Program generation device, method, and program

Abstract

A program generating apparatus includes at least one processor, at least one storage device, a display, and an input device, in which the processor reads from the storage device at least one action symbol including information related to an action instruction of a robot registered in the storage device in advance, and generating an action program by copying and arranging one or more action symbols selected from among the action symbols displayed in the first region in a second region of the display, a parameterized operation symbol is generated by inputting, using an input device, a parameter of a function indicated by an arbitrary operation symbol selected from among the operation symbols displayed in the first region or the second region, and the generated parameterized operation symbol is registered in a storage device as one of the operation symbols.

Description

Technical Field

[0001] The present invention relates to a program generation device, a method, and a program. Background Art

[0002] Conventionally, a teaching device is known which, when an icon displayed in a drag-and-drop teaching screen selection area is dragged, duplicates an icon identical to the dragged icon and moves it to a creation area (for example, refer to Patent Document 1).

[0003] By listing a plurality of icons in the creation area, an action program for a robot can be generated. For an icon copied to the creation area, the user can set parameters of the function represented by the icon in a status window provided for the icon.

[0004] [Prior Art Documents]

[0005] [Patent Documents]

[0006] [Patent Document 1] International Publication No. 2020 / 012558 Summary of the Invention

[0007] Technical Problem to be Solved by the Invention

[0008] When an icon having the same function is used multiple times in an action program, it is sometimes desired to reuse parameters that have been set previously. In such a case, it is cumbersome to reset the parameters for each icon. Therefore, it is desired to be able to easily reuse action symbols such as icons for which parameters have been set.

[0009] Means for Solving the Problem

[0010] One aspect of the present disclosure provides a program generation device including at least one processor, at least one storage device, a display, and an input device. The processor reads at least one action symbol including information on robot action instructions registered in advance in the storage device from the storage device and displays it in a first area of the display. An action program is generated by copying one or more action symbols selected from the action symbols displayed in the first area to a second area of the display and arranging them in chronological order. A parameterized action symbol is generated by inputting, using the input device, parameters of the function represented by any action symbol selected from the action symbols displayed in the first area or the second area, and the generated parameterized action symbol is registered as one of the action symbols in the storage device. Brief Description of the Drawings

[0011] Figure 1 A schematic diagram of a robot system to which a program generation device according to a first embodiment of the present invention is applied is shown.

[0012] Figure 2Shows Figure 1 Block diagram of a program generation device

[0013] Figure 3 Is a diagram showing Figure 2 Example of a display on a display in a program generation device

[0014] Figure 4 Shows Figure 2 Diagram of a parameter setting area and a name setting area displayed on a display of a program generation device

[0015] Figure 5 Shows Figure 2 Diagram of a program generation device in which an icon with parameters is copied in a selection area

[0016] Figure 6 Shows Figure 2 Diagram of the state where an icon with parameters is copied to "Favorites" in a program generation device

[0017] Figure 7 Shows a flowchart of a program generation method according to a first embodiment of the present invention

[0018] Figure 8 Shows Figure 2 Diagram of a modified example of a display of a display in a program generation device

[0019] Figure 9 Is a figure with a checkbox added in a parameter setting area for selecting parameters to be registered Figure 8 in

[0020] Figure 10 Is a diagram showing an example of a display of a display for explaining a program generation device according to a second embodiment of the present invention

[0021] Figure 11 Is a diagram showing the state of copying multiple icons in a creation area to a selection area to generate a copy icon Figure 10 in

[0022] Figure 12 Is a diagram showing an example of a name input area for inputting a name to a copy icon Figure 10 in

[0023] Figure 13 Is a diagram showing an example for confirming Figure 10 the content of a copy icon

[0024] Figure 14 Is a diagram showing an example for confirming whether to maintain parameters when a copy icon in Figure 10 is copied in a creation area Detailed implementation mode

[0025] Hereinafter, a program generation device 1, a method, and a program according to a first embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0026] As Figure 1 shown, the program generation device 1 according to this embodiment is applicable to a robot system 20 including a robot 10 and a control device 11 for controlling the robot 10.

[0027] The robot 10 is, for example, a vertical 6-axis multi-joint robot and is driven according to a control signal output by the control device 11. The robot 10 is not limited to a vertical 6-axis multi-joint robot and may also be a horizontal multi-joint robot, a linear robot, or any other form of robot.

[0028] The control device 11 reads an action program (described below) stored in the storage device 3, generates a control signal based on the read action program, and outputs it to the robot 10. The action program is a program for causing the robot 10 to act and is instruction data including one or more action instructions.

[0029] The program generation device 1 according to this embodiment is a device that creates an action program according to a user's operation. Here, creating an action program includes creating a new action program and editing an existing action program. As Figure 2 shown, the program generation device 1 includes at least one processor 2, at least one storage device 3, a display 4, and an input interface (input device) 5.

[0030] The processor 2 can be any processing device such as a CPU or an MPU. In addition, some of the processing executed by the processor 2 can be implemented by a dedicated logic circuit or hardware.

[0031] The storage device 3 includes at least one of a semiconductor memory such as a random access memory (RAM) or a read-only memory (ROM), and a storage device using a storage medium such as a hard disk drive (HDD) or an optical disc.

[0032] The display 4 is composed of a liquid crystal display, an organic EL display, etc. The input interface 5 includes a touch panel device, a keyboard, a mouse, etc.

[0033] The program generation device 1 can be a dedicated teaching device such as a teaching operation panel provided in the control device 11, or a general computer or tablet terminal installed with a program generation program.

[0034] The program generation device 1 according to this embodiment stores at least one action symbol that is pre-registered in the storage device 3 and includes information related to the action instructions of the robot 10. The action symbols are, for example, various icons I (hereinafter referred to as icons) that represent various action instructions for the robot 10. The action instructions include a linear movement instruction, a circular movement instruction, an instruction to operate a tool installed at the front end of the robot 10, and the like.

[0035] The icons I include: icons that can set parameters representing the functions of the icons I, and icons that do not require parameter setting. The parameters include, for example, for a movement instruction, a target position, a path position, or a movement speed.

[0036] As Figure 3 shown, the processor 2 reads out the icon I stored in the storage device 3 from the storage device 3 and displays it in the selection area (first area) A of the display 4 for the user to select the icon I. The user can select any one of the icons I displayed in the selection area A through the input interface 5. The user can select the icon I by touching the touch panel or by using a mouse or the like to position the cursor displayed on the display 4.

[0037] When the user selects the icon I displayed in the selection area A through the input interface 5 and drags (copies) it to the creation area (second area) B, the processor 2 copies the dragged icon I. Then, when the user moves the dragged icon I to the creation area B of the display 4 and drops it, the processor 2 places the icon I near the position where it is dropped in the creation area B.

[0038] The position where the icon I is placed within the creation area B does not need to be strictly precise. As long as the icon I is placed in any blank space within the creation area B, the icon I will be aligned, for example, left-aligned in the creation area B. In addition, if other icons I have already been placed in the creation area B, the placement position of the new icon I will be determined according to the relative position relationship with those icons I. For example, if two icons I are arranged in the creation area B, by placing the new icon I near the middle of the existing icons I in the creation area B, the new icon I will be placed between the two existing icons I.

[0039] The user can also use the input interface 5 to select any one of the icons I displayed in the creation area B. When the user selects the icon I that can set parameters in the creation area B, the processor 2 displays a parameter setting area C on the display 4. The parameter setting area C can be displayed at any position on the display 4 in the form of a pop-up window, or as Figure 4 shown, it can be displayed instead of the selection area A. When the user inputs parameters into the parameter setting area C through the input interface 5, the processor 2 associates the input parameters with the icon I selected on the creation area B and stores them in the storage device 3.

[0040] By the user repeating these operations, the processor 2 can arrange a plurality of icons I within the creation area B, for example, arranged left and right within the creation area B along a timeline set from left to right. Thus, by arranging the icons I horizontally, the processor 2 generates an action program in which the icons I are arranged in chronological order along the time axis.

[0041] As Figure 3 shown, the processor 2 also selectively displays an icon deletion mark a, a copy mark b, and an icon registration mark c on the display 4.

[0042] When the user selects any one of the icons I displayed in the selection area A or the creation area B of the display 4 and then presses the icon registration mark c, the processor 2 displays a name setting area D for setting the name of the icon I. In Figure 4 the example shown, the name setting area D is displayed in the form of a pop-up window on the creation area B of the display 4.

[0043] The name setting area D includes: an input area D1 for allowing the user to input any text representing the name of the icon I; a registration button D2 for confirming and registering the input name; and a cancel button D3 for canceling the process. When the user inputs any text representing the name in the input area D1 and presses the registration button D2, the processor 2 generates a new icon I with the input name in the selection area A.

[0044] That is, the processor 2 stores (registers) a new icon I1 with the input name (for example, speed100) in the storage device 3 as one of the icons I to be displayed in the selection area A, as Figure 5 shown. The newly registered icon I1 can be registered in the "favorites", as Figure 6 shown.

[0045] In this case, if parameters representing its function are set for the icon I, the processor 2 copies a parameterized icon (parameterized operation symbol) according to the set parameters. If the selected icon I can have parameters set but has not been set yet, the processor 2 displays a parameter setting area C on the display 4 and allows the user to input parameters, as Figure 4 shown.

[0046] When the parameterized icon is registered, the user can select the parameterized icon displayed in the selection area A like other icons I and copy it to the creation area B by drag and drop. When the parameterized icon is copied in the creation area B, the parameters set for the icon I are retained.

[0047] When the user selects a group of icons I including a plurality of icons I arranged in the creation area B of the display 4 and presses the copy mark b, the processor 2 generates an arbitrary icon I2 for copying.

[0048] In addition, when the user selects an unnecessary icon I displayed in the selection area A and presses the icon deletion mark a, the processor 2 deletes an arbitrary icon I registered in the storage device 3.

[0049] Next, a program generation method according to the present embodiment will be described with reference to the accompanying drawings.

[0050] The program generation method of the present embodiment includes: Step S1, reading at least one icon I pre-registered in the storage device 3 from the storage device 3 and displaying it in the selection area A of the display 4, as Figure 7 shown. The program generation method further includes Step S3 of copying one or more icons I selected from the icons I displayed in the selection area A to the creation area B and arranging them in chronological order to generate an action program. The program generation method further includes Step S5 of generating a parameterized icon by inputting parameters of any one of the icons I displayed in the selection area A or the creation area B. In addition, the program generation method further includes Step S7: registering the generated parameterized icon as one of the icons I in the storage device 3.

[0051] In Figure 7 the example shown, an icon I is displayed in the selection area A (Step S1). When the user drags any one icon I (Step S2), the dragged icon I is copied (Step S3). Then, the copied icon I is placed in the creation area B to generate an action program.

[0052] It is determined whether the icon I dragged into the creation area B is an icon that can be parameterized (Step S4). If it is an icon that can be parameterized, a parameter setting area C is displayed. When the user inputs parameters (Step S5) and presses the icon registration mark c (Step S6), a name setting area D is displayed.

[0053] When the user inputs a name in the input area D1 and presses the registration button D2, a parameterized icon is generated and registered as one of the icons I in the storage device 3 (Step S7). It is determined whether to end the program generation (Step S8). If not, the process starting from Step S2 is repeated.

[0054] In addition, if the user does not drag any icon I displayed in the selection area A in Step S2, the process proceeds to Step S8.

[0055] Further, if it is determined in step S6 that the icon I for which a parameter has been input in step S5 has not been pressed on the icon registration mark c, the process proceeds to step S8.

[0056] In addition, if it is determined in step S4 that the icon I copied in step S3 is an icon I that does not require parameter setting, the process proceeds to step S8. By registering the parameterized icon in the storage device 3, the icon I displayed in the selection area A in step S1 includes the newly registered parameterized icon.

[0057] Therefore, according to the present embodiment, in an apparatus for generating an action program by arranging one or more icons I in the creation area B of the display 4, a parameterized icon can be registered as a selectable icon I. Thus, even if the same parameterized icon is used multiple times in the action program, there is no need to reset the parameters from scratch for each icon I. Therefore, even in such a case, the user can simply reuse the icon I without the cumbersome operation of resetting the parameters, which is an advantage.

[0058] Further, when copying the parameterized icon displayed in the creation area B, the parameterized icon can be copied together with the parameters to the selection area A.

[0059] It should be noted that in the program generation apparatus 1 and the program generation method of the present embodiment, the case of copying a single parameterized icon from a single parameterized icon within the selection area A is illustrated. As an alternative, multiple parameterized icons can also be copied from a single parameterized icon within the selection area A.

[0060] In this case, by selecting any icon I displayed in the selection area A and pressing the icon registration mark c, different names can be input in the displayed name setting area D. By selecting the parameterized icon displayed in the selection area A, pressing the icon registration mark c, and inputting a name, multiple parameterized icons composed of the same type of icon I can be copied.

[0061] In addition, as Figure 8 shown, an edit mark d can be displayed on the display 4, and when the user presses the edit mark d, the processor 2 can display the name setting area D and the parameter setting area C, so that the name and parameters can be edited.

[0062] Further, an icon I displayed in the selection area A that has not been registered with parameters can also be selected and new parameters can be registered to create a parameterized icon.

[0063] In addition, when copying and registering a parameterized icon, the processor 2 can display the parameters associated with the icon I stored and allow the user to edit these parameters. By allowing the user to edit the parameters at the time of registration, the trouble of the user registering the same type of parameterized icon with different parameters can be saved.

[0064] In addition, when copying a parameterized icon with multiple parameters, the processor 2 can display the parameter setting area C together with the name setting area D and allow the user to select the parameters to be copied. For example, the user can select the parameters by checking the check boxes of the parameters they wish to copy, as Figure 9 shown.

[0065] For example, when position information, speed information, and path information are registered as parameters, the user can only check the speed information and path information and then press the registration button D2.

[0066] In this case, the processor 2 registers a parameterized icon in the storage device 3. This parameterized icon does not inherit the position information set in the original parameterized icon, but only inherits the speed information and path information. The position information of the copied parameterized icon may not be set or may be set to the default position information.

[0067] Alternatively, when registering an icon with parameters, instead of selecting the parameters to be copied, when copying the icon with parameters displayed in the selection area A to the creation area B, the user can be allowed to select the parameters to be copied. In this case, when the user drags the parameterized icon displayed in the selection area A to the creation area B, the user only needs to check the check boxes of the parameters they want to copy. In addition, the parameters not to be inherited can also be selected by unchecking the corresponding parameter check boxes.

[0068] In this embodiment, the program generation device 1 and the program generation method have been described, but the present invention is not limited thereto. As described above, the device can be a dedicated teaching device with the above configuration, or a general-purpose computer or tablet terminal installed with a program generation program, etc.

[0069] In this case, the program generation program can be a program that causes a general-purpose computer, a tablet computer, etc. to execute the respective steps of the above program generation method. In addition, although the icon has been exemplified as an action symbol, any other action symbol can also be used instead.

[0070] Next, the program generation device 1, method, and program according to the second embodiment of the present disclosure will be described with reference to the drawings.

[0071] In the first embodiment, the case of copying and using a single icon with parameters has been described. The difference between this embodiment and the first embodiment is that multiple icons I are copied and used.

[0072] In this embodiment, at least part of the action program has been generated by copying and arranging the icons I displayed in the selection area A in the creation area B and setting parameters for some of the icons I. As Figure 10As shown, in the creation area B, an action program or a partial action program in which a plurality of icons I are arranged is displayed.

[0073] When the user selects an icon group including a plurality of icons I arranged in the creation area B and drags it to the selection area A, the processor 2 generates a copy icon (copy symbol) I2 representing the group of icons, as Figure 11 shown. Alternatively, after selecting the icon group, when the user presses the icon registration mark c displayed on the display 4, the processor 2 generates a copy icon I2. The copy icon I2 is a single icon I representing the selected icon group. Then, the processor 2 registers the generated copy icon I2 as one of the icons I in the storage device 3.

[0074] When the copy icon I2 is generated, the processor 2 displays a name setting area E for the user to set the name of the copy icon I2. For example, as Figure 12 shown, the name setting area E is displayed in a pop-up window at any position on the display 4.

[0075] The name setting area E includes an input area E1 that allows the user to input any text representing the name of the copy icon I2, a registration button E2 for confirming and registering the input name, and a cancel button E3. When the user inputs any text representing the name in the input area E1 and presses the registration button E2, the processor 2 generates a copy icon I2 with the input name in the selection area A. That is, the processor 2 stores (registers) the copy icon I2 with the input name in the storage device 3 as one of the icons I displayed in the selection area A.

[0076] At this time, if parameters are set for at least one icon I constituting the icon group, the processor 2 generates a copy icon I2 that retains the parameters. After registering the copy icon I2, the user can select the copy icon I2 displayed in the selection area A in the same way as other icons I and copy it to the creation area B by drag and drop.

[0077] In addition, when the copy icon I2 is copied to the creation area B, it is copied in a form expanded into the icon group constituting the copy icon I2. The parameters set for at least one icon I constituting the icon group remain unchanged.

[0078] The program generation method of this embodiment, in addition to the program generation method of the first embodiment, further includes the following steps. That is, when an icon group displayed in the creation area B is selected and the copy mark b is pressed or dragged to the selection area A, a copy icon I2 is generated. Then, the generated copy icon I2 is registered as one of the icons I in the storage device 3.

[0079] In this way, according to this embodiment, an icon group including a plurality of icons I arranged in the creation area B can be registered as a selectable copy icon I2. In this way, when the same group of icons is used multiple times in an action program, they can be copied and pasted as a whole.

[0080] In particular, when at least one icon I that makes up the icon group has been set with parameters, there is no need to reset the parameters for each icon I in the copied icon group from the beginning. Therefore, even in this case, the user can reuse the icon I in a simplified manner, saving the trouble of resetting the parameters.

[0081] In addition, in this embodiment, when an icon group including a plurality of icons I is copied in the selection area A, a single copy icon I2 is generated from the icon group. Just from the appearance of the copy icon I2 and its name displayed in the selection area A, it is impossible to determine the icon group that constitutes it.

[0082] Therefore, as Figure 13 shown, when the copy icon I2 displayed in the selection area A is selected, a group of icons (icon group) representing the content of the copy icon I2 can be displayed on the display 4. For example, when the copy icon I2 is selected, the icon group representing the content of the copy icon I2 can be displayed in the content display area F, which is displayed in the form of a pop-up window.

[0083] In addition, as Figure 14 shown, when copying the copy icon I2 including an icon I with set parameters in the creation area B, a confirmation area G can be displayed to confirm whether to copy the icon while maintaining the set parameters. If the option to maintain the parameters is selected, the icon I is copied and the set parameters are maintained. If the option not to retain the parameters is selected, the parameter setting can be cancelled or the default parameters can be set.

[0084] In addition, in the above embodiments, when generating the same action program, an icon I or an icon group with set parameters is used multiple times. As an alternative, a parameterized icon or a copy icon I2 stored in the storage device 3 can also be used when generating different action programs.

[0085] In addition, in the above embodiments, when generating an action program, an icon I or an icon group with set parameters is used multiple times. As an alternative, as a reference example, the present invention can also be applied to the case where a group of icons I without set parameters is used multiple times to generate an action program.

[0086] That is, multiple icons I without set parameters can be selected in the creation area B, and by dragging or pressing the icon registration mark c, a copy icon I2 is generated and registered in the storage device 3. Even when no parameters are set, by registering the copy icon I2 as one of the icons I, the operability can be significantly improved in the same way as above.

[0087] In addition, although the above embodiment shows an example of generating the copy icon I2 through a copy operation, the copy icon I2 can also be generated through a cut operation. For example, when performing an operation of cutting out an icon group from the creation area B and then pasting it into the selection area A, the copy icon I2 may be generated in the selection area A.

[0088] Thus, if you want to change the positions of multiple selected icons I in the action program, you can easily insert the icons I into any position in the action program from the selection area A.

[0089] In addition, in the above embodiment, as examples of action instructions, a linear movement instruction, a circular movement instruction, an instruction for operating a tool installed at the front end of the robot 10, etc. are listed, but the present invention is not limited thereto. For example, it may include any operation instructions required in the action program, such as conditional branch instructions, register values, and other I / O operation instructions.

[0090] Although the various embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the above various embodiments. These embodiments can be subject to various additions, replacements, modifications, partial deletions, etc., as long as they do not depart from the gist of the present invention or the ideas and spirits derived from the content described in the claims and their equivalents. For example, in the above embodiment, the order of each operation and the order of each process are shown only as examples, but the present invention is not limited thereto.

[0091] Regarding the above embodiments and variations, the following remarks are further disclosed.

[0092] (Remark 1)

[0093] A program generation device includes: at least one processor, at least one storage device, a display, and an input device, wherein the processor reads at least one action symbol including information on robot action instructions pre-registered in the storage device from the storage device and displays it in a first area of the display, generates an action program by copying and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of the display, generates a parameterized action symbol by using the input device to input parameters of the function represented by any action symbol selected from the action symbols displayed in the first area or the second area, and registers the generated parameterized action symbol as one of the action symbols in the storage device.

[0094] (Supplementary Note 2)

[0095] The program generation device as described in Supplementary Note 1, wherein the processor, in response to the registration of a parameterized action symbol in the storage device, inputs, via the input device, a name associated with the parameterized action symbol.

[0096] (Supplementary Note 3)

[0097] The program generation device as described in Supplementary Note 1 or Supplementary Note 2, wherein the processor, in response to the selection of a parameterized action symbol, edits, via the input device, the parameters input into the parameterized action symbol.

[0098] (Supplementary Note 4)

[0099] The program generation device as described in any one of Supplementary Notes 1 to 3, wherein the processor, in response to the selection of an action symbol group including a plurality of action symbols arranged in a second region, generates a single duplication symbol representing the action symbol group, and registers the generated duplication symbol as one of the action symbols in the storage device.

[0100] (Supplementary Note 5)

[0101] The program generation device as described in Supplementary Note 4, wherein the processor, in response to the selection of the duplication symbol, displays, on the display, the action symbol group constituting the duplication symbol.

[0102] (Supplementary Note 6)

[0103] The program generation device as described in Supplementary Note 4 or Supplementary Note 5, wherein the processor can select the duplication symbol displayed in the first region when creating different action programs.

[0104] (Supplementary Note 7)

[0105] The program generation device as described in any one of Supplementary Notes 4 to 6, wherein, when registering the duplication symbol in the storage device, the processor inputs, via the input device, whether to maintain the parameters set in each of the action symbols constituting the duplication symbol, and if the parameters are not maintained, resets the parameters and registers the duplication symbol in the storage device.

[0106] (Supplementary Note 8)

[0107] A program generation method, comprising: reading at least one action symbol including information on robot action instructions pre-registered in a storage device from the storage device and displaying it in a first area of a display; generating an action program by copying and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of the display; generating a parameterized action symbol by inputting parameters of a function represented by any one of the action symbols selected from the action symbols displayed in the first area or the second area; and registering the generated parameterized action symbol as one of the action symbols in the storage device.

[0108] (Supplementary Note 9)

[0109] A program generation program causes a computer to perform the following steps: reading at least one action symbol including information on robot action instructions pre-registered in a storage device from the storage device and displaying it in a first area of a display; generating an action program by copying and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of the display; generating a parameterized action symbol by inputting parameters of a function represented by any one of the action symbols selected from the action symbols displayed in the first area or the second area; and registering the generated parameterized action symbol as one of the action symbols in the storage device.

[0110] (Supplementary Note 10)

[0111] A program generation device includes: at least one processor, at least one storage device, a display, and an input device, wherein the processor reads at least one action symbol including information related to a robot action command pre-registered in the storage device from the storage device and displays it in a first area of the display, generates an action program by copying one or more action symbols selected from the action symbols displayed in the first area into a second area of the display and arranging them in chronological order, generates a single copy symbol representing a group of action symbols in response to selecting a group of action symbols including a plurality of action symbols arranged in the second area and a copy operation, and registers the generated copy symbol as one of the action symbols in the storage device.

[0112]

Symbol Explanation

[0113] 1 Program generation device

[0114] 2 Processor

[0115] 3 Storage device

[0116] 4 Display

[0117] 5 Input interface (input device)

[0118] 10 Robot

[0119] A selection area (first area)

[0120] B creation area (second area)

[0121] I icon (action symbol)

[0122] I2 copy icon (copy symbol)

Claims

1. A program generation device, comprising: At least one processor, at least one storage device, a display, and an input device, wherein the processor: Reads at least one action symbol pre-registered in the storage device and containing information related to robot action instructions from the storage device, and displays the at least one action symbol in a first area of the display; Generates an action program by copying and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of the display; Generates a parameterized action symbol by inputting parameters of a function represented by any action symbol selected from the action symbols displayed in the first area or the second area using the input device; and Registers the generated parameterized action symbol as one of the action symbols in the storage device.

2. The program generation device according to claim 1, wherein, In response to the registration of the parameterized action symbol in the storage device, the processor inputs a name associated with the parameterized action symbol through the input device.

3. The program generation device according to claim 1 or 2, wherein, In response to the selection of the parameterized action symbol, the processor edits the parameters input into the parameterized action symbol through the input device.

4. The program generation device according to any one of claims 1 to 3, wherein, The processor, in response to the selection of an action symbol group including a plurality of action symbols arranged in the second area, generates a single copy symbol representing the action symbol group; and Registers the generated copy symbol as one of the action symbols in the storage device.

5. The program generation device according to claim 4, wherein In response to the selection of the copy symbol, the processor displays the action symbol group constituting the copy symbol on the display.

6. The program generation device according to claim 4 or 5, wherein When creating different action programs, the processor can select the copy symbol displayed in the first area.

7. The program generation device according to any one of claims 4 to 6, wherein, When registering the copy symbol in the storage device, the processor inputs through the input device whether to maintain the parameters set in each action symbol constituting the copy symbol. If the parameters are not maintained, the processor resets the parameters and registers the copy symbol in the storage device.

8. A program generation method, comprising: Reading at least one action symbol pre-registered in a storage device and containing information related to robot action instructions from the storage device, and displaying the at least one action symbol in a first area of a display; Generating an action program by copying and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of the display; Generating a parameterized action symbol by inputting parameters of a function represented by any action symbol selected from the action symbols displayed in the first area or the second area; and Registering the generated parameterized action symbol as one of the action symbols in the storage device.

9. A program generation program for causing a computer to execute: Reading at least one action symbol pre-registered in a storage device and containing information related to robot action instructions from the storage device, and displaying the at least one action symbol in a first area of a display; An operation program is generated by copying and arranging one or more operation symbols selected from the operation symbols displayed in the first area in the second area of the display; A parameterized operation symbol is generated by inputting parameters of a function represented by any one of the operation symbols displayed in the first area or the second area; and The generated parameterized operation symbol is registered as one of the operation symbols in the storage device.

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