Learning device and computer program

Abstract

Learning device (3), provided with a touchscreen-type display screen, configured to be an input interface for an industrial machine, the learning device (3) comprising: a rotary dial display section (301) configured to display a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) is capable of being rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary manipulation amount maintenance section (302) configured to maintain a rotary manipulation amount by which the operator has rotated the rotary wheel (321); an operating amount determination section (303) configured to determine an operating amount for the industrial machine in accordance with the rotary manipulation amount for the rotary wheel (321); and a sound effect or vibration emission section (304) configured to emit a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to one division, the learning device (3) further comprises: an operating coordinate system and operating axis selection section (305) which is configured to select an operating coordinate system and an operating axis for the industrial machine on the touchscreen-like display screen, wherein the industrial machine is a control target for the rotary wheel (321), wherein a tone effect or vibration pattern presented by the tone effect or vibration emission section (304) differs between orthogonal operation and rotary operation according to the operating coordinate system and operating axis selected by the operating coordinate system and operating axis selection section (305).

Description

[0001] The present invention relates to a learning device and a computer program for various types of manipulation processing devices, in particular a learning device and a computer program for performing manipulations on a touchscreen.

[0002] Conventionally, a special training control panel was used to perform manual control of a robot. In contrast, for a machine tool, a means of performing manual control is used in accordance with a rotary dial device (manual pulse generator), and a rotary dial device has also been incorporated into a method for controlling a robot. A rotary dial device makes it possible to define a machine operation in units of one division and thus has the advantage that fine positioning control is easy to perform. Additionally, a method for using a tablet, etc., as a training control panel for a robot and for controlling the robot based on information displayed on a screen has been proposed (Patent Document 1).

[0003] See also patent documents 2-7. Patent document 1: JP H09 - 297 611 A Patent document 2: DE 10 2018 123 124 A1 Patent document 3: DE 10 2018 117 790 A1 Patent document 4: DE 20 2005 021 492 U1 Patent document 5: EP 3 495 923 A1 Patent document 6: EP 3 088 982 B1 Patent document 7: JP 2017 - 049 699 A Problems to be solved by the invention

[0004] Currently, the aforementioned rotary dial device is generally not intended as a learning device for a robot connected to a control system and therefore requires separate preparation. Additionally, controlling a robot by displaying a rotary dial on a device equipped with a touchscreen, such as a tablet, can be considered. However, since operating a rotary dial after its display on such a touchscreen device is screen-based operation, a feel for the operation of the rotary dial device cannot be developed, and there is a possibility of incorrect input. This disadvantage is not limited to robot learning devices; a similar disadvantage arises for learning devices for other industrial machines, such as machine tools.

[0005] Accordingly, when controlling a machine by displaying a rotary dial on a device equipped with a touchscreen in a learning device for an industrial machine, which includes robots and machine tools, the task is to improve usability by achieving a sense of manipulation in order to accurately indicate a manipulation amount without manipulating with an incorrect manipulation amount. Means to solve the problems

[0006] To solve the task described above, a learning device is provided according to the independent patent claims. Effects of the invention

[0007] A learning device according to the present disclosure emits an acoustic effect or a vibration each time a rotary knob is rotated by an amount corresponding to one division of the rotary knob. This allows the operator to perceive, as a sensation of manipulation, how many divisions the rotary knob has been turned. Accordingly, it is possible to avoid falsely perceiving the amount of manipulation due to an unperceived sensation of manipulation, and a learning device with improved ease of use is achieved. Fig. Figure 1 is a block diagram representing a relationship between a robot, a control device, and a learning device according to one embodiment; Fig. Figure 2 is a block diagram that represents a relationship between a robot, a control device and a learning device according to another embodiment; Fig. Figure 3 is a view that represents an embodiment of a display screen for a learning device; Fig. 4 is a view that represents another embodiment of a display screen for a learning device; Fig. Figure 5 is a flowchart representing a procedure for robot control in accordance with the learning device in the present disclosure; and Fig. Figure 6 is a flowchart that represents another embodiment of a robot control procedure in accordance with the learning device according to the present disclosure.

[0008] An embodiment according to the present disclosure is described in detail below, with reference to the drawings.

[0009] Fig. Figure 1 is a block diagram illustrating a relationship between a robot, a control device, and a learning device according to an embodiment of the present disclosure. The robot 1 in Fig. Robot 1 is an articulated robot with a jointed arm that can be operated both orthogonally and rotaryally. Due to limitations of the robot's mechanical components, upper and lower limits are defined for each operating axis, specifying a range of motion in orthogonal operation and a rotation angle in rotary operation, and each operating axis is operated within a defined range.

[0010] A control device 2 comprises a processing unit (CPU) 21, which includes a microcomputer, etc.; a memory unit 22, which includes a memory element such as a ROM and a RAM; and a transmit / receive unit 23, which sends and receives signals to and from the robot 1 and a learning device 3. The learning device 3 is a touchscreen provided with a touch display and, based on input from an operator via the touchscreen, transmits a learning signal for an operation by the robot 1 to the control device 2. The learning device 3 is provided with a rotary dial display section 301, a rotary manipulation amount maintenance section 302, an operating amount determination section 303, a sound effect or vibration emission section 304, a coordinate system and operating axis selection section 305, and a single-end manipulation amount setting section 306.

[0011] Fig. Figure 2 is a block diagram illustrating a relationship between a robot, a control device, and a learning device according to another embodiment of the present disclosure. A difference between the embodiment in Fig. 2 and the embodiment in Fig. 1 consists of the fact that the learning device 3 in Fig. 1 is connected to the control device 2 via a cable, while the learning device 3 is in Fig. 2 is wirelessly connected to the control device 2. Accordingly, the learning device 3 in the embodiment is in Fig. The control device 2 is not limited to a control device with a touchscreen, but can also be a tablet. A Wi-Fi router for wireless communication with the learning device 3 is connected to the control device 2. The control device 2 and the learning device 3 are wirelessly connected, allowing an operator to operate the learning device 3 from a location remote from the robot 1 or the control device 2, thus increasing the operator's degree of freedom regarding manipulation positions.

[0012] Fig. Figure 3 is a view that represents an embodiment of a display screen for the learning device 3. In a simplified view, the display screen for the learning device 3 comprises a learning screen 31 and a control screen 32. The learning screen 31 displays details and text relating to an axis selected for the operation of the robot 1, a result of the robot 1's operation, and a learned position. The control screen 32 is located below the learning screen 31. The rotary dial display section 301 displays a rotary dial 321 on the control screen 32. Additionally, an axis selection dial 322 and a coordinate system selection field 323 are set and displayed on the control screen 32.

[0013] The rotary wheel 321 is a means of causing the robot 1 to operate in a direction along a selected axis in a coordinate system selected by the operating coordinate system and operating axis selection section 305, by means of an image of a rotary wheel being rotated on a display screen. From the rotary manipulation to the operation of the robot 1, there is a procedure in which the rotary manipulation amount maintenance section 302 receives a rotary manipulation amount with which an operator has rotated the rotary wheel, the operating amount determination section 303 determines an operating amount for the robot 1 in accordance with the received rotary manipulation amount, and the robot 1 is operated in accordance with the determined operating amount.The axis selection wheel 322 is used by an operator to select an operating axis to be selected using the operating coordinate system and operating axis selection section 305, and is located in . Fig. 3 A dial-like / rotary selector for selecting an axis from XYZ linear motion axes and WPR rotary axes. The coordinate system selection field 323 allows an operator to select an operating coordinate system from a pull-down menu, which is to be selected using the operating coordinate system and operating axis selection section 305. In an example, an orthogonal coordinate system or a rotational coordinate system is selected. As a procedure for controlling the robot 1 on the control screen 32, an orthogonal coordinate system or a rotational coordinate system is first selected from the coordinate system selection field 323. The axes displayed by the axis selection wheel 322 change according to the selected coordinate system.After the axis selection wheel 322 has been used to select an axis to be operated, the rotary wheel 321 is set into rotation, making it possible to control the robot 1 in a direction of the selected axis.

[0014] Fig. Figure 4 represents another embodiment with respect to a display screen for the learning device 3. A difference between the embodiment in Fig. 4 and the embodiment in Fig. 3 consists in the fact that a means for selecting an axis is the axis selection wheel 322 in Fig. 3 is, while the means for selecting an axis are the axis selection buttons 332 in Fig. There are 4. The axes that can be selected when an axis selection button icon is clicked are displayed on the 332 axis selection buttons. In Fig. 4 displays the XYZ linear motion axes and the WPR rotary axes.

[0015] When the rotary dial 321 is rotated, the sound effect or vibration emission section 304 emits a sound effect or vibration in accordance with the amount of rotation. In particular, an audible effect or vibration is emitted each time a rotation is made for a set set on the rotary dial. This is to allow an operator to recognize that a rotation has progressed by one division of the rotary dial, in accordance with an auditory or tactile sensation corresponding to the amount of rotation.

[0016] Additionally, the sound effect or vibration emission section 304 emits a sound effect or vibration while changing a pattern between a point in time for orthogonal actuation and a point in time for rotary actuation. This allows an operator to recognize whether the robot is currently operating in orthogonal or rotary mode, in accordance with an auditory or tactile manipulation sensation.

[0017] Additionally, a single-end manipulation amount setting section 306 is provided, which can set a manipulation amount corresponding to a division of the rotary dial 321. A manipulation amount for a distance or angle corresponding to a division of the rotary dial 321 is set by an operator or automatically. The robot 1 described above is operated with an operating amount that lies within a specific range for each operating axis. Additionally, the single-end manipulation amount setting section 306 can also automatically change the manipulation amount for a division of the rotary dial 321 in accordance with a difference with respect to a distance or angle for an upper limit for an operating range and the operating amount determined by the operating amount determination section.Near the upper limit of the operating range, the manipulation amount for one division is set smaller, making it less likely that the division will be reached outside the operating range. Furthermore, it is also possible to change the manipulation amount for one division depending on the direction in which an operator turns the rotary knob 321. It is possible to set the manipulation amount for one division lower when the manipulation direction is towards an upper limit of the operating range for an operating axis of robot 1, and to set the manipulation amount for one division higher when the manipulation direction is towards returning from the upper limit of the operating range to an initial operating value.

[0018] In a case where it is no longer possible to control robot 1, for example, because an abnormal state of robot 1 has occurred, the rotary indicator section 301 changes a display for the rotary dial 321. At this point, the rotary indicator section 301 prevents the rotation of the rotary dial 321. Additionally, the operating amount determination section 303 prevents a command resulting from a rotational manipulation of the rotary dial 321 from being transmitted to robot 1. Furthermore, the sound effect or vibration emission section 304 emits an effect that differs from the effect that robot 1 has during normal operation. The sound effect or vibration can be emitted once upon the occurrence of the abnormal state or continuously during its occurrence.Additionally, it is possible to demonstrate the effect of the noise or vibration again when attempting to operate the rotary dial 321, allowing an operator to recognize that the robot cannot be manually controlled due to the abnormal condition.

[0019] During automatic operation of robot 1, it is not possible to control robot 1 by manipulating the rotary knob 321. The rotary knob indicator section 301 switches the rotary knob 321 to a display that differs from its normal display and prevents rotation of the rotary knob 321, even if an operator attempts to manipulate it. The operating amount determination section 303 prevents a command resulting from a rotation of the rotary knob 321 from being transmitted to robot 1. Additionally, in the event of an attempt to manipulate the rotary knob 321, the sound effect or vibration emission section 304 emits an effect or vibration specific to automatic operation, which differs from the effect during normal operation of robot 1.

[0020] In the learning device 3 according to the present disclosure, the learning screen 31 and the control screen 32 are displayed simultaneously on a single display screen. The simultaneous display of the learning screen 31 and the control screen 32 makes it possible to use the rotary knob 321 to control the robot 1 and to perform the position teaching without operating the switch.

[0021] Next, a procedure for controlling the robot 1 according to the learning device 3 as disclosed herein will be shown using a flowchart. Fig. 5 described. As in Fig. As shown in Figure 5, an operator first selects a coordinate system for robot 1 by pressing the coordinate system selection field 323 in the control screen 32 of the learning device 3, and the coordinate system for robot 1 is selected by the operating coordinate system and operating axis selection section 305 (step St1). Next, the operator selects an operating axis for robot 1 by pressing the axis selection wheel 322 (or the axis selection buttons 332), and the operating axis for robot 1 is selected by the operating coordinate system and operating axis selection section 305 (step St2).

[0022] Next, in the individual manipulation amount setting section 306, a manipulation amount for a decrement in the rotary dial is set in accordance with an operating range for the selected axis (step St3). At this point, the manipulation amount for one decrement is set smaller when close to an upper limit for an operating range, as described above. This is expected to make exceeding the operating range less likely. It is also possible to set the manipulation amount for one decrement lower if the manipulation direction is toward an upper limit for the operating range for an operating axis for robot 1, and to set the manipulation amount for one decrement higher if the manipulation direction is toward returning from the upper limit for the operating range to an initial operating value.

[0023] After the setup in steps St1 to St3 is complete, the rotary dial 321, indicated by the rotary dial indicator section 301, is rotated, and a rotational manipulation amount is maintained by the rotational manipulation amount maintenance section 302. During this rotational manipulation of the rotary dial 321, the sound effect or vibration emission section 304 emits a sound effect or vibration each time the rotational manipulation amount reaches a division of the rotary dial 321. The operating amount determination section 303 determines an operating amount for the robot from the rotational operating amount and causes the robot 1 to actually operate in accordance with the determined operating amount (step St4).At this point, when a movement amount in one direction is set smaller than the upper limit for the operating range in step St3, it becomes easier to fine-tune a position for the movement in one direction to the upper limit for the operating range.

[0024] To cause robot 1 to move to a learning point, it is necessary to perform a manipulation while changing a coordinate system / axis / movement value. Accordingly, while robot 1 is moving, it is determined by rotating the rotary knob 321 whether it is necessary to adjust a setting for the coordinate system / axis / movement value (step St5). If the result of the determination in step St5 is YES—in other words, if there is a need to change a coordinate system / axis / movement value while rotating the rotary knob 321—the rotation of the rotary knob 321 is stopped, and the process returns to the respective steps St1, St2, and St3, depending on whether a setting for a coordinate system, axis, or movement value was required, and the change is made.The process returns to step St4, and the robot is made to move by manipulating the rotary wheel 321 with the newly set coordinate system / axis / movement amount that was set in the respective step.

[0025] When robot 1 reaches the teach point, rotary wheel 321 is stopped and robot 1 is brought to a standstill (step St6). The current position of robot 1 at this time is stored in a robot program as a teach point (step St7). By repeating steps St1 through St7, it is possible to store a large number of teach points in the robot program.

[0026] Next, it is determined whether the work has been completed according to the operation by robot 1 (step St8). If the result of the determination in step St8 is YES, i.e., if the work has been completed in accordance with the operation of robot 1, all steps for the work end, and this flow terminates. If the result of the determination in step St8 is NO—in other words, if the work has not been completed according to the operation by robot 1 and continues—the process returns to step St4, and the rotary knob 321 is manipulated to move the robot.

[0027] Next, a procedure for carrying out restoration work by the rotary wheel 321, if an abnormality in the automatic operation by the robot 1 has occurred in the present disclosure, is described by a flowchart in Fig. 6 described. As in Fig.As shown in Figure 6, the process begins with the start of automatic operation (step St1'). After the start of automatic operation, the rotary dial 321 changes to a different color than during normal operation, and it is no longer possible to manipulate the rotary dial 321. Additionally, an attempt to operate the rotary dial 321 produces a different effect than during normal operation. Next, it is determined whether an anomaly has occurred in robot 1 (step St2'). If the result of the determination is NO, i.e., if no anomaly has occurred, automatic operation continues, and the process proceeds to step St8'.

[0028] In a case where the result of the determination in step St2' is YES—in other words, in a case where an anomaly has occurred—automatic operation by robot 1 is stopped, and robot 1 comes to a halt (step St3'). Additionally, in this case, the color of rotary dial 321 changes to a different color than during normal operation, and it is no longer possible to operate rotary dial 321. Furthermore, during the occurrence of the anomaly or when attempting to operate rotary dial 321, a different effect than during normal operation is emitted. Next, an operator confirms details of an abnormality alarm, performs corrective actions related to the abnormality, and eliminates the cause of the abnormality (step St4').When the factor causing the abnormality is eliminated, the color for the rotary dial 321, as well as the acoustic effect or vibration, will return to that of a normal time, and it will be possible to use the rotary dial 321 to control the robot 1.

[0029] Next, an operator determines whether robot 1 will interfere with a workpiece or a nearby device when automatic operation is resumed (step St5'). If the result of the determination is YES, i.e., if it is possible that robot 1 will collide with a workpiece or a nearby device, the rotary knob 321 is turned to retract robot 1 (step St6'). Subsequently, automatic operation of robot 1 is resumed (step St7'). After resumption, similar to St1', the color of the rotary knob 321 changes, it is no longer possible to operate the rotary knob 321, and a different effect than in normal operation is emitted when an attempt is made to operate the rotary knob 321. A determination is then made as to whether automatic operation by robot 1 should be terminated (step St8').If the result of the determination is YES, the automatic operation of robot 1 is terminated, and this sequence ends. If the result of the determination is NO, the automatic operation by robot 1 continues, and the process returns to step St2'. A loop from step St2' to step St8' is repeated until it is determined that the automatic operation has ended in step St8'.

[0030] The following describes an effect of the learning device according to the invention as presented in the disclosure. Firstly, a fundamental effect, which points to a feature that is central to a learning device according to the disclosure as described above, is that since a sound effect or vibration is emitted each time a rotary knob is turned by a rotation amount corresponding to one division of the rotary knob, an operator can perceive as a manipulation sensation how many divisions the rotary knob has been manipulated, and thus it is possible to avoid a manipulation amount misdetection that occurs due to an undetected manipulation sensation.

[0031] Additionally, in a case where a robot performs both orthogonal operation and rotary operation according to a rotary manipulation for a learning device such as the learning device according to the present disclosure, when both operations are repeatedly performed while switching from an orthogonal operation for the robot to a rotary operation or from a rotary operation to an orthogonal operation, it is currently difficult to recognize which operating state the robot is in, and thus there is the possibility of incorrect operation.In the learning device according to the present disclosure, an acoustic effect or a vibration is emitted while a pattern is changed between a time point for orthogonal operation and a time point for rotary operation, and thus an operator can currently use an auditory or tactile sense of manipulation to recognize whether the robot is operating in orthogonal or rotary mode. Accordingly, it is possible to avoid incorrect operation due to misjudgments regarding the operating state of a robot, and it is possible to improve usability.

[0032] Additionally, the learning device according to the present disclosure makes it possible to automatically change the manipulation amount for a detent on the rotary dial, depending on a difference with respect to a distance or angle for an upper limit of a working range. Accordingly, it is also possible to set the manipulation amount for a division to be lower when the manipulation direction is towards an upper limit of the operating range for an operating axis, and to set the manipulation amount for a division to be higher when the manipulation direction is towards returning from the upper limit of the operating range to an initial operating value.By setting it up in this way, reaching the operating range becomes less likely, it is possible to avoid incorrect operation through manipulation outside the operating range, and, since it is possible to return from close to the operating range in the opposite direction at a normal speed, it is possible to achieve high usability also from the perspective of manipulation speed.

[0033] Additionally, in the learning device according to the present disclosure, if an abnormal condition occurs for a robot, the display for the rotary dial changes, and commands to the robot are stopped in accordance with the rotary dial being manipulated. Alternatively, a noise or vibration, different from that emitted during normal operation by the robot, is emitted while the abnormal condition is present. This also occurs when an attempt is made to manipulate the rotary dial. Thus, an operator can quickly notice the abnormal condition and avoid continuing the manipulation while the abnormal condition persists. In this way, wasteful manipulation can be avoided, and damage to the robot from continued manipulation while the abnormal condition persists can also be prevented.

[0034] Additionally, even when the robot is operating automatically, the display for the rotary dial changes, and any command sent to the robot based on the rotary dial being manipulated is stopped. Furthermore, if an operator attempts to manipulate the rotary dial because it emits a different signal than during normal robot operation, they can recognize that the robot is operating automatically and avoid attempting to continue the manipulation while the automatic operation is in progress.

[0035] Additionally, in a learning device according to the present disclosure, the simultaneous display of a learning screen and a control screen makes it possible to use the rotary knob to control the robot and perform position teaching without switching screens. Therefore, it is possible to perform control while position learning is being carried out, thus improving usability and preventing incorrect operation. EXPLANATION OF REFERENCE NUMBERS 1 robot 2 Control device 21 processing units 22 storage units 23 Transmit / receive unit 3 Learning device 301 Rotary dial display section 302 Rotational manipulation amount conservation section 303 Operating Amount Determination Section 304 Sound effect or vibration emission section 305 Operational Coordinate System and Operational Axis Selection Section 306 Individual closing manipulation amount setting section 31 Learning screen 32 Control screen 321 Rotary wheel 322 Axle selection wheel 323 Coordinate system selection field 332 Axis selection button

Claims

[1] Learning device (3), provided with a touchscreen-type display screen, configured to be an input interface for an industrial machine, the learning device (3) comprising: a rotary dial display section (301) configured to display a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) is capable of being rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary manipulation amount maintenance section (302) configured to maintain a rotary manipulation amount by which the operator has rotated the rotary wheel (321); an operating amount determination section (303) configured to determine an operating amount for the industrial machine in accordance with the rotary manipulation amount for the rotary wheel (321); and a sound effect or vibration emission section (304) configured to emit a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to one division, the learning device (3) further comprises: an operating coordinate system and operating axis selection section (305) which is configured to select an operating coordinate system and an operating axis for the industrial machine on the touchscreen-like display screen, wherein the industrial machine is a control target for the rotary wheel (321), wherein a tone effect or vibration pattern presented by the tone effect or vibration emission section (304) differs between orthogonal operation and rotary operation according to the operating coordinate system and operating axis selected by the operating coordinate system and operating axis selection section (305). [2] Learning device (3), provided with a touchscreen-type display screen, configured to be an input interface for an industrial machine, the learning device (3) comprising: a rotary dial display section (301) configured to display a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) is capable of being rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary manipulation amount maintenance section (302) configured to maintain a rotary manipulation amount by which the operator has rotated the rotary wheel (321); an operating amount determination section (303) configured to determine an operating amount for the industrial machine in accordance with the rotary manipulation amount for the rotary wheel (321); and a sound effect or vibration emission section (304) configured to emit a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to one division; the learning device (3) further comprises: a single closing manipulation amount setting section (306) configured to set a manipulation amount corresponding to a division of the rotary dial (321), wherein the rotation manipulation amount conservation section (302) can maintain a rotation manipulation amount corresponding to a distance or angle above an operating range for the industrial machine, and The individual closing manipulation amount setting section (306) can automatically change the rotary manipulation amount for a division of the rotary wheel (321) in accordance with a difference between a distance or angle for an upper limit for the operating range and the operating amount determined by the operating amount determination section (303). [3] Learning device (3), provided with a touchscreen-type display screen, configured to be an input interface for an industrial machine, the learning device (3) comprising: a rotary dial display section (301) configured to display a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) is capable of being rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary manipulation amount maintenance section (302) configured to maintain a rotary manipulation amount by which the operator has rotated the rotary wheel (321); an operating amount determination section (303) configured to determine an operating amount for the industrial machine in accordance with the rotary manipulation amount for the rotary wheel (321); and a sound effect or vibration emission section (304) configured to emit a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to one division; and wherein in a case where it is not possible to operate the industrial machine in a state where the industrial machine operates automatically, or where an abnormal situation occurs, the rotary dial display section (301) changes a display for the rotary dial (321), the operating amount determination section (303) the determination of an operation for the industrial machine in accordance with the rotary wheel (321) which is operated by rotating, stops, and the sound effect or vibration emission section (304) emits a sound effect or vibration which is different from a sound effect or vibration for a normal time. [4] Learning device (3) according to one of claims 1 to 3 wherein a learning screen (31) together with a control screen (32) comprising the rotary dial (321) is simultaneously displayed on the touchscreen-like display screen. [5] Learning device (3) according to one of claims 1 to 3, wherein the industrial machine is a robot (1). [6] Computer program for teaching content, which is entered via a touchscreen-like display, to an industrial machine, where the computer program causes a computer to execute: a rotary dial display process for displaying a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) can be rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary operating amount maintenance process to maintain a rotary operating amount with which the operator has rotated the rotary wheel; an operating amount determination process for determining an operating amount for the industrial machine in accordance with the rotary operating amount for the rotary wheel; and a sound effect or vibration emission process for emitting a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to a division, and wherein the computer program causes the computer to perform a selection process to select an operating coordinate system and an operating axis for the industrial machine on the touchscreen-like display screen, wherein the industrial machine is a control target for the rotary wheel (321), and The effect or vibration pattern presented by a sound effect or vibration emission process differs between orthogonal operation and rotary operation according to the operating coordinate system and operating axis selected in the selection process. [7] Computer program for teaching content, which is entered via a touchscreen-like display screen, to an industrial machine, where the computer program causes a computer to execute: a rotary dial display process for displaying a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) can be rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary operating amount maintenance process to maintain a rotary operating amount with which the operator has rotated the rotary wheel; an operating amount determination process for determining an operating amount for the industrial machine in accordance with the rotary operating amount for the rotary wheel; and a sound effect or vibration emission process for emitting a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to one division; and wherein the computer program causes the computer to execute a single closing manipulation amount setting process that can set a manipulation amount corresponding to a division of the rotary dial (321), The rotational operating amount maintenance process preserves a rotational operating amount corresponding to a distance or angle that lies above an operating range for the industrial machine, and The individual closing manipulation amount setting process changes the rotary manipulation amount for a division of the rotary wheel (321) in accordance with a difference between a distance or angle for an upper limit for the operating range and a distance or angle for the operating amount determined in the operating amount determination process. [8] Computer program for teaching content, which is entered via a touchscreen-like display screen, to an industrial machine, where the computer program causes a computer to execute: a rotary dial display process for displaying a rotary dial (321) on the touchscreen-like display screen, wherein the rotary dial (321) can be rotated by an operator and has divisions corresponding to a rotation manipulation amount; a rotary operating amount maintenance process to maintain a rotary operating amount with which the operator has rotated the rotary wheel; an operating amount determination process for determining an operating amount for the industrial machine in accordance with the rotary operating amount for the rotary wheel; and a sound effect or vibration emission process for emitting a sound effect or vibration each time the rotary wheel (321) is rotated by a rotational operating amount corresponding to one division; and wherein In a case where the industrial machine is automatically in operation or an abnormal situation occurs and it is not possible to operate the industrial machine, the rotary dial display process changes a display for the rotary dial (321), In the operating amount determination process, the determination of an operation for the industrial machine is stopped in accordance with the rotary wheel (321), which is actuated by rotation, and The sound effect or vibration emission process emits a sound effect or vibration that differs from a sound effect or vibration for a normal period of time. [9] Computer program according to any one of claims 6 to 8, wherein the computer program causes the computer to perform a process for simultaneously displaying a learning screen (31) together with a control screen (32) comprising the rotary dial (321) on the touchscreen-like display screen. [10] The computer program according to any one of claims 6 to 8, wherein the industrial machine is a robot (1).

Images