ROBOT LEARNING DEVICE WITH SYMBOL PROGRAMMING FUNCTION

Abstract

Robot teaching device (10) for generating an operating program (16) for a robot (20) by arranging command symbols (60 to 64) expressing operating commands for the robot (20), comprising a marker indicator (43) which, when an operating command contains multiple position data, displays multiple markers (69) relating to identifiers (68) of the position data in conjunction with a single command symbol (61) on it.

Description

General state of the art

[0001] The present invention relates to a robot teaching device and in particular to a robot teaching device with a symbol programming function.

[0002] Symbol programming, in which a robot's operating program is created visually by replacing various operating commands with symbols and arranging these symbols on a creation screen, has already been proposed as a method for creating a robot's operating program. The following example from the literature is a well-known technique related to this programming method.

[0003] Patent specification JP 6 498 366 B1 describes how a function symbol is selected from a first area displaying function symbols with state windows that provide an overview of the parameter settings for functions used to construct a control program for a robot. A function symbol is then placed as a copy of this function symbol in a second area. Parameters of the function expressed by the function symbol in the second area are defined. Based on the function symbol and its parameters, a control program is created, and the appearance of the function symbol is modified according to these parameters. As an example of a function symbol, a transit point symbol with a state window indicating the designation of a transit point is disclosed.

[0004] Examples of devices for teaching, controlling, or programming robots are known from DE 10 2018 205 209 A1, DE 10 2017 202 439 A1, DE 690 30 318 T2, WO 2019 / 112 110 A1, and US 2018 / 0154 517 A1. JP H08-249 023 A, for example, describes a device that focuses on minimizing cycle time and reducing its fluctuations. Brief description of the invention

[0005] In a robot's operating program, robot commands often contain position data. In symbol programming, a user can be shown that a command contains position data by displaying the position data on the symbol representing the robot's command. However, in the case of highly functional commands, a single command can contain multiple position data points, and when multiple position data points are present, there is a risk of complicating the representation of the position data on the symbol. Therefore, a visually concise representation of the fact that a single command contains multiple position data points is desirable. Furthermore, with highly functional commands, it sometimes happens that position data defined by a user is used in a modified form within a robot program.If the user is not shown that position data is being used in a corrected manner, they may misunderstand that the robot is intentionally operating in a different way. Therefore, it is also necessary that the corrected use of position data be visually clear.

[0006] On the other hand, in a robot's operating program, it sometimes happens that the program is to be executed from a specific "intermediate line." In the case of a text-based program, there is a method where an intermediate line is designated as the starting line for execution by placing a cursor on that line. In a symbol-based program, editing the setting value of a command symbol requires selecting that symbol. If, as in a text-based program, the execution line is changed by selecting a symbol, it is possible that it cannot be determined whether this selection serves to edit the program or to determine the execution line. Therefore, it can happen that selecting a symbol for editing is accompanied by a change to the execution starting line and leads to an unintended change to the execution starting line.Therefore, a procedure is also required by which the execution line of the program and the selection of a line for processing can be determined separately.

[0007] The invention is therefore based on the objective of providing a robot teaching device in which the user-friendliness of the symbol programming function is improved.

[0008] According to the invention, the aforementioned problem with regard to the robot teaching device is solved by the subject matter of claim 1.

[0009] Specifically, the task is solved by a robot teaching device for generating an operating program for a robot by arranging command symbols that express operating commands for the robot, which represent a marker indicator means that, when an operating command contains position data, displays several markers that establish a relationship with identifiers of the position data in conjunction with individual command symbols on it.

[0010] According to a subordinate aspect, the invention relates to a robot teaching device for generating an operating program for a robot by arranging command symbols that express operating commands for the robot, comprising a marker indicator means which, when an operating command contains position data, represents a marker that establishes a connection with an identifier of the position data in conjunction with the command symbol thereon; and a shape-changing means that changes the shape of the marker when the position data is used in a corrected manner. Simple explanation of the drawings Fig. Figure 1 is a block diagram showing the schematic structure of a robot teaching device according to one embodiment. Fig. Figure 2 is a functional block diagram of the robot teaching device according to the embodiment. Fig. Figure 3 is a view that shows an example of a programming screen display. Fig. Figure 4 is an oblique view showing an example of an operating command containing multiple position data. Fig. 5 is a view that shows an example of a detailed screen display of the operating command of Fig. 4 shows. Fig. 6 is a view that shows a state in which the color of an identifier and a marker of the position data has been changed. Fig. Figure 7 is an oblique view showing an example where position data is used with correction. Fig. 8 is a view that shows an example of a settings screen display for the operating command of Fig. 7 shows. Fig. Figure 9 is an oblique view showing an example of an application command that uses position data correction. Fig. Figure 10 is an oblique view showing an example of a stacking pattern and a path pattern of a palletizing command. Fig. 11 is a view that is an example of a symbol group representing the palletizing command of Fig. 9 represents, shows. Fig. 12 is a view that shows an example of a detailed screen representation of a high-functionality icon. Fig. 11 shows. Fig. Figure 13 is a view showing a situation where the positional data of the path pattern is used in a corrected manner. Fig. Figure 14 is a view showing a situation where the positional data of the path pattern is used in a corrected manner. Fig. 15 is a view that shows a virtual screen representation in which identifiers and markers of position data are arranged. Fig. Figure 16 is a flowchart showing the operation of the robot teaching device in the embodiment. Fig. 17A is a view showing an example of a flow start line. Fig. 17B is a view that shows an example of the flow start line. Fig. 17C is a view that shows an example of the flow start line. Detailed explanation

[0011] An embodiment of the present disclosure is explained in detail below with reference to the accompanying drawings. In the individual drawings, identical or similar structural elements are designated with identical or similar reference numerals. Furthermore, the embodiment described below does not limit the technical scope or the meaning of the terminology of the invention described in the claims.

[0012] Fig. Figure 1 shows the schematic structure of a robot training device 10 according to the present embodiment. The robot training device 10 is a computer device equipped with a processor 11, a display unit 12, an input unit 13, a storage unit 14, etc. The processor 11 is a CPU (central processing unit), a quantum processor, or the like. The display unit 12 is a liquid crystal display, an organic EL display (electroluminescent display), or the like. The input unit 13 is a touch panel, a keyboard and mouse, or the like, and the storage device is a semiconductor memory, a magnetic storage device, or the like.

[0013] The robot teaching device 10 also includes symbol programming software 15 stored in the memory device 14. The symbol programming software 15 is read into the processor 11 and executed according to information from the input device 13. The symbol programming software 15 is an event-driven program that displays a programming screen on the display unit 12 and generates an operating program 16 for a robot 20 according to information from the input device 13.

[0014] The generated operating program 16 is transmitted via cable or wirelessly to a robot control device 30. The robot control device 30 comprises an operating control unit 31, which controls the operation of a robot mechanism unit 21 and a tool 22 according to the operating program 16. The robot mechanism unit 21 can be an industrial robot such as an articulated robot, a parallel-jointed robot, or the like, but it can also be a humanoid robot or similar. The tool 22 is formed by a suction hand, a gripper, a welding tool, a screw tool, or the like, depending on the robot 20's task. The robot 20 can also include a sensor 23. The sensor 23 is formed, for example, by an optical sensor, a force sensor, a vibration sensor, or the like. The robot control device 30 can also correct position data in the operating program based on information from the sensor 23.

[0015] Fig. Figure 2 shows a functional block diagram of the robot training device 10. The symbol programming software 15 allows the processor of the robot training device 10 to operate as a programming screen display device 40, as a symbol display device 41, as a symbol selection device 42, and as a marker display device 43. Furthermore, the symbol programming software 15 can configure the processor to operate as a detail data setting device 44, as a color change device 45, as a shape change device 46, as an operating program generation device 47, as a virtual screen display device 48, as an execution start line display device 49, and as an execution start line movement device 32. Details of each device are explained below.

[0016] Fig. Figure 3 shows an example of a programming screen display 50. The processor 11 acts as the programming screen display device 40, which displays the programming screen display 50 on the display unit 12. The programming screen display 50 should include a creation screen display 51, which can create an operating program 16 by arranging symbols expressing operating commands for the robot 50 on a time axis 54; a selection screen display 52, which selects a symbol from various pre-prepared symbols 60 to 67; and a detail screen display 53, which specifies detailed data for symbols 60 to 61 that were arranged on the creation screen display 51. The symbols should be arranged in a time series, in which case the time axis 54 need not be displayed.

[0017] Furthermore, the processor 11 acts as the symbol display device 41, which displays the various symbols 60 to 67, expressing operating instructions for the robot 20, on the selection screen display 52. ​​The processor 11 also acts as the symbol selection device 42, which selects one of the symbols 60 to 67 on the selection screen display 52 and places a copy of the symbol on the timeline 54 of the creation screen display 51.

[0018] Symbols 60 to 67 should comprise command symbols 60 to 64, which express low-functionality operating commands, and command symbols 65 to 67, which express high-functionality operating commands. Command symbols 60 to 64 contain, for example, a linear motion command, an arc motion command, a workpiece retrieval command, a manual closing command, a manual opening command, and the like. High-functionality symbols 65 to 67 contain, for example, an application command that repeats a predefined operating pattern, a correction command based on information from sensor 23, or the like. High-functionality symbols 65 to 67 have, for example, a U-shape, whereby one or more command symbols 60 to 64, which teach an operating pattern, can be arranged in the area enclosed by the high-functionality symbol 65 to 67 on the time axis 54.The command symbol(s) 60 to 64 are used as operating patterns of application commands, or are used in a corrected manner by correction commands. The application commands include, for example, a palletizing command, which stacks workpieces individually onto pallets; a depalletizing command, which removes workpieces individually from a pallet; a spot welding command, which welds one or more spots; a screw tightening command, which tightens one or more screws; or the like.

[0019] Furthermore, the processor 11 acts as the marker indicator 43, which, when an operating instruction contains position data, displays a marker 69, which relates to an identifier 68 of the position data, in conjunction with the instruction symbol on it. The processor 11 can display multiple markers 69 in conjunction with an instruction symbol 60 on it. This makes it clearly visible on the instruction symbol that an operating instruction contains multiple position data. The identifier 68 of the position data is an identification piece of information formed by a number, a letter, or a combination thereof, and is used uniformly in the operating program. Because the identifier 68 of the position data is used uniformly in the operating program, the same identifier 68 can be specified when the same position is to be used.Marker 69 can be a pin marker inserted into the command symbol, but it can also have another form such as an arrow marker, a speech bubble marker, or the like.

[0020] Fig. Figure 4 shows an arc movement command as an example of a command containing multiple position data. The arc movement command is an operating command that causes the robot 20 to move in an arc from position 1 of a starting point, via position 2, to position 3, and contains the two position data points of position 2 and position 3. As shown in Fig. As shown in Figure 3, when selecting the instruction symbol 61 arranged on the time axis 54, the processor 11 acts as a detail data setting means 44, which displays the detail screen display 53 for setting detail data of the instruction symbol 61.

[0021] Fig. Figure 5 shows an example of the detailed screen display of the operating command of Fig. 4. The detailed data of the arc movement command includes the two position data points 70 for position 2 and position 3, the robot's movement speed 71, and the positioning method 72 after the movement. The position data 70 can be automatically entered initial values, the current position of the actual or virtual robot set by pressing a play button 73 for the arm position, or position data entered manually by the user. Furthermore, the position data 70 can be switched between different coordinate systems, such as a user coordinate system, a robot coordinate system, or the like, by pressing a toggle button 75. When an actuation button 74 for the arm position is pressed, the actual or virtual robot can be moved to the specified position data 70, and the robot's position can be checked.The positioning method includes a "positioning" mode, in which the movement stops after the movement, a "continuous" mode, in which continuous movement takes place until the next operating command, and the like.

[0022] Furthermore, the processor 11 can act as the color change agent 45 and change the color of at least one of the identifier 68 of the position data and the marker 69 if the position data 70 on the detail screen display 53 has not yet been entered or is incorrect. Fig. Figure 6 shows a state in which the color of an identifier 68 of the position data and a marker 69 has been changed. This allows it to be separately recorded on the command symbols 60 that position 2 has not yet been entered or is incorrect.

[0023] In addition, the processor 11 can act as the shape-changing device 46 and change the shape of the marker 69 when position data specified on the detail screen display is used to correct it. Fig. Figure 7 shows an example of an operating command where the position data is used in a corrected form, namely a workpiece acquisition command. The workpiece acquisition command is an operating command in which the robot moves from position 1 of a starting point, via position 2' of a ready point, to position 2, where a workpiece is picked up. Fig. Figure 8 shows an example of the configuration screen display of the operating command of Fig. 7. In addition to the position data 70 of position 2, the robot's movement speed 71, and the positioning method 72 after movement, the detailed data of the workpiece acquisition command includes a correction dimension 76 (one height) of the position data 70. When the workpiece acquisition command is executed, the position data 70 of position 2 is corrected based on the correction dimension 76 (the height), and position 2' is calculated. When the position data 70 is used with this correction, the shape of the marker 69 can be changed, for example, from a pin mark to a diamond-shaped mark. This makes it visually clear on the command symbol 60 that the position data 70 is being used with this correction.

[0024] Furthermore, the processor 11 can also change the shape of the marker 69 if the position data 70 is used in accordance with an application instruction that corrects the position data 70. Fig. Figure 9 shows a palletizing command as an example of an application command that uses position data correction. As mentioned above, the palletizing command is an application command whereby the robot picks up 20 workpieces W and stacks them individually onto a pallet. For example, the robot moves from position 1 of a ready position to position 2, to position 3 where it picks up a workpiece W, and after closing a hand, returns to position 2. It then moves to position 4, which represents an approach point to the pallet, to position 5, which represents the stacking point, and after opening its hand, moves to position 6, an avoidance point, and returns via position 2 to position 1 of the ready position.

[0025] Fig. Figure 10 shows an example of a stacking pattern and a path pattern for the palletizing command. With the palletizing command, workpieces are stacked in a correct sequence simply by defining the stacking pattern and the path pattern. The stacking pattern is determined, for example, based on the row, column, and level numbers, as well as position data from representative points. The path pattern is determined, for example, based on the position data of the approach point, the stacking point, and the avoidance point. The three position data points of the path pattern can be relative and are used with corrections based on detailed data from the stacking pattern.

[0026] Fig. Figure 11 shows an example of a symbol group representing the palletizing command of Fig. 9 represents the palletizing command. The palletizing command is programmed by placing a high-functionality symbol 65, which expresses the palletizing command, on the timeline 54 of the creation screen display 51 and by placing command symbols 60, which express the path pattern, in the area enclosed by the high-functionality symbol 65. In the present example, three command symbols for a linear movement to the approach point, the stacking point, and the avoidance point are arranged in the area enclosed by the high-functionality symbol 65. The path pattern details can be set by selecting the command symbols 60 on the details screen display, and the stacking pattern details can be set by selecting the high-functionality symbol 65 on the details screen display.

[0027] Fig. Figure 12 shows an example of the detail screen display 53 of the high-functionality symbol 65. The detail data of the stacking pattern is defined on the detail screen display 53 of the high-functionality command 65, which expresses the palletizing command. This detail data includes, for example, the number 77 of the row, column, and level, and the position data 70 of the representative points, or similar information.

[0028] Fig. 13 and Fig. Figure 14 shows situations in which the positional data of the path pattern is used in a corrected form. For example, the positional data 70 of the path pattern is corrected on the first execution based on the stacking pattern so that, as in Fig. Figure 13 shows that position [1,1,1] represents the stacking point. For example, the position data 70 of the path pattern is corrected on the second execution based on the stacking pattern so that, as in Fig. Figure 14 shows that position [2,1,1] represents the stacking point. In this way, an offset can be introduced into the position data 70 of the path pattern according to the stacking pattern, and the path pattern can be corrected.

[0029] Now, attention is being drawn again. Fig. 11. Referenced. Since the three positional data of the path pattern are used in a corrected form based on the stacking pattern, the processor 11 changes the shape of the marker 69 on the three instruction symbols 60 located in the area surrounded by the high-functionality symbol 65, for example, from a pin-shaped marker to a diamond-shaped marker. This makes it visually clear that the positional data located in the area surrounded by the high-functionality symbol 65 are used in a corrected form.

[0030] Processor 11 can also change the shape of marker 69 even if the position data is based on information from the in Fig. The correction command shown in sensor 23 is used to correct the position data. This makes it visually clear that the position data is corrected based on information from sensor 23.

[0031] With renewed reference to Fig. 2. The processor 11 acts as an operating program generation device 47 and generates the operating program after the programming is complete. Furthermore, the processor 11 can act as a virtual screen display device 48 and display a virtual screen representation on which identifiers 68 and markers 69 of position data are arranged at the positions in a virtual space 80 that specify the position data 70. Fig. Figure 15 shows a virtual screen display 55, on which identifiers 68 and markers 69 of position data are shown. A virtual robot 81 is also arranged in the virtual space 80, so that a simulation of the generated operating program by the virtual robot 81 is possible. This allows the positions of the position data 70 used in the operating program to be captured graphically.

[0032] Fig. Figure 16 shows an example of the operation of the robot teaching device in the present embodiment. In step S10, the programming screen display, which includes the selection screen display, the creation screen display, the detail screen display, etc., is displayed. In step S11, various symbols (command symbols, high-functionality symbols, etc.) are displayed on the selection screen display. In step S12, a symbol is selected, and a copy of the symbol is placed on the creation screen display. If an operating command contains position data, in step S13, a marker that relates to the identifier of the position data is displayed in conjunction with the command symbol on it. If an operating command contains multiple position data points, multiple markers can be displayed in conjunction with the single command symbol on it.This allows the fact that an operating command contains multiple position data to be clearly visualized on the command symbol.

[0033] In step S14, detailed data for the operating command (position data, movement speed, positioning method, etc.) are defined on the detailed screen display. If position data has not yet been entered or is incorrect, in step S15 the color of at least one of the position data identifiers and the marker is changed. This makes it visually clear that position data has not yet been entered or is incorrect on the command symbol. If corrected position data is used, the shape of the marker is changed in step S16. This makes it visually clear that corrected position data is being used on the command symbol.

[0034] Step S17 determines whether the programming is complete. If the programming is not complete (NO in step S17), the process returns to step S12 and repeats, placing a symbol on the timeline of the creation screen display. If the programming is complete (YES in step S17), the operating program is generated in step S18.

[0035] Fig. 17A to Fig. Figure 17C shows examples of an execution start line of 90. As in Fig. As shown in Figure 17A, the processor 11 can act as an execution start line indicator 49 and display an execution start line 90 on the instruction symbol 60, indicating the position in the operating program at which execution begins. The execution start line 90 can, for example, take the form of a line orthogonal to the time axis 54. Each of the instruction symbols 60 to 62 arranged on the time axis 54 is assigned an execution number indicating the execution position in the operating program. The processor 11 then displays the execution start line 90 on the instruction symbol 60 with the execution number indicating the starting position in the operating program (hereinafter referred to as the execution start number). During the initial setup, the execution start line 90 should be displayed on the first instruction symbol 60.

[0036] As in Fig. As shown in Figure 17B, the processor 11 can act as an execution start line movement means 32 and move the execution start line 90 to a different instruction symbol 61 by the user via a drag operation or the like. Alternatively, the processor 11 can move the execution start line 90 to the instruction symbol nearest to the position of this operation on the time axis 54 or the creation screen display 51 by the user via a double-click operation (or double-tap operation). Moving the execution start line 90 by means of a double-click operation (or a double-tap operation) makes it possible to easily change the execution start position even in a long operating program. The execution start number is then changed to the execution number of the instruction symbol to which the execution start line 90 was moved.

[0037] When the generated operating program is executed, its execution begins at the position of the execution start line 90. During execution, processor 11 moves the execution start line 90 in conjunction with the program's execution state. This movement of the execution start line 90 allows visual tracking of which part of the program is currently running. When the operating program finishes, processor 11 stops the execution start line 90 at the instruction symbol that was executing at that time. The next execution start number is then set to the execution number of that instruction symbol.

[0038] If the operating program is halted during execution, the processor halts the execution start line 90 on the instruction symbol that was executing at that time. The next execution start number is set to the execution number of that instruction symbol. When the operating program resumes execution, the operating instruction that was executing is restarted. If the position of the execution start line 90 has changed while the operating program is halted, the processor should display a confirmation screen to verify that the execution start number may be moved from the instruction symbol to a different instruction symbol during the halt.If "yes" is selected on the confirmation screen, the next execution start number is changed to the execution number to which the execution start line 90 was moved, whereas if "no" is selected on the confirmation screen, the next execution start number remains unchanged. Since the actual execution start number and the position of the execution start line 90 will differ if "no" is selected, a confirmation screen should be displayed again when the execution program is restarted, asking whether the execution start number should be changed (i.e., whether the operating program should start from the command symbol where the current execution start line 90 is located).And if the execution start line 90 is moved to a different command symbol while "no" is selected, a confirmation screen can be displayed asking whether the execution start number should be changed from the command symbol during pause to the other command symbol. Once the execution start number has been changed from the command symbol during pause to another command symbol, the confirmation screen should not be displayed even if the position of the execution start line 90 is changed subsequently. This improves usability.

[0039] By setting up such an execution start line 90, it becomes possible to define the execution start position in the operating program without selecting the command symbol 61. If, on the other hand, as in Fig.If command symbol 60 is selected in 17C, it becomes possible to define detailed data for the operating command without changing the execution start position in the operating program. Command symbol 60 can simultaneously have the status of the execution state and the status of the editing state; however, in the present embodiment, command symbol 60 has the status of the editing state, and the execution start line 90 has the status of the execution state. Since the execution start line 90 can be moved arbitrarily by the user, it is possible to change only the status of the execution state without changing the status of the editing state. Because the execution start line 90 must be moved, the content of command symbol 60 can be edited without changing the status of the execution state.In other words, it is possible to prevent the execution start position from being unintentionally changed at the time a command symbol is selected.

[0040] The above-described embodiment improves the user-friendliness of the symbol programming function.

[0041] The program executed by the processor described above can also be recorded and made available on a computer-readable non-volatile recording medium such as a CD-ROM or the like.

Claims

[1] Robot teaching device (10) for generating an operating program (16) for a robot (20) by arranging command symbols (60 to 64) expressing operating commands for the robot (20), comprising a marker indicator (43) which, when an operating command contains multiple position data, displays multiple markers (69) relating to identifiers (68) of the position data in conjunction with a single command symbol (61) on it. [2] Robot teaching device (10) according to claim 1, wherein the marking (69) is a pin marking inserted into the command symbol (61). [3] Robot teaching device (10) according to claim 1 or 2, further comprising a color-changing means (45) that changes the color of at least one of the identifier (68) of the position data and the marker (69) when the position data have not yet been entered or are incorrect. [4] Robot teaching device (10) according to one of claims 1 to 3, further comprising a shape-changing means (46) that changes the shape of the marking (69) when the position data are corrected. [5] Robot teaching device (10) according to claim 4, further comprising a detail data setting means (44) that sets detail data which includes a correction extent of the position data. [6] Robot teaching device (10) according to claim 4 or 5, wherein the shape-changing means (46) changes the shape of the marking (69) when the position data is changed according to an application command that uses the position data to be corrected or a correction command based on information from a sensor. [7] Robot teaching device (10) according to claim 6 further comprising a symbol display means (41) that displays high functionality symbols (65 to 67) expressing an application command or a correction command. [8] Robot teaching device (10) according to one of claims 1 to 7, further comprising a virtual screen display means (48) which displays a virtual screen display (55) on which the identifiers (68) of the position data and the markers (69) are arranged at the positions on the virtual screen display that indicate the position data. [9] Robot teaching device (10) according to one of claims 1 to 8, further comprising an execution start line indicator means (49) which displays an execution start line (90) which shows an execution start position in the operating program (16) on the command symbol (60). [10] Robot teaching device (10) for generating an operating program (16) for a robot (20) by arranging command symbols (60 to 64) expressing operating commands for the robot (20), comprising a marker indicator (43) which, when an operating command contains position data, displays a marker (69) that establishes a connection with an identifier (68) of the position data, in conjunction with the command symbol (61) on it; and a shape-changing device (46) that changes the shape of the marker (69) when the position data is corrected. [11] Robot teaching device (10) according to claim 10, wherein the shape-changing means (46) changes the shape of the marking (69) when the position data is changed according to an application command that uses the position data to be corrected or a correction command based on information from a sensor. [12] Robot teaching device (10) according to claim 10 or 11, further comprising a virtual screen display means (48) that displays a virtual screen display (55) on which the identifier (68) of the position data and the marker (69) are arranged at the position on the virtual screen display that indicates the position data. [13] Robot teaching device (10) according to one of claims 10 to 12, further comprising an execution start line indicator means (49) which displays an execution start line (90) which shows an execution start position in the operating program (16) on the command symbol (60). [14] Robot teaching device (10) according to one of claims 1 to 9, comprising an execution start line indicator means (49) which displays an execution start line (90) which shows an execution start position in the operating program (16) on the command symbol (60). [15] Robot teaching device (10) according to claim 14, further comprising an execution start line movement means (32) which moves the execution start line (90) to another command symbol (61) by means of a user actuation.

Images