sequence element on PLC20 will not be changed.

[0075] Figure 7 This is a flowchart showing the operation of the robot control device 40 according to the third embodiment.

[0076] Figure 7 The flowchart is in Figure 3 The flowchart has three steps S21, S22 and S23 between steps S12 and S13.

[0077] In step S12, the robot control device 40 detects whether the user has performed a forwarding operation on the robot teaching operation disk 30, and if the forwarding operation has been performed, proceeds to step S21.

[0078] In step S21, the robot control device 40 obtains the position data of the position sequence elements stored in the PLC and determines whether the position data is all "0". The robot's position data includes not only X, Y, Z, W, P, and R, but also pose. Since there are still pose values ​​even if X, Y, Z, W, P, and R are "0", the position data will not be all "0".

[0079] Because the initial values ​​of the position data stored in the position sequence elements of the PLC are all "0", it can be determined that forwarding processing has not yet been performed when all position data are "0". Therefore, when all position data are "0", the robot control device 40 will move to step S13 without displaying the confirmation pop-up window 30D on the screen because it is the first forwarding. The robot control device 40 forwards the current position, i.e., X=30, Y=20, Z=15, W=0, P=0, R=0, to the PLC 20.

[0080] On the other hand, if the position data is not all "0", the robot control device 40 will determine that forwarding has been performed and proceed to step S22.

[0081] In step S22, the robot control device 40 will display a confirmation pop-up window 30D on the screen 31 of the robot teaching operation panel 30 and then proceed to step S23.

[0082] In step S23, if the user selects "Yes", the robot control device 40 will proceed to step S13. If the user selects "No", no forwarding will occur, and the positions of the position sequence elements of the PLC 20 will not be changed.

[0083] The various embodiments of the present invention have been described above. Each structural component included in the robot control device can be implemented using hardware, software, or a combination thereof. Furthermore, the robot control method, which involves the cooperative cooperation of each of the structural components included in the robot control device, can also be implemented using hardware, software, or a combination thereof. Here, "implemented using software" means implemented by loading a program into a computer and executing it.

[0084] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include: magnetic recording media (e.g., hard disk drives), optical-magnetic recording media (e.g., optical discs), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash memory ROM, RAM (Random Access Memory)).

[0085] While the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not intended to be limited to the above-described embodiments, and various modifications can be applied without departing from the spirit of the present invention.

[0086] The robot control device, robot control system, and robot control method disclosed herein include the above-described embodiments and can be implemented in various ways with the following structures.

[0087] (1) A robot control device (e.g., robot control device 40) connected to and controlling a robot (e.g., robot 50) by a programmable logic controller (e.g., PLC 20), wherein the robot control device comprises:

[0088] A forwarding unit (e.g., forwarding unit 41) forwards the current position to the programmable logic controller in order to store the robot's current position in a predetermined area within the programmable logic controller;

[0089] The acquisition unit (e.g., data acquisition unit 42) acquires the current position or associated information of the current position that has been stored in the programmable logic controller from the programmable logic controller;

[0090] The display control unit (e.g., display control unit 45) displays the obtained current position or the associated information on the screen of the robot teaching control panel (e.g., robot teaching control panel 30).

[0091] According to the robot control device, when forwarding the robot's current position to the PLC for storage, there is no need to alternate between forwarding operations on the robot teaching control panel and confirming operations on the PLC screen. A series of operations can be completed solely through the robot teaching control panel.

[0092] (2) According to the robot control device described in (1) above, when the current position stored in the programmable logic controller is referenced by a function block in the programmable logic controller program, the acquisition unit acquires the information of the function block, and the display control unit displays it on the screen of the robot teaching operation panel.

[0093] (3) The robot control device according to (1) or (2) above, wherein, when the current position is forwarded to the programmable logic controller, and when the current position is already stored in the predetermined area, a pop-up window is displayed on the screen of the robot teaching control panel to confirm whether to overwrite the current position.

[0094] (4) The robot control device according to any one of (1) to (3) above, wherein the robot teaching operation panel is included.

[0095] (5) A robot control system comprising a robot control device (e.g., robot control device 40) as described in any one of (1) to (4) above, and a programmable logic controller connected to the robot control device.

[0096] According to the robot control system, when forwarding the robot's current position to the PLC for storage, there is no need to alternate between forwarding operations on the robot teaching control panel and confirmation operations on the PLC screen. Instead, a series of operations can be completed solely through the robot teaching control panel.

[0097] (6) A robot control method, comprising using a programmable logic controller (e.g., PLC 20) and a robot control device (e.g., robot control device 40) connected to the programmable logic controller to control a robot, wherein,

[0098] In order to store the robot's current position in a predetermined area within the programmable logic controller, the robot control device forwards the current position to the programmable logic controller;

[0099] The robot control device obtains the current position or associated information of the current position stored in the programmable logic controller from the programmable logic controller;

[0100] The robot control device displays the obtained current position or related information on the screen of the robot teaching control panel.

[0101] According to this robot control method, when forwarding the robot's current position to the PLC for storage, there is no need to alternate between forwarding operations on the robot teaching control panel and confirmation operations on the PLC screen. Instead, a series of operations can be completed solely through the robot teaching control panel.

[0102] Explanation of reference numerals in the attached figures

[0103] 10 Robot Control System

[0104] 20 PLC

[0105] 30 Robot teaching control panel

[0106] 40 Robot control device

[0107] 41 Forwarding Department

[0108] 42 Data Acquisition Department

[0109] 43 Motion Control Department

[0110] 44 Control Department

[0111] 45 Display Control Unit

[0112] 50 robots

[0113] 51 Robotics Department

[0114] 52. End effector.

Claims

1. A robot control device, connected to an external programmable logic controller (PLC) that generates motion instructions for controlling a robot, and capable of controlling the robot based on the motion instructions from the PLC, characterized in that, The robot control device includes: The motion control unit controls the robot and acquires the robot's position detection signal; The forwarding unit forwards the current position of the robot, obtained based on the position detection signal, to the programmable logic controller in order to store the current position of the robot in a predetermined storage area within the programmable logic controller. The acquisition unit acquires the current position or associated information of the current position stored in the programmable logic controller from the programmable logic controller. The display control unit displays the current position or associated information obtained from the programmable logic controller, along with the current position obtained based on the position detection signal, on a screen of the robot teaching control panel. The motion control unit controls the robot based on motion instructions obtained from the programmable logic controller, which include the current position stored in the storage area.

2. The robot control device according to claim 1, characterized in that, When the current position stored in the programmable logic controller is referenced by a function block within the programmable logic controller program, the acquisition unit acquires the information of the function block, and the display control unit displays it on the screen of the robot teaching control panel.

3. The robot control device according to claim 1 or 2, characterized in that, When the current position is forwarded to the programmable logic controller, and the current position is already stored in the predetermined storage area, a pop-up window is displayed on the robot teaching control panel to confirm whether to overwrite the current position.

4. The robot control device according to claim 1 or 2, characterized in that, The robot control device includes the robot teaching control panel.

5. A robot control system, characterized in that, It comprises: a robot control device as described in any one of claims 1 to 4, and a programmable logic controller connected to the robot control device.

6. A robot control method comprising controlling a robot using an external programmable logic controller (PLC) that generates motion instructions for controlling the robot, and a robot control device connected to the PLC and capable of controlling the robot based on the motion instructions from the PLC, characterized in that, In order to store the robot's current position, obtained based on the robot's position detection signal, in a predetermined storage area within the programmable logic controller, the robot control device forwards the current position to the programmable logic controller; The robot control device obtains the current position or the associated information of the current position stored in the programmable logic controller from the programmable logic controller. The robot control device displays the current position or associated information obtained from the programmable logic controller, together with the current position obtained based on the position detection signal, on a screen of the robot teaching panel. The robot is controlled based on the action instructions obtained from the programmable logic controller, which include the current position stored in the storage area.

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