Control device and user interface device for controlling the extended functions of a robot or machine tool.

Abstract

To realize a control device and user interface device for controlling the extended functions of a robot or machine tool. [Solution] A control device that controls the extended functions of a robot or machine tool based on installed extended software includes: an extended software candidate storage unit that stores enabled / disabled information indicating whether each of the extended software stored in the extended software candidate storage unit that stores candidate extended software is enabled or disabled; and an extended software installation processing unit that performs an installation process on extended software from among the extended software stored in the extended software candidate storage unit that is indicated as enabled in the enabled / disabled information stored in the extended software enabled / disabled storage unit.

Description

Technical Field

[0001] The present invention relates to a control device and a user interface device for controlling extended functions of a robot or a machine tool.

Background Art

[0002] Industrial robots and machine tools are controlled in their basic operations based on "standard software" introduced (installed) in advance. In addition, robots and machine tools are highly flexible and applicable to various applications (uses), and depending on the purpose, functions may be further extended or changed using specific connection devices. Functions that are extended or changed retrospectively in this way are also referred to as "extended functions" or "optional functions". The extended functions of industrial robots and machine tools are controlled based on, for example, "extended software" additionally introduced (installed) after factory shipment. Also, even for the same type of application, specific extended functions may be required for each user (customer), and in such cases, it is necessary to introduce extended software dedicated to each user.

[0003] For example, there is known a processing device that performs processing on a workpiece, comprising holding means for holding the workpiece, processing means for performing processing on the workpiece held by the holding means, control means having a program storage unit storing a program for operating the processing means, and reading means for reading external command information. The control means has a special program storage unit storing a special program and an installation execution unit for installing the special program. The installation execution unit includes a command information recording unit in which command information associated with the special program is recorded, a command information determination unit that compares the command information read by the reading means with the command information recorded in advance in the command information recording unit and permits installation when there is matching command information (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0004] [Patent Document 1] Japanese Patent Publication No. 2014-026435 [Overview of the project] [Problems that the invention aims to solve]

[0005] Often, the intended application of a robot is undecided at the time of shipment. Therefore, there is a need to pre-install all expansion software for all possible applications into the control unit at the time of shipment, and then, once the application in which the robot will be used is determined, to allow for the selective activation of only the necessary expansion software with simple operations.

[0006] Furthermore, installing multiple extension software programs for different applications simultaneously within a single control unit may cause malfunctions or failures in the robot or machine tool due to interactions between the extension software programs. Configuration information regarding communication with connected devices, robot coordinate system settings, and load settings may differ depending on the application. Since this configuration information is stored in a common memory area shared by each extension software program within the robot control unit, conflicts may occur when multiple extension software programs are installed. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, a control device for controlling an extended function of a robot or machine tool based on installed extended software includes: an extended software enabled / disabled storage unit that stores enabled / disabled information indicating whether each of the extended software stored in an extended software candidate storage unit that stores candidate extended software for installation is enabled or disabled; and an extended software installation processing unit that performs an installation process on extended software from among the extended software stored in the extended software candidate storage unit that is indicated as enabled in the enabled / disabled information stored in the extended software enabled / disabled storage unit.

[0008] Furthermore, according to one aspect of the present disclosure, a control device that controls the extended functions of a robot or machine tool based on installed extended software includes: a total setting storage unit that stores setting information data specifying various setting information related to the extended functions in at least one extended software installed in the control device; an active setting storage unit that stores setting information data to be used when the extended functions are controlled based on the extended software installed in the control device; and a setting activation processing unit that writes selected setting information data to be activated from the setting information data stored in the total setting storage unit to the active setting storage unit.

[0009] Furthermore, according to one aspect of the present disclosure, a user interface device for a control device that controls an extended function of a robot or machine tool based on installed extended software, which performs control to display on a display device the following: an extended software list display item showing a list of candidate extended software stored in an extended software candidate storage unit; an enable / disable information display item indicating whether each of the candidate extended software is enabled or disabled; and a setting menu display item prompting the user to set whether each of the candidate extended software is enabled or disabled.

[0010] Furthermore, according to one aspect of the present disclosure, a user interface device for a control device that controls an extended function of a robot or machine tool based on installed extended software performs control to display on a display device the following: a setting information data list display item showing a list of setting information data that specifies various setting information regarding the extended function of at least one extended software installed in the control device; an enable / disable information display item indicating whether each of the setting information data in the setting information data list display item is enabled or disabled; and a setting menu display item prompting the user to enable or disable each of the setting information data in the setting information data list display item. [Effects of the Invention]

[0011] According to one aspect of this disclosure, in a control device and user interface device that control the extended functions of a robot or machine tool based on installed extended software, desired extended software can be selectively installed with simple operation without causing malfunctions or failures due to interactions between extended software or conflicts in setting information. [Brief explanation of the drawing]

[0012] [Figure 1] Block diagram of a control device according to one embodiment of the present disclosure. [Figure 2] This is a block diagram showing the case where an extended software candidate storage unit is configured outside the control device according to one embodiment of the present disclosure. [Figure 3] This diagram illustrates the file structure of the extension software. [Figure 4] This block diagram shows the elements of the control device shown in Figure 1, particularly those related to the process of installing extended software. [Figure 5] This figure (1) illustrates a screen displayed on the display of a teaching control panel by a user interface device according to one embodiment of the present disclosure. [Figure 6]This is Figure (2) illustrating a screen displayed on the display of a teaching control panel by a user interface device according to one embodiment of the present disclosure. [Figure 7] Figure (3) illustrates a screen displayed on the display of a teaching control panel by a user interface device according to one embodiment of the present disclosure. [Figure 8] This block diagram shows a control device further comprising an authentication unit in a modified embodiment of one embodiment of the present disclosure, where an extended software candidate storage unit is provided within the control device. [Figure 9] This block diagram shows a control device further comprising an authentication unit in a modified embodiment of one embodiment of the present disclosure, where the extended software candidate storage unit is provided outside the control device. [Figure 10] This figure illustrates an authentication screen displayed on a teaching control panel display by a user interface device according to one embodiment of the present disclosure. [Figure 11] This block diagram shows the elements of the control device shown in Figure 1, particularly those related to the activation process of setting information data. [Figure 12] This figure illustrates an example of a setting screen for activating setting information data displayed on a teaching control panel display by a user interface device according to one embodiment of the present disclosure. [Figure 13] This diagram illustrates the sequence of steps involved in removing hand B from the robot and attaching hand A. [Figure 14] This figure illustrates a teaching control panel displaying a teaching program for controlling the removal of hand B and the attachment of hand A, as shown in Figure 13. [Figure 15] This figure illustrates a screen of a teaching control panel display in which information regarding extended software commands for unenabled configuration data is hidden by a user interface device according to one embodiment of the present disclosure. [Figure 16]The figure shows a screen when an alarm regarding the execution of extended software for unactivated setting information data is displayed on the display of an instruction operation panel by a user interface device according to an embodiment of the present disclosure.

Embodiment for Carrying out the Invention

[0013] A control device for controlling an extended function of a robot or a machine tool and a user interface device for this control device will be described below with reference to the drawings. In each drawing, similar members are denoted by similar reference numerals. Also, for ease of understanding, the scales of these drawings are appropriately changed. The illustrated embodiments are one example for implementation and are not limited to these embodiments.

[0014] A control device according to an embodiment of the present disclosure is a robot control device for controlling a robot or a numerical control device for controlling a machine tool. Here, as an example, the case where the control device is a robot control device for controlling a robot will be described, but the following description is equally applicable to a numerical control device for controlling a machine tool.

[0015] FIG. 1 is a block diagram showing a control device according to an embodiment of the present disclosure. FIG. 4 is a block diagram showing elements particularly related to the introduction process of extended software among the elements constituting the control device shown in FIG. 1. FIG. 11 is a block diagram showing elements particularly related to the activation process of setting information data among the elements constituting the control device shown in FIG. 1.

[0016] The robot control device, Control Device 1, controls the robot using standard software for controlling the robot's standard functions and extended software for controlling extended functions. Examples of extended software include extended software for controlling specific connected devices of the robot, extended software for making the robot's arm perform special movements, and extended software for making the robot's body (base) perform special movements, but other types of extended software may also be included. Furthermore, examples of extended software for controlling specific connected devices of the robot include extended software for controlling a specific hand attached to the robot, extended software for controlling a specific tool attached to the robot, extended software for controlling a specific camera attached to the robot, and extended software for controlling a specific sensor attached to the robot, but other types of extended software may also be included.

[0017] In one embodiment of this disclosure, a plurality of candidate extension software is pre-stored in an extension software candidate storage unit 10. The candidate extension software stored in the extension software candidate storage unit 10 is not directly used to control the extension function of the control device 1. The control device 1 uses the extension software selected from the candidate extension software to be enabled. That is, the control device 1 controls the robot's extension function based on the extension software selectively installed from among the plurality of candidate extension software. In order for the control device 1 to properly control the robot's extension function, it is necessary to install (implement) the extension software corresponding to the extension function in the control device 1 and to enable the setting information corresponding to the extension function.

[0018] As shown in Figure 1, the control device 1 is connected to the teaching operation panel 2 via wireless or wired connection. The control device 1 includes an extension software enable / disable storage unit 11, an extension software installation processing unit 12, and a program file storage unit 13 for selectively installing extension software to be enabled. The control device 1 also includes a total setting storage unit 14, an enabled setting storage unit 15, a setting activation processing unit 16, an unused area search processing unit 20, a setting information data acquisition unit 22, and an alarm output unit 23 for selectively enabling setting information. Furthermore, the control device 1 includes an extension software candidate storage unit 10, a screen display processing unit 17, a screen operation processing unit 18, and an instruction execution unit 21. The screen display processing unit 17 may be configured as part of the functions of the screen operation processing unit 18.

[0019] The expansion software candidate storage unit 10 is for storing candidate expansion software. The expansion software stored in the expansion software candidate storage unit 10 is merely a candidate for installation, and simply being stored in the expansion software candidate storage unit 10 does not mean that it will be directly used to control the expansion functions of the control device 1. Therefore, the expansion software candidate storage unit 10 does not need to be a storage device that can read and write at high speed, and an inexpensive storage device that reads and writes at low speed can be used. Furthermore, it is preferable that the expansion software candidate storage unit 10 be a storage device with a large capacity in order to store multiple candidate expansion software. Examples of the expansion software candidate storage unit 10 include hard disk drives (HD), solid state drives (SSD), and flash memory. The more expansion software that can be stored in the expansion software candidate storage unit 10, the greater the range of choices for expansion software that can be installed in the control device 1.

[0020] In the example shown in Figure 1, the extended software candidate storage unit 10 is located inside the control device 1. As an alternative, the extended software candidate storage unit 10 may be located outside the control device 1. Figure 2 is a block diagram showing a case in which the extended software candidate storage unit is located outside the control device according to one embodiment of the present disclosure. Examples of the extended software candidate storage unit 10 located outside the control device 1 include USB memory (USB flash drive), memory card, network storage, optical disk, magnetic disk, etc.

[0021] Figure 3 illustrates the file structure of the extension software.

[0022] The extension software candidate storage unit 10 stores candidate extension software. In the example shown in Figure 3, extension software A, extension software B, extension software C, ... are stored as examples. The extension software consists of an archive file in which a program file consisting of multiple programs and configuration information data consisting of data files describing configuration information are combined into a single file. For example, extension software A consists of an archive file in which program file A and configuration information data A are combined into a single file. The program file consists of an instruction file that describes instructions (processes) to the control device, a screen file and image files used for screen display on the teaching operation panel 2 or the display of an external device, and is the program body that is directly involved in the control of the extension function. For example, program file A consists of "Instruction A.tp", "Screen A.stm", "Image A.png", etc., but the file names listed here are just examples, and other file names may be used. Furthermore, the configuration data specifies information regarding various settings of the extended functions controlled by the extended software. For example, it specifies settings related to the supply voltage of connected devices, settings related to communication with connected devices, settings related to the robot's coordinate system, settings related to the load, and other settings.

[0023] The expansion software enable / disable storage unit 11 stores enable / disable information indicating whether each of the candidate expansion software programs stored in the expansion software candidate storage unit 10 is enabled or disabled. The expansion software enable / disable storage unit 11 consists of a rewritable non-volatile memory, such as SRAM or EEPROM.

[0024] The user can configure which extension software to enable or disable from the list of extension software options via a user interface through the teaching control panel 2 or an external device display, details of which will be described later. The teaching control panel 2 display, for example, shows a graphical user interface (GUI), but as a variation, mechanical operation buttons and lights provided on the teaching control panel 2 may be used as the user interface. Examples of external device displays include a PC touch panel and a touch panel of a mobile terminal other than the teaching control panel 2, but other devices may also be used. Here, as an example, we will describe the case where the display is the display of the teaching control panel 2, but the following description is also applicable to external device displays.

[0025] The program file storage unit 13 is for storing program files that define various processing contents related to the extended functions of extended software, which are indicated as enabled in the enabled / disabled information stored in the extended software enabled / disabled storage unit 11. The program file storage unit 13 may be any rewritable memory, such as a non-volatile memory like SRAM or EEPROM, or a volatile memory like DRAM. Extended software having a program file stored in the program file storage unit 13 can be controlled by the instruction execution unit 21 or the screen operation processing unit 18 to control the extended functions of the extended software. In other words, since the program file of the extended software stored in the program file storage unit 13 is used by the control device 1 to control the extended functions based on instructions from the screen operation processing unit 18 or the instruction execution unit 21, it is preferable that the program file storage unit 13 is a memory that can be written to and read at high speed.

[0026] The all-settings storage unit 14 is for storing setting information data that defines various setting information related to the extended functions of the extended software, which is indicated as enabled in the enable / disable information stored in the extended software enable / disable storage unit 11. The all-settings storage unit 14 may be any rewritable memory, whether it is a non-volatile memory such as SRAM or EEPROM, or a volatile memory such as DRAM.

[0027] The extended software installation processing unit 12 performs installation processing on extended software that is indicated as valid in the valid / disable information stored in the extended software valid / disable information unit 11, from among the candidate extended software stored in the extended software candidate storage unit 10. Specifically, as part of the installation process, the extended software installation processing unit 12 writes the program file to the program file storage unit 13 and the setting information data to the all-settings storage unit 14 for extended software that is indicated as valid in the valid / disable information stored in the extended software valid / disable information unit 11, from among the candidate extended software stored in the extended software candidate storage unit 10. If any of the valid / disable information stored in the extended software valid / disable information unit 11 has been changed from valid to disabled, the extended software installation processing unit 12 deletes the program file from the program file storage unit 13 and the setting information data from the all-settings storage unit 14 for the extended software that has been changed from valid to disabled. As a result, each time the installation process by the extended software installation processing unit 12 is executed, the contents of the enabled / disabled information stored in the extended software enabled / disabled storage unit 11 are reflected in the contents of the program file storage unit 13 and the total settings storage unit 14. In the example shown in Figures 1, 4, and 11, as an example, the extended software enabled / disabled storage unit 11 indicates that extended software A and extended software C are enabled, so program file A and program file C are stored in the program file storage unit 13, and setting information data A and setting information data C are stored in the total settings storage unit 14.

[0028] If the program file storage unit 13 and the full settings storage unit 14 are composed of volatile memory, the installation process by the extended software installation processing unit 12 is executed each time the control device 1 is powered on.

[0029] Furthermore, if the program file storage unit 13 and the all-settings storage unit 14 are composed of non-volatile memory, the installation process by the extended software installation processing unit 12 may be executed at any time between the time the contents of the enable / disable information stored in the extended software enable / disable storage unit 11 are changed and the next power-on of the control device 1, or it may be executed each time the control device 1 is powered on.

[0030] Although the program file storage unit 13 and the all-settings storage unit 14 are provided as separate memories, it is also possible to provide separate storage areas for the program file storage unit 13 and the all-settings storage unit 14 within the same memory.

[0031] In this manner, the extension software installation processing unit 12 performs installation processing for extension software that is indicated as enabled in the enable / disable information stored in the extension software enable / disable storage unit 11. For extension software that has a program file stored in the program file storage unit 13 after the installation processing, the instruction execution unit 21 or the screen operation processing unit 18 can control the extension functions corresponding to that extension software. The setting of which extension software to enable or disable among the candidate extension software can be done with simple operations via the graphical user interface (GUI) displayed on the display of the teaching operation panel 2.

[0032] In one embodiment of this disclosure, the user interface device includes a screen operation processing unit 18 and a screen display processing unit 17. The screen operation processing unit 18 displays a setting screen on the display of the teaching operation panel 2 prompting the user to set whether each of the extension software stored in the extension software candidate storage unit 10 is enabled or disabled, and acquires operation information entered via the setting screen. Based on the operation information acquired by the screen operation processing unit 18, the content of the enable / disable information stored in the extension software enable / disable storage unit 11, that is, which of the candidate extension software to be installed is enabled or disabled, is set. Based on the content of the enable / disable information stored in the extension software enable / disable storage unit 11, the screen display processing unit 17 controls the display of the teaching operation panel 2 to display a screen showing whether each of the extension software stored in the extension software candidate storage unit 10 is enabled or disabled.

[0033] As an example, a graphical user interface (GUI) displayed on the display of the teaching control panel 2 will be described. Figures 5 to 7 illustrate the screens displayed on the display of the teaching control panel by a user interface device according to one embodiment of the present disclosure.

[0034] The screen operation processing unit 18 controls the display of the teaching operation panel 2 to display the following on the display: an extended software list display item 201 showing a list of candidate extended software stored in the extended software candidate storage unit 10; an enable / disable information display item 202 indicating whether each candidate extended software is enabled or disabled; and a setting menu display item 203 prompting the user to set whether each candidate extended software is enabled or disabled. The screen operation processing unit 18 controls the display of the teaching operation panel 2 to display "Enabled" in the enable / disable information display item 202 for extended software that has been set to enable via the setting menu display item 203, and to display "Disabled" in the enable / disable information display item 202 for extended software that has been set to disable via the setting menu display item 203. The setting menu display item 203 may be displayed as a pop-up when a predetermined operation is performed on the screen of the teaching operation panel 2.

[0035] The screen operation processing unit 18 controls the writing of program files to the program file storage unit 13 for extended software that has been set to be enabled via the setting menu display item 203, and controls the deletion of program files from the program file storage unit 13 for extended software that has been set to be disabled via the setting menu display item 203.

[0036] In the example shown in Figure 5, the Extended Software List item 201 displays a list of candidate extended software, including handheld software, camera software, software A, software B, and software C. The Enable / Disable Information item 202 indicates that the handheld software and camera software are enabled (installed), while software A, software B, and software C are disabled (not installed). When the user moves the cursor to the row for software A, a settings menu item 203 pops up at the bottom of the display screen of the teaching control panel 2, displaying detailed information about software A along with enable and disable buttons. Since software A is not installed (disabled) at this point, the enable button is highlighted in a darker color to indicate that it can be selected (pressed), while the disable button is displayed in a lighter color.

[0037] When the user selects (presses) the enable button in the settings menu display item 203 in Figure 5, "Enabled" is displayed in the enable / disable information display item 202 for software A, as shown in Figure 6. Since software A is installed (enabled) at this point, the enable button is displayed in a light color, while the disable button is highlighted in a dark color to indicate that it can be selected (pressed).

[0038] If the user then selects (presses) the disable button for software A in the settings menu display item 203 in Figure 6, "Disabled" will be displayed for software A in the enable / disable information display item 202, as shown in Figure 5. Since software A is now not installed (disabled) again, the enable button is highlighted in a darker color to indicate that it can be selected (pressed), while the disable button is displayed in a lighter color.

[0039] The display content and display method shown in Figures 5 and 6 are merely examples, and the display content and display method may be customized as appropriate depending on the purpose. For example, as shown in Figure 7, the display on the teaching operation panel 2 may be set to display the extended software list display item 201 and the enabled / disabled information display item 202 based on the content of the enabled / disabled information stored in the extended software enabled / disabled storage unit 11, but not the setting menu display item 203, thus providing a display mode solely for the purpose of confirming the installation status of the extended software. This can prevent the extended software from being inadvertently installed in the control device 1 or deleted from the control device.

[0040] Furthermore, in order to more reliably prevent the extension software from being inadvertently installed in the control device 1 or removed from the control device, an authentication unit may be provided within the control device 1, and rewriting of the extension software enable / disable storage unit 11 may be permitted only when authentication is successful.

[0041] Figures 8 and 9 are block diagrams showing a control device further comprising an authentication unit in a modified embodiment of one embodiment of the present disclosure, where Figure 8 shows a case in which the extended software candidate storage unit is provided inside the control device, and Figure 9 shows a case in which the extended software candidate storage unit is provided outside the control device.

[0042] As shown in Figures 8 and 9, the control device 1 further includes an authentication unit 19 that authenticates user rights based on acquired authentication information. When authentication is successful, the authentication unit 19 permits the screen operation processing unit 18 to change the contents of the enabled / disabled information stored in the extended software enabled / disabled storage unit 11, and when authentication by the authentication unit 19 is unsuccessful, it prohibits the screen operation processing unit 18 from changing the contents of the enabled / disabled information stored in the extended software enabled / disabled storage unit 11.

[0043] As an example, the authentication screen displayed on the display of the teaching control panel 2 will be described. Figure 10 is a diagram illustrating the authentication screen displayed on the display of the teaching control panel by a user interface device according to one embodiment of the present disclosure.

[0044] For example, as shown in Figure 7, when the user moves the cursor to the row for software A while the display of the teaching control panel 2 is showing the extended software list display item 201 and the enabled / disabled information display item 202, the screen operation processing unit 18 executes control to display an authentication screen 204 prompting the user to enter authentication information as a pop-up on the display device, as shown in Figure 10. When the user enters a password (or passcode) as authentication information (key) on the authentication screen 204, the password is sent to the authentication unit 19. The authentication unit 19 authenticates the user's authority based on the acquired password. The authentication unit 19 determines whether the acquired password matches (authentication successful) or does not match (authentication unsuccessful) the predefined key information. When authentication by the authentication unit 19 is successful, it permits the screen operation processing unit 18 to change the contents of the enabled / disabled information stored in the extended software enabled / disabled storage unit 11, and displays the setting menu display item 203 shown in Figure 5 on the display of the teaching control panel 2. If authentication by the authentication unit 19 fails, the screen operation processing unit 18 is prohibited from changing the contents of the enable / disable information stored in the extended software enable / disable storage unit 11, and the setting menu display item 203 is not displayed on the display of the teaching operation panel 2.

[0045] In addition to the password (passcode) authentication method, other biometric authentication methods such as voice authentication, facial recognition, fingerprint authentication, palm print authentication, palm vein authentication, iris authentication, and retinal authentication may also be used as the authentication method by the authentication unit 19. When voice authentication is used as the authentication method, it is preferable to provide a microphone on the teaching control panel 2. When facial recognition, fingerprint authentication, palm print authentication, palm vein authentication, iris authentication, or retinal authentication is used as the authentication method, it is preferable to provide a camera or image sensor on the teaching control panel 2.

[0046] As described above, in one embodiment of this disclosure, the extension software selected as the extension software to be activated from among the extension software candidate storage unit 10 is installed in the control device 1.

[0047] If multiple program files are stored in the program file storage unit 13 to simultaneously install multiple extension software for different applications into a single control device, each program file stored in the program file storage unit 13 can be executed based on commands from the teaching control panel 2. However, if the configuration information data corresponding to each program file stored in the program file storage unit 13 is used when executing the extension software, the configuration information data of each extension software may conflict, potentially causing malfunctions or failures in the robot. Therefore, in this embodiment of the disclosure, in order to more reliably reduce the possibility of robot malfunctions or failures due to configuration information data conflicts, the configuration information data stored in all configuration storage units 14 is selectively enabled through an installation process, so that the control device 1 can "appropriately" control the robot's extension functions. The configuration information data activation process will be described below.

[0048] The all-settings storage unit 14 is for storing setting information data for at least one extended software that is indicated as valid in the enable / disable information stored in the extended software enable / disable storage unit 11 and has been installed in the control device 1 by the extended software installation processing unit 12.

[0049] The unused area search processing unit 20 searches for unused storage areas within the entire setting storage unit 14 when the installation process by the extended software installation processing unit 12 is performed and the extended software is installed in the control device. Unused storage areas are areas within the entire setting storage unit 14 where setting information data has not yet been stored.

[0050] As part of the installation process, the Expansion Software Installation Processing Unit 12 writes the configuration data for the expansion software that is indicated as enabled in the enable / disable information stored in the Expansion Software Enable / Disable Storage Unit 11, selected from the candidate expansion software stored in the Expansion Software Candidate Storage Unit 10, to the unused storage area found by the Unused Area Search Processing Unit 20. In this way, the configuration data for newly installed expansion software is written to the unused storage area during the installation process by the Expansion Software Installation Processing Unit 12, so the configuration data for already installed expansion software will not be overwritten. If any of the enable / disable information stored in the Expansion Software Enable / Disable Storage Unit 11 has been changed from enabled to disabled, the Expansion Software Installation Processing Unit 12 will delete the configuration data for the changed expansion software from the All Configuration Storage Unit 14 during the installation process.

[0051] The active setting storage unit 15 is for storing setting information data that will be used when the extended functions are controlled based on the extended software introduced in the control device 1. Since the setting information data of the extended software stored in the active setting storage unit 15 is used by the control device 1 to control the extended functions based on the commands of the screen operation processing unit 18 or the command execution unit 21, it is preferable that the active setting storage unit 15 is a memory that can be read at high speed. The active setting storage unit 15 is composed of a rewritable non-volatile memory such as SRAM or EEPROM.

[0052] The setting activation processing unit 16, in accordance with the operation information from the screen operation processing unit 18 or the command execution unit 21, writes the setting information data to be activated, selected from the setting information data stored in the total setting storage unit 14, to the active setting storage unit 15, and executes the process of deleting the setting information data to be deactivated from the active setting storage unit 15.

[0053] The setting of which of the installed extension software programs should be enabled or disabled can be done manually with simple operations via the graphical user interface (GUI) displayed on the display of the teaching operation panel 2, or it can be done automatically by the instruction execution unit 21 executing a program related to the setting activation process specified in the teaching program.

[0054] Here, we will explain the method in which users manually enable configuration information data.

[0055] To allow users to easily enable or disable configuration data, the screen operation processing unit 18, which is a user interface device, displays a screen on the display of the teaching operation panel 2 for setting whether to enable or disable the configuration data. More details are as follows.

[0056] The screen operation processing unit 18 displays a settings screen on the display of the teaching operation panel 2 prompting the user to set whether each of the setting information data stored in the all-settings storage unit 14 is enabled or disabled, and acquires the operation information entered by the user via the settings screen. Based on the operation information acquired by the screen operation processing unit 18, the setting activation processing unit 16 reads the setting information data to be activated from the all-settings storage unit 14 and writes it to the active setting storage unit 15, and executes a process to delete the setting information data to be disabled from the active setting storage unit 15.

[0057] As an example, the activation setting screen for the setting information data displayed on the display of the teaching control panel 2 will be described. Figure 12 is a diagram illustrating the activation setting screen for the setting information data displayed on the display of the teaching control panel by a user interface device according to one embodiment of the present disclosure. Here, an example of manually removing hand B connected to robot 100 and replacing it with hand A will be described.

[0058] The screen operation processing unit 18 executes control to display the following on the display of the teaching operation panel 2: a setting information data list display item 301 which shows a list of setting information data that defines various setting information for extended functions for at least one extended software installed in the control device 1; an enable / disable information display item 302 which indicates whether each of the setting information data in the setting information data list display item 301 is enabled or disabled; and a setting menu display item 303 which prompts the user to set whether each of the setting information data in the setting information data list display item 301 is enabled or disabled. Note that the setting menu display item 303 may be displayed as a pop-up when a predetermined operation is performed on the screen of the teaching operation panel 2.

[0059] The screen operation processing unit 18 controls the system to write the selected setting information data to be enabled, via the setting menu display item 303, to the enabled setting storage unit 15, which stores the setting information data used when the extended function is controlled based on the installed extended software. It also controls the system to delete the selected setting information data to be disabled, via the setting menu display item 303, from the enabled setting storage unit 15. As a result, the setting information data in the extended software installed in the control device 1 is selectively enabled.

[0060] The upper part of Figure 12 shows that hand B is connected to robot 100, and the configuration data for software B, which is extension software for controlling hand B, has been activated. As shown in the upper part of Figure 12, the display of the teaching control panel 2 shows a list of configuration data items 301, which lists the configuration data for hand software, camera software, software A, software B, and software C as installed extension software. The enabled / disabled information display item 302 shows that only the configuration data for software B, which is extension software for controlling hand B connected to robot B, is enabled, and the configuration data for hand software, camera software, software A, and software C are disabled. Before disconnecting hand B from robot B, the user moves the cursor to the row for software B. Then, a setting menu display item 303 pops up at the bottom of the screen of the teaching control panel 2 display, showing detailed information about software B along with enable and disable buttons. Since the configuration data for software B is enabled at this point, the enable button is displayed in a light color, while the disable button is highlighted in a dark color to indicate that it can be selected (pressed).

[0061] When the user selects (presses) the disable button in the setting menu display item 303, the screen operation processing unit 18 controls the deletion of the setting information data for software B from the active setting storage unit 15, as shown in the lower part of Figure 12. The display on the teaching operation panel 2 controls the active / inactive information display item 302 to display that the setting information data for the hand software, camera software, software A, software B, and software C are disabled. In order to activate the setting information data for software A, which is extension software for controlling hand A connected to robot A, the user moves the cursor to the line for software A. Then, the setting menu display item 303, which displays the detailed information of software A along with the activate and disable buttons, pops up at the bottom of the screen of the teaching operation panel 2 display. At this point, the activation button for software A's setting information data is highlighted in a darker color to indicate that it can be selected (pressed), while the disable button is displayed in a lighter color. When the user selects (presses) the enable button for setting menu display item 303, the screen operation processing unit 18 controls the system to read the setting information data for software A from the all setting storage unit 14 and write it to the enabled setting storage unit 15. Although not shown in the diagram, the system also controls the display on the teaching operation panel 2 to display the enable / disable information display item 302, indicating that only the setting information data for software A is enabled, and the setting information data for the hand software, camera software, software B, and software C are disabled. As a result, the control device 1 can appropriately control the hand A of robot B based on the setting information data A of software A, which is the extended software.

[0062] Next, we will explain a configuration that automatically enables the setting information data in accordance with the automatic changes in the robot's connected equipment (for example, tool changes).

[0063] As an example, we will describe a tool change operation in which hand B is removed from robot 100 and hand A is attached to it automatically based on a teaching program.

[0064] Figure 13 illustrates a sequence of steps for removing hand B from the robot and attaching hand A. Figure 14 illustrates a teaching control panel displaying the teaching program for controlling the removal of hand B and attachment of hand A as shown in Figure 13.

[0065] In a tool change operation that removes hand B from robot 100 and replaces it with hand A, for example as shown in Figure 13, first the tip of robot 100's arm (to which hand B is connected at this point) is moved to "1" on the tool station. Once hand B arrives at "1" the process of removing hand B is performed, and the configuration data for hand B is deactivated. Next, the tip of robot 100's arm is moved in the order of "2" "3" and "4" the process of attaching hand A. Once the tip of robot 100's arm arrives at "4" on the tool station the process of attaching hand A is performed, and the configuration data for hand A is activated. Finally, the tip of robot 100's arm (to which hand A is connected at this point) is moved to "3".

[0066] The teaching program for this tool change operation is shown in Figure 14. The first line of the teaching program specifies a command to move to "1" on the tool station, the second line specifies a command to remove hand B from the tip of arm 100 of the robot, and the third line specifies a command to release the ATC (Automatic Tool Change) lock, "DO[1]=OFF". The fourth line of the teaching program specifies a command to move the tip of arm 100 of the robot to "1" (2), the fifth line specifies a command to move the tip of arm 100 of the robot to "1" (3), and the sixth line specifies a command to move the tip of arm 100 of the robot to "1" (4). Line 7 of the teaching program specifies the command "DO[1]=ON" to lock the ATC, line 8 specifies the command to attach hand A to the tip of arm 100 of the robot, and line 9 specifies the command to move the tip of arm 100 of the robot to "ichi[3]".

[0067] In order to automatically perform the invalidation process of the configuration information data for hand B and the activation process of the configuration information data for hand A in conjunction with this series of tool change operations, an instruction specifying the invalidation process of the configuration information data for hand B is inserted between the second and third lines of the teaching program described above, and an instruction specifying the activation process of the configuration information data for hand A is inserted between the eighth and ninth lines of the teaching program.

[0068] As described above, the instruction execution unit 21 executes the teaching program, thereby automatically performing the tool change process for the robot 100's connected devices and the activation setting process for the setting information data without user intervention. In particular, with regard to the teaching program portion related to the activation setting process for the setting information data, the instruction execution unit 21 executes a teaching program that instructs the setting activation processing unit 16 to write selected setting information data to be activated from the setting information data stored in the total setting storage unit 14 to the active setting storage unit 15, and to delete selected setting information data to be deactivated from the active setting storage unit 15.

[0069] As described above, the setting status of whether the configuration data for the manually or automatically configured extended software is enabled or disabled can be displayed on the screen of the display unit on the teaching control panel 2 as needed.

[0070] When a user, for example, uses the teaching control panel 2 to "display the setting status of the setting information data," the teaching control panel 2 commands the setting information data acquisition unit 22 to acquire setting information. In response, the setting information data acquisition unit 22 acquires information regarding the setting information data stored in the all-settings storage unit 14 and the setting information data stored in the active settings storage unit 15. The screen display processing unit 17 controls the display on the teaching control panel 2 to display a screen showing whether each of the setting information data stored in the all-settings storage unit is active or inactive, according to the information acquired by the setting information data acquisition unit 22. In other words, the screen display processing unit 17, which is a user interface device, controls the display on the teaching operation panel 2 so that it displays "enabled" in the enabled / disabled information display item 302 for setting information data that has been set to be enabled (i.e., setting information data stored in both the all-settings storage unit 14 and the enabled setting storage unit 15), and displays "disabled" in the enabled / disabled information display item 302 for setting information data that has been set to be disabled (i.e., setting information data stored in the all-settings storage unit 14 but not in the enabled setting storage unit 15).

[0071] The display content and methods shown in Figures 12 and 14 are merely examples, and may be customized as appropriate depending on the purpose.

[0072] As described above, program files stored in the program file storage unit 13 can be executed based on commands from the teaching control panel 2. However, if the setting information data corresponding to the program files stored in the program file storage unit 13 is not enabled, the robot 100 cannot be controlled properly. To avoid this situation, the teaching control panel 2 may be instructed to perform the following actions.

[0073] Figure 15 illustrates the screen of a teaching control panel display in which information regarding extended software commands for unenabled configuration data is hidden by a user interface device according to one embodiment of the present disclosure.

[0074] Since extension software whose configuration data is not enabled is not intended to be executed, information regarding such extension software whose configuration data is not enabled may be hidden on the display of the teaching operation panel 2. The configuration data acquisition unit 22 acquires information regarding the configuration data stored in the all-settings storage unit 14 and the configuration data stored in the active-settings storage unit 15. The screen display processing unit 17, which is a user interface device, hides information related to extension software corresponding to configuration data not stored in the active-settings storage unit 15 on the screen of the display of the teaching operation panel 2, according to the information acquired by the configuration data acquisition unit 22. For example, in the example shown in Figure 15, the configuration data of extension software A having command A is enabled, and the configuration data of extension software B having command B is disabled. In this case, the screen display processing unit 17 controls the display to show information related to command A on the command list screen, but hides information related to command B. As a result, the user cannot recognize information regarding extension software whose configuration data is not enabled via the teaching operation panel 2, thus preventing the execution of extension software whose configuration data is not enabled. Note that in Figure 15, for the sake of ease of understanding, the absence of command B is schematically represented by an "X mark above the text of command B," but in reality, "command B" is not displayed.

[0075] Figure 16 shows the screen when an alarm indicating that extended software has been executed for unactivated configuration data is displayed on the display of the teaching control panel by a user interface device according to one embodiment of the present disclosure.

[0076] Since extension software whose configuration data is not enabled is not intended to be executed, if the execution of such extension software whose configuration data is not enabled is commanded by the operation of the teaching control panel 2, an alarm may be displayed on the display of the teaching control panel 2. The configuration data acquisition unit 22 acquires information on the configuration data stored in the all-settings storage unit 14 and the configuration data stored in the active-settings storage unit 15. The alarm output unit 23 outputs an alarm when it detects, based on the information acquired by the configuration data acquisition unit 22, that extension software corresponding to configuration data not stored in the active-settings storage unit 15 (i.e., unenabled configuration data) has been executed. The screen display processing unit 17, which is a user interface device, executes control to display alarm information 205 on the display of the teaching control panel 2, indicating that extension software corresponding to configuration data not stored in the active-settings storage unit 15 has been executed. As a result, the user can recognize via the teaching control panel 2 that they have attempted to execute a command for extension software whose configuration data is not enabled, avoid the execution of such extension software, and take appropriate action, such as changing the configuration data to be enabled, as needed. For example, the example shown in Figure 16 illustrates a case where the configuration data of extension software A, which has command A, is enabled, and a button is selected (pressed) to command the execution of command B of extension software B, whose configuration data is disabled. In this case, the alarm output unit 23 outputs an alarm, and in response, the screen display processing unit 17 controls the display of alarm information 205, displaying "Alarm 000: Settings for extension software B are invalid" on the display of the teaching operation panel 2. Note that the display content and method of the alarm information 205 shown in Figure 16 are merely examples, and other display content and methods are acceptable as long as they serve to alert the user. For example, the alarm information may be displayed on another screen, such as the program teaching screen.

[0077] The control device 1 described above includes an arithmetic processing unit (processor). Examples of arithmetic processing units include ICs, LSIs, CPUs, MPUs, and DSPs. This arithmetic processing unit has an extended software installation processing unit 12, a setting activation processing unit 16, a screen display processing unit 17, a screen operation processing unit 18, an authentication unit 19, an unused area search processing unit 20, an instruction execution unit 21, a setting information data acquisition unit 22, and an alarm output unit 23. Each of these parts of the arithmetic processing unit is a functional module realized by, for example, a computer program executed on the processor. For example, if the extended software installation processing unit 12, the setting activation processing unit 16, the screen display processing unit 17, the screen operation processing unit 18, the authentication unit 19, the unused area search processing unit 20, the instruction execution unit 21, the setting information data acquisition unit 22, and the alarm output unit 23 are constructed in computer program format, the functions of each part can be realized by operating the arithmetic processing unit according to this computer program. The computer programs for executing the processes of the extended software installation processing unit 12, the setting activation processing unit 16, the screen display processing unit 17, the screen operation processing unit 18, the authentication unit 19, the unused area search processing unit 20, the instruction execution unit 21, the setting information data acquisition unit 22, and the alarm output unit 23 may be provided in the form of being recorded on a computer-readable recording medium such as semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the extended software installation processing unit 12, the setting activation processing unit 16, the screen display processing unit 17, the screen operation processing unit 18, the authentication unit 19, the unused area search processing unit 20, the instruction execution unit 21, the setting information data acquisition unit 22, and the alarm output unit 23 may be implemented as semiconductor integrated circuits on which computer programs that realize the functions of each unit are written. Furthermore, the extended software candidate storage unit 10, the extended software enable / disable storage unit 11, the program file storage unit 13, the full setting storage unit 14, and the enabled setting storage unit 15 are composed of the various storage devices described above.

[0078] According to one embodiment of the present disclosure, in a control device and user interface device that control the extended functions of a robot or machine tool based on installed extended software, desired extended software can be selectively installed with simple operation without causing malfunctions or failures due to interactions between extended software or conflicts in setting information.

[0079] According to one embodiment of this disclosure, once the application in which the robot will be used is determined, only the necessary extension software can be selectively enabled and installed in the control unit with simple operations. Similarly, only the necessary configuration information data can be selectively enabled with simple operations. Therefore, it is economical as it does not waste memory resources in the control unit (especially expensive SRAM, etc.). In addition, it is possible to avoid malfunctions and failures caused by interactions between extension software or conflicts in the configuration information of extension software.

[0080] Furthermore, according to one embodiment of this disclosure, it is possible to easily configure whether or not to install the extension software and whether or not to enable or disable the setting information data, and the status of each setting can also be easily checked, making it highly convenient. In addition, for extension software for which the setting information data is not enabled, an alarm is displayed on the display of the teaching control panel, and even if an execution command is issued, an alarm is displayed, so it is possible to avoid the execution of extension software for which the setting information data is not enabled, and the robot can be controlled appropriately.

[0081] Furthermore, according to one embodiment of this disclosure, by providing an authentication unit, it is possible to prevent the extension software from being inadvertently installed in the control device or removed from the control device. Also, by providing an authentication unit, a billing system can be built within the control device.

[0082] The above description concerns the case where the control device 1 is a robot control device that controls the robot 100, but the above description is also applicable to numerical control devices that control machine tools. [Explanation of Symbols]

[0083] 1 Control device 2. Instruction and control panel 10. Expanded software candidate storage unit 11. Extended Software Enable / Disable Storage Unit 12. Extended Software Installation Section 13 Program File Storage Unit 14 All settings storage section 15 Effective setting storage unit 16. Configuration Activation Processing Unit 17. Screen display processing unit 18. Screen operation processing unit 19. Authentication Department 20 Unused Area Search Processing Unit 21. Instruction Execution Unit 22 Configuration Information Data Acquisition Unit 100 robots 201 List of Extended Software Items 202 Enabled / Disabled Information Display Items 203 Settings Menu Display Items 204 Authentication screen 205 Alarm Information 301 Display Items in the List of Configuration Information Data 302 Enabled / Disabled Information Display Items 303 Settings menu display items 303

Claims

1. A control device that controls the extended functions of a robot or machine tool based on installed extended software, An extension software enable / disable storage unit stores enable / disable information indicating whether each of the extension software stored in the extension software candidate storage unit, which stores candidate extension software for installation, An extension software installation processing unit that performs an installation process on extension software that is indicated as valid in the valid / disable information stored in the extension software valid / disable storage unit from among the extension software candidate storage unit, A control device equipped with the following features.

2. The extension software includes a program file storage unit that stores a program file in which various processing contents related to the extension are defined, The control device according to claim 1, wherein the extension software installation processing unit, as the installation process, executes a process of writing a program file of an extension software that is indicated as valid in the valid / invalid information stored in the extension software valid / invalid storage unit, from among the extension software stored in the extension software candidate storage unit, to the program file storage unit.

3. The extension software includes a full configuration storage unit that stores configuration information data in which various configuration information related to the extension is defined. The control device according to claim 2, wherein the extended software installation processing unit, as the installation process, performs a process of writing setting information data of extended software that is indicated as valid in the valid / invalid information stored in the extended software valid / invalid storage unit, from among the extended software stored in the extended software candidate storage unit, to the all-setting storage unit.

4. The control device according to any one of claims 1 to 3, wherein the extended software installation processing unit executes the installation process each time the control device is powered on.

5. The control device according to any one of claims 1 to 3, wherein the extended software installation processing unit executes the installation process at any time between the time the content of the enable / disable information stored in the extended software enable / disable storage unit is changed and the next time the control device is powered on.

6. The control device according to any one of claims 1 to 5, further comprising a screen display processing unit that, based on the contents of the enable / disable information stored in the enable / disable storage unit for the extended software, displays a screen on a teaching operation panel or an external device display unit that shows whether each of the extended software stored in the extended software candidate storage unit is enabled or disabled.

7. The system includes a screen operation processing unit that displays a setting screen on a teaching control panel or an external device display unit, prompting the user to enable or disable each of the extended software programs stored in the extended software candidate storage unit, and acquires operation information entered via the setting screen. The control device according to any one of claims 1 to 6, wherein the content of the enable / disable information stored in the extended software enable / disable storage unit is set based on the operation information acquired by the screen operation processing unit.

8. It includes an authentication unit that authenticates user rights based on acquired authentication information, The control device according to any one of claims 1 to 7, wherein when authentication by the authentication unit is successful, modification of the content of the enable / disable information stored in the extended software enable / disable storage unit is permitted, and when authentication by the authentication unit is unsuccessful, modification of the content of the enable / disable information stored in the extended software enable / disable storage unit is prohibited.

9. The control device according to any one of claims 1 to 8, wherein the extended software enable / disable storage unit comprises a rewritable non-volatile memory.

10. A control device that controls the extended functions of a robot or machine tool based on installed extended software, The control device includes, for at least one extension software installed, a total setting storage unit that stores setting information data in which various setting information related to the extension function in the extension software is defined, The control device includes an effective setting storage unit that stores setting information data used when the extended function is controlled based on the extended software introduced in the control device, A setting activation processing unit that writes the setting information data to be activated, selected from the setting information data stored in the total setting storage unit, to the active setting storage unit, A control device equipped with the following features.

11. The control device according to claim 10, which selectively enables setting information data in extended software introduced to the control device.

12. When extended software is installed in the control device, the unused area search processing unit searches for unused storage areas within the entire setting storage unit, An extension software installation processing unit writes configuration information data for the extension software to the unused storage area found by the unused area search processing unit. A control device according to claim 10 or 11, comprising:

13. The system includes a screen operation processing unit that displays a setting screen on a teaching control panel or an external device display unit, prompting the user to set whether each of the setting information data stored in the total setting storage unit is valid or invalid, and acquires operation information entered via the setting screen. The control device according to any one of claims 10 to 12, wherein the setting activation processing unit writes setting information data to be activated to the active setting storage unit and deletes setting information data to be deactivated from the active setting storage unit based on the operation information acquired by the screen operation processing unit.

14. The control device according to any one of claims 10 to 12, comprising: an instruction execution unit that executes a teaching program that gives an instruction to the setting activation processing unit to write setting information data to be activated, selected from the setting information data stored in the total setting storage unit, to the active setting storage unit; and an instruction to the setting activation processing unit to delete setting information data to be deactivated, selected from the setting information data stored in the total setting storage unit, from the active setting storage unit.

15. A setting information data acquisition unit that acquires the setting information data stored in the total setting storage unit and the setting information data stored in the effective setting storage unit, A screen display processing unit causes the programmable operation panel or an external device display to show a screen on the display of the total setting information data stored in the total setting storage unit indicating whether each of the setting information data stored in the total setting storage unit is valid or invalid, in accordance with the contents acquired by the setting information data acquisition unit. A control device according to any one of claims 10 to 14, comprising:

16. A setting information data acquisition unit that acquires the setting information data stored in the total setting storage unit and the setting information data stored in the effective setting storage unit, A screen display processing unit, based on the contents acquired by the setting information data acquisition unit, hides information related to the extended software corresponding to setting information data not stored in the active setting storage unit on the screen of the teaching operation panel or the display of an external device. A control device according to any one of claims 10 to 15, comprising:

17. A setting information data acquisition unit that acquires the setting information data stored in the total setting storage unit and the setting information data stored in the effective setting storage unit, When the setting information data acquisition unit detects, based on the contents acquired by the setting information data acquisition unit, that the extended software corresponding to setting information data not stored in the effective setting storage unit has been executed, an alarm output unit outputs an alarm. A control device according to any one of claims 10 to 16, comprising:

18. The control device according to any one of claims 1 to 17, which is a robot control device for controlling the robot or a numerical control device for controlling the machine tool.

19. A user interface device for a control device that controls the extended functions of a robot or machine tool based on installed extended software, A user interface device that performs control to display on a display device the following: an extended software list display item showing a list of candidate extended software stored in an extended software candidate storage unit; an enable / disable information display item indicating whether each of the candidate extended software is enabled or disabled; and a setting menu display item prompting the user to set whether each of the candidate extended software is enabled or disabled.

20. The user interface device according to claim 19, wherein the display device is controlled to display "Enabled" in the enable / disable information display item of the extension software for extension software that has been set to be enabled via the setting menu display item, and to display "Disabled" in the enable / disable information display item of the extension software for extension software that has been set to be disabled via the setting menu display item.

21. The user interface device according to claim 19 or 20, wherein the control device is controlled to write a program file containing various processing details related to the extended functions of the extended software, which has been set to be enabled via the setting menu display items, to the program file storage unit in the control device, and the control device is controlled to delete a program file in the extended software, which has been set to be disabled via the setting menu display items, from the program file storage unit in the control device.

22. The system executes control to display an authentication screen on the display device prompting the user to enter authentication information. The user interface device according to any one of claims 19 to 21, wherein the control device executes control to display the setting menu display items on the display device when authentication is successful based on the authentication information obtained via the authentication screen.

23. A user interface device for a control device that controls the extended functions of a robot or machine tool based on installed extended software, A user interface device that performs control to display on a display device the following: a setting information data list display item showing a list of setting information data that defines various setting information related to the extended function for at least one extended software introduced into the control device; an enable / disable information display item indicating whether each of the setting information data in the setting information data list display item is enabled or disabled; and a setting menu display item prompting the user to set whether each of the setting information data in the setting information data list display item is enabled or disabled.

24. The user interface device according to claim 23, wherein the control device is controlled to write the setting information data to be enabled, selected from the setting information data via the setting menu display item, to an active setting storage unit in the control device which stores setting information data used when the extended function is controlled based on the installed extended software, and to delete the setting information data to be disabled, selected from the setting information data via the setting menu display item, from the active setting storage unit.

25. The user interface device according to claim 24, wherein the display device is controlled to display "enabled" in the enabled / disabled information display item for setting information data that has been set to be enabled, and to display "disabled" in the enabled / disabled information display item for setting information data that has been set to be disabled.

26. The user interface device according to claim 24 or 25, which, based on the contents of the setting information data in the extended software introduced into the control device and the setting information data stored in the active setting storage unit, performs control to hide information related to the extended software that corresponds to setting information data not stored in the active setting storage unit on the display device.

27. The user interface device according to any one of claims 24 to 26, wherein when the extended software corresponding to setting information data not stored in the effective setting storage unit is executed in the control device, control is performed to display alarm information on the display device.

28. The user interface device according to any one of claims 23 to 27, wherein the display device is a teaching control panel or a display for an external device.

29. The user interface device according to any one of claims 23 to 28, wherein the control device is a robot control device for controlling the robot, or a numerical control device for controlling the machine tool.

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