PROGRAM CREATION SUPPORT METHOD, PROGRAM CREATION SUPPORT DEVICE, PROGRAM CREATION SUPPORT PROGRAM, AND STORAGE MEDIUM

Abstract

To provide a program creation support method capable of improving operability while securing versatility.SOLUTION: There is provided a program creation support method which supports generation of a program for performing operation by a robot, and the method includes: detecting user's operation on input equipment; determining the kind of the operation through operation to select work; displaying on display equipment a dedicated operation flow indicating a sequence of actions of the robot corresponding to the kind, the dedicated operation flow including a dedicated object indicating the operation and inhibited from changing the sequence; and converting the dedicated object into a general object indicating the operation and permitted to change the sequence in response to operation indicating conversion of the dedicated object.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a program creation support method, a program creation support device, a program creation support program, and a storage medium. [Background technology]

[0002] Patent Document 1 discloses a technique that allows a robot to perform a specific task with a simple operation by generating guidance information related to input of force control parameters. Patent Document 2 discloses a technique that allows a robot to edit a task's motion flow by changing a combination of motion objects that indicate the robot's motion. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-233814 A [Patent Document 2] JP 2019-126894 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 teaches only specific tasks, so it is difficult to improve versatility. The technology described in Patent Document 2 is versatile, so as the number of operation objects increases, operability may decrease, especially for beginners. [Means for solving the problem]

[0005] One aspect is a program creation support method for supporting the creation of a program for a robot to perform a task, the program creation support method including: detecting a user's operation on an input device; determining the type of task by the operation of selecting the type of task; displaying on a display device a dedicated operation flow indicating a sequence of operations of the robot corresponding to the type, the dedicated operation flow including dedicated objects that indicate the operations and whose sequence is prohibited from being changed; and converting the dedicated objects into general-purpose objects that indicate the operations and whose sequence is permitted by the operation of converting the dedicated objects.

[0006] Another aspect is a program creation support device that supports the creation of a program for performing a task by a robot, the program creation support device comprising: an input device that detects a user's operation; a display device that displays an image; and a control circuit that determines the type of task by an operation to select the type of task, displays a dedicated operation flow on the display device that indicates a sequence of operations of the robot corresponding to the type, the dedicated operation flow including dedicated objects that indicate the operations and whose sequence is prohibited from being changed, and converts the dedicated objects into general-purpose objects that indicate the operations and whose sequence is permitted from being changed by an operation to convert the dedicated objects.

[0007] Another aspect is a program creation support program that supports the creation of a program for performing a task by a robot, the program creation support program causing a computer to execute processing including: detecting a user's operation on an input device; determining the type of task by the operation of selecting the type of task; displaying on a display device a dedicated operation flow that indicates a sequence of tasks of the robot corresponding to the type, the dedicated operation flow including dedicated objects that indicate the tasks and whose sequence is prohibited from being changed; and converting the dedicated objects into general-purpose objects that indicate the tasks and whose sequence is permitted by the operation of converting the dedicated objects.

[0008] Another aspect is a storage medium readable by the computer that stores the above-mentioned program creation assistance program. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram illustrating a basic configuration of a program creation support device according to an embodiment. [Diagram 2] FIG. 13 is a diagram illustrating an example of a creation screen. [Diagram 3] 1 is a table explaining the correspondence between dedicated objects and general-purpose objects for each task. [Figure 4] 11A and 11B are diagrams illustrating fitting as an operation performed by a robot. [Diagram 5] FIG. 13 is a diagram for explaining an action flow area for displaying a dedicated action flow. [Figure 6] FIG. 13 is a diagram for explaining an action flow area for displaying a general-purpose action flow. [Figure 7] FIG. 13 is a diagram illustrating a dedicated operation flow including a generic object. [Figure 8] 1 is a flowchart illustrating an example of a program creation support method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or similar elements are denoted by the same or similar reference numerals, and duplicated explanations may be omitted.

[0011] As shown in Fig. 1, the robot system according to the embodiment includes a program creation support device 10, a control device 20, and a robot 30. The robot 30 performs a task on an object by force control, which controls a force acting on the object to a target force. The control device 20 controls the robot 30 to perform a task on the object according to a program. Here, the program means a task program that causes the robot 30 to perform motions and auxiliary functions for executing a desired task. The program creation support device 10 supports the creation of a program for the robot 30 to perform a task.

[0012] The robot 30 is, for example, a multi-joint robot having a six-axis arm that moves with six degrees of freedom. The robot 30 includes, for example, a base, a manipulator supported by the base, an end effector attached to a mechanical interface of the manipulator, and a force sensor. The manipulator of the robot 30 includes a plurality of actuators that drive each joint of the manipulator, and a plurality of encoders that detect the rotation angle of each joint. The force sensor of the robot 30 detects the force acting on an object via the end effector.

[0013] The control device 20 executes a program to control the manipulator and end effector of the robot 30 and cause the robot 30 to perform work on an object. The control device 20 receives a signal corresponding to a force acting on the object from a force sensor of the robot 30. The control device 20 performs force control on the robot 30 so that the force acting on the object becomes a target force defined by the program. In this embodiment, force can mean a load, that is, force and torque.

[0014] The control device 20 also controls the robot 30 so that the pose obtained from the encoder of the robot 30 becomes a target pose defined by a program. The pose means, for example, the position and orientation of a tool center point (TCP). The TCP is the reference for the position of the end effector of the robot 30.

[0015] The program creation support device 10 includes a display device 11, an input device 12, a control circuit 13, and a communication interface (I / F) 16. The program creation support device 10 can be configured using various general-purpose computers. Each piece of hardware of the program creation support device 10 may be shared with the control device 20. The display device 11 displays an image according to the control of the control circuit 13. As the display device 11, for example, a display device such as a liquid crystal display or an organic light emitting diode display can be adopted.

[0016] The input device 12 detects a user's operation and outputs a signal corresponding to the user's operation to the control circuit 13. As the input device 12, various input devices such as a pointing device such as a mouse, a keyboard, a push button, a touch sensor, etc. As the display device 11 and the input device 12 which are integrally configured with each other, a touch panel display may be used.

[0017] The control circuit 13 includes a processing circuit 14 and a storage device 15. The processing circuit 14 constitutes a processing device of a computer that processes calculations necessary for the operation of the program creation support device 10. The processing circuit 14, for example, executes a program creation support program stored in the storage device 15 to realize various functions of the program creation support device 10 described in the embodiment. As a processing device constituting at least a part of the processing circuit 14, for example, various logic operation circuits such as a central processing unit (CPU), a digital signal processor (DSP), a programmable logic device (PLD), and an application specific integrated circuit (ASIC) can be adopted. The processing circuit 14 may be composed of an integrated hardware, or may be composed of multiple separate hardware.

[0018] The storage device 15 includes a computer-readable storage medium that stores a program creation support program indicating a series of processes required for the operation of the program creation support device 10 and various data. As the storage medium, for example, a semiconductor memory or various disk media can be used. The storage medium is not limited to a non-volatile auxiliary storage device, and may include a volatile main storage device such as a register or cache memory. At least a part of the storage medium may be constituted by a part of the processing circuit 14. The storage device 15 may be constituted by an integrated piece of hardware, or may be constituted by multiple separate pieces of hardware.

[0019] The communication I / F 16 is communicatively connected to the control device 20 by establishing a communication link with the control device 20, for example, in response to control by the processing circuit 14. The communication I / F 16 may include, for example, an antenna for transmitting and receiving signals, a circuit for processing signals transmitted in the communication link, and a receptacle into which a communication cable plug is inserted. The communication I / F 16 transmits a program created in the program creation support device 10 to the control device 20. The communication I / F 16 may include a receptacle into which a plug of an auxiliary storage device for storing a program created in the program creation support device 10 is inserted.

[0020] 2, for example, when the processing circuitry 14 executes a program creation assistance program, it causes the display device 11 to display a creation screen W1 for creating a program for causing the robot 30 to perform a task. The creation screen W1 includes a main view area MV, an action flow area FL, a sequence area SQ, a parameter area PR, a result area RS, and an execution area RN.

[0021] The main view area MV displays options for action objects that constitute the elements of the action flow, the results of program execution, etc. The action flow area FL displays an action flow that graphically shows the sequence of actions of the robot 30. The sequence area SQ displays a tree structure of sequences in the action flow. The parameter area PR displays work parameters for the entire sequence, action parameters for each action, etc. The result area RS displays the results of program execution, such as work time. The execution area RN displays buttons, etc. for instructing the execution of a program.

[0022] 2, the multiple regions constituting the creation screen W1 are divided into different frames, but they do not have to be divided into frames. The creation screen W1 has a button BT1 in the upper left area for starting a wizard that assists in creating a program. For example, when the button BT1 is pressed by a user's operation on the input device 12, the processing circuit 14 displays a task selection screen for selecting a task type on the display device 11 as a part of the creation screen W1.

[0023] The task selection screen presents a plurality of task types to the user as options. The processing circuit 14 determines the task type in response to a user's operation to select the task type. The task types may include various types, such as pasting, screwing, height inspection, and fitting. Furthermore, the processing circuit 14 sets task parameters by prompting the user to input task parameters. For example, when the task type is screwing, the task parameters are the length of the screw and the rotation speed of the screwdriver. The processing circuit 14 displays a dedicated operation flow in the operation flow area FL, which indicates a sequence of operations of the robot 30 corresponding to the determined type. The operation flow displayed in the operation flow area FL may be edited by the user's operation on the input device 12.

[0024] As shown in FIG. 3, the dedicated operation flow indicates various types of sequences such as a pasting sequence, a screw tightening sequence, a height inspection sequence, and a fitting sequence. Therefore, the work selection screen may display a list of options corresponding to a plurality of types of dedicated operation flows. The dedicated operation flow is an operation flow including dedicated objects indicating the operation of the robot 30 in a work on a specific object. The dedicated objects are prohibited from changing the sequence. Changing the sequence means adding, deleting, and moving in the sequence.

[0025] For example, a pasting sequence, which corresponds to the task of pasting an object in a predetermined position, is composed of one dedicated object, a pasting object. A screw tightening sequence, which corresponds to the task of inserting a male thread into a female thread and tightening it, is composed of two dedicated objects, a screw tightening object and a screw tightening object. A height inspection sequence, which corresponds to the task of detecting the height of an object, is composed of one dedicated object, a height inspection object. A fitting sequence, which corresponds to the task of fitting an object in a predetermined position, is composed of two dedicated objects, an insertion object and a pull test object.

[0026] Hereinafter, an example will be described in which the type of work is determined to be fitting, in which an object WK1 is fitted into an object WK2, as shown in FIG. 4. The objects WK1 and WK2 are fitted to each other by a snap fit. For example, the object WK1 is fitted into the object WK2 by being grasped by a gripper of the robot 30. First, the type of work is determined to be fitting in response to a user's operation to select the type of work on the work selection screen. The sequence of operations corresponding to fitting is the fitting sequence.

[0027] As shown in FIG. 5, the processing circuit 14 displays a dedicated action flow showing an engagement sequence in the action flow area FL in response to determining the type of the operation to be engagement. In the example shown in FIG. 5, the dedicated action flow is composed of a sequence block SB explaining the sequence, a first action object OB1, and a second action object OB2. For example, the sequence block SB is set with action parameters that affect the first action object OB1 and the second action object OB2. The action parameters are, for example, a coordinate system, a shape of the target object, an engagement direction, an engagement depth, an approach distance, and the like. The action parameters may be set in the dedicated objects.

[0028] The sequence block SB has a lock mark, which indicates that the action flow is a dedicated action flow, and the character string "EasyInsertSequence". The first action object OB1 is a dedicated object called an insert object. The second action object OB2 is a dedicated object called a tensile test object. Each of the first action object OB1 and the second action object OB2 has a lock mark, which indicates that changing the sequence is prohibited.

[0029] 5, the sequence block SB is highlighted by having a thicker outline than the outlines of the first action object OB1 and the second action object OB2. The highlighted display of the sequence block SB means that the sequence block SB has been selected by a user's operation on the input device 12.

[0030] 6, the processing circuit 14 converts each dedicated object included in the dedicated operation flow displayed in the operation flow area FL into a generic object by a predetermined operation for converting the dedicated operation flow. For example, the processing circuit 14 displays a context menu corresponding to the selected sequence block SB on the display device 11. When the user selects "Convert" included in the context menu, the processing circuit 14 converts each dedicated object into a generic object.

[0031] In the example shown in Figure 6, the action flow is composed of a sequence block SB, a first action object OB1, a second action object OB2, and a third action object OB3. The sequence block SB does not have a lock mark, which means that the action flow is a dedicated action flow, but has the character string "General", which means that the action flow is a general-purpose action flow. A general-purpose action flow is an action flow that does not include a dedicated object but includes a general-purpose object. The general-purpose object indicates the same action as the dedicated object before conversion, and sequence changes are permitted.

[0032] The first motion object OB1 is a general-purpose object called a pressing moving object. A pressing moving object represents a motion of moving while pressing with a specified force in a specified direction. Each of the second motion object OB2 and the third motion object OB3 is a general-purpose object called a pressing object. A pressing object represents a motion of pressing with a specified force in a specified direction.

[0033] In the example shown in FIG. 6, the first motion object OB1, the second motion object OB2, and the third motion object OB3 do not have a lock mark. However, the first motion object OB1, the second motion object OB2, and the third motion object OB3 each have an icon that is an image of each motion. The general-purpose object has independent motion parameters that are not affected by the work parameters of the sequence block SB. For example, the motion parameters of the pressing moving object are the coordinate system, pressing direction, movement type, movement distance, etc. In the motion parameters, the pressing direction can be specified by parameters of six axes. Note that the icons that are images of each motion may be displayed in the first motion object OB1 and the second motion object OB2 of the dedicated motion flow shown in FIG. 5.

[0034] The sequence block SB in Fig. 6 is highlighted, which means that each generic object in the generic operation flow is converted from a dedicated object. As shown in Fig. 3, the insert object in Fig. 5 corresponds to the push move object and the push object in Fig. 6. Similarly, the tensile test object in Fig. 5 corresponds to the push object in Fig. 6. The operation parameters set in the sequence block SB in Fig. 5 are set as operation parameters in each operation object in Fig. 6.

[0035] In the fitting sequence, the robot 30 uses the pushing moving object to move the object WK1 until it is about to be fitted into the object WK2. That is, the robot 30 pushes the object WK1 downward while following a plane direction perpendicular to the downward direction in FIG. 4. Next, the robot 30 uses the pushing object to slowly push the object WK1 downward until it collides with the object WK2 and the force becomes steady. Next, the robot 30 confirms that the object WK1 will not come out of the object WK2 by pushing the object WK1 upward with the pushing object.

[0036] In this example, the pushing moving object, which is the first motion object OB1, moves the object WK1 at a higher speed than the pushing object, which is the second motion object OB2. This prevents the collision force between the object WK1 and the object WK2 from becoming excessive, thereby achieving both high-speed fitting and reduction in the collision force. By preparing such a dedicated motion flow in advance, even if a beginner creates a program, the program can be performed efficiently. Furthermore, the program creation support device 10 converts the dedicated object included in the dedicated motion flow into a generic object, making it possible to change the sequence. This allows the work to be customized, improving versatility.

[0037] A dedicated operation flow may be, for example, an efficient operation flow, but may be difficult for beginners to understand, or a sequence of which should not be changed. An operation flow including a generic object may have its sequence changed, but for example, deleting or moving a generic object may make it impossible to execute the intended task. To prevent this, a message warning that the sequence will be changed may be displayed on the display device 11 when an operation to change the sequence is performed.

[0038] 5 can be determined by the sequence block SB or the first operating object OB1. That is, the pulling direction of the tensile test object can be set to the opposite direction to the fitting direction, which is the operating parameter of the fitting sequence. This reduces the number of parameters to be set, and improves operability in creating a program.

[0039] In addition, as shown in Fig. 3, a paste object included in a paste sequence is converted into a press object. A screw tightening object included in a screw tightening sequence is converted into a press move object, and a screw tightening object is converted into a press object and a press move object. A height inspection object included in a height inspection sequence is converted into a contact object. A contact object moves in a specified direction and stops when it receives a reaction force.

[0040] In addition to the above, the general-purpose object can be various objects such as force relaxation, tracing movement, surface matching, push probe, contact probe, conditional branching, program execution, etc. Force relaxation is a tracing action so that the force on a specified axis becomes zero. Scanning movement is a motion to move along a specified trajectory while tracing so that the force on a specified axis becomes zero. Surface matching is a motion to press while tracing an angle in a specified direction to match surfaces. Push probe is a motion to find a hole by probing along a specified trajectory while pressing. Contact probe is a motion to find a hole by repeating contact movements. Conditional branching branches the operation flow depending on the result of the object to be judged. Program execution executes a program with a specified function name.

[0041] Alternatively, as shown in Fig. 7, the processing circuit 14 converts a specific dedicated object displayed in the action flow area FL into a generic object by a predetermined operation for converting the dedicated object. For example, in the example shown in Fig. 5, the first action object OB1 is selected by a user's operation and is displayed in a highlighted manner in the action flow area FL. The processing circuit 14 displays a context menu corresponding to the selected first action object OB1 on the display device 11. When "Convert" included in the context menu is selected by the user, the processing circuit 14 converts each dedicated object into a generic object. As a result, the dedicated action flow of Fig. 7 is displayed in the action flow area FL.

[0042] In the example shown in Fig. 7, the action flow is composed of a sequence block SB, a first action object OB1 and a second action object OB2, which are respectively generic objects, and a third action object OB3, which is a dedicated object. The inserting object in Fig. 5 corresponds to the pushing moving object and the pushing object in Fig. 7. The processing circuit 14 highlights and displays the pushing moving object and the pushing object, which are generic objects converted from the inserting object. By highlighting and displaying the converted sequence block SB or generic object, it is possible to present to the user the relationship with the action flow before conversion.

[0043] When converting a dedicated operation flow, the operation parameters in the generic object are inherited from the work parameters in the dedicated operation flow. For example, the "coordinate system" of fitting, which is a work parameter in the fitting sequence, is inherited as the "coordinate system" of force control, which is an operation parameter in the generic object. Similarly, the "fitting direction" specified in one direction is inherited by being converted into the "pushing direction" specified by six axes. In this way, by converting to a generic object, the number of parameter types is increased and versatility is improved.

[0044] Furthermore, the processing circuit 14 may display on the display device 11 the source code of the program showing the dedicated operation flow displayed in the operation flow area FL in response to a user's operation to display the program by a character string. By editing the displayed program, more detailed settings become possible. The processing circuit 14 may display on the display device 11 the program showing the general-purpose operation flow displayed in the operation flow area FL. Furthermore, a specific operation object may be selectively converted into a program, or the converted program may be replaced with an object that executes it.

[0045] An example of the operation of the program creation support device 10 will be described as a program creation support method according to the embodiment with reference to Fig. 8. A series of processes including the processes shown in Fig. 8 is executed by a program creation support program installed in the control circuit 13.

[0046] In step S1, the processing circuitry 14 displays a plurality of types of tasks that can be performed by the robot 30 on the display device 11 as options to be selected by the user. The processing circuitry 14 determines the type of task in response to a user's operation on the input device 12 to select the type of task.

[0047] In step S2, the processing circuitry 14 displays a dedicated action flow corresponding to the type determined in step S1 on the display device 11. The dedicated action flow is an image showing a sequence of actions in the task of the type determined in step S1. The dedicated action flow includes dedicated objects, which are images showing the actions included in the sequence.

[0048] In step S3, the processing circuit 14 accepts a user operation to convert the dedicated object displayed in step S2 via the input device 12. The operation to convert the dedicated object may be an operation to convert the entire dedicated operation flow.

[0049] In step S4, the processing circuit 14 converts the dedicated object that has been subjected to the conversion operation in step S3 into a generic object. Generic objects are permitted to change the sequence, and therefore can be added, deleted and moved in the sequence.

[0050] According to the program creation support device 10, a dedicated operation flow corresponding to a type of work is displayed, and dedicated objects included in the dedicated operation flow are converted into general-purpose objects. The dedicated operation flow allows beginners, for example, to determine the sequence of operations with simple operations. Furthermore, the general-purpose objects allow advanced users, for example, to make detailed adjustments. Thus, according to the program creation support device 10, operability can be improved while ensuring versatility in program creation support.

[0051] Although the embodiments have been described above, the present invention is not limited to these disclosures. The configuration of each part may be replaced with any configuration having a similar function, and any configuration in each embodiment may be omitted or added within the technical scope of the present invention. Thus, various alternative embodiments will be apparent to those skilled in the art from these disclosures.

[0052] For example, the dedicated object may be omitted from the action flow area FL. In this case, since an action corresponding to the dedicated object is set in the sequence block SB, the sequence block SB may be regarded as the dedicated object. In addition, the dedicated object and the general-purpose object may have different colors or shapes to make them easier to distinguish from each other. The same applies to the dedicated action flow and the general-purpose action flow.

[0053] In addition, the present invention naturally includes various embodiments not described above, such as configurations in which the above-mentioned configurations are mutually applied, etc. The technical scope of the present invention is defined only by the invention-specifying matters related to the scope of the claims that are appropriate from the above explanation. [Explanation of symbols]

[0054] 10...program creation support device, 11...display device, 12...input device, 13...control circuit, 14...processing circuit, 15...memory device, 16...communication I / F, 20...control device, 30...robot OB1...first moving object, OB2...second moving object, OB3...third moving object, WK1, WK2...target object.

Claims

1. A program creation support method for supporting the creation of a program for performing a task by a robot It is a law, Detecting a user's operation on an input device; determining the type of work by the operation of selecting the type of work; A dedicated motion flow showing a sequence of motions of the robot corresponding to the type, A dedicated motion including a dedicated object that indicates the motion and in which the sequence is prohibited from being changed. Display the operation flow on a display device, and The operation of converting the dedicated object converts the dedicated object to a converting the sequence into a generic object that exhibits the above behavior and allows modification of the sequence; The generic object performs the same operation as the dedicated object performs before the conversion. indicates, When the dedicated object is transformed, the behavior of the transformed generic object is The parameters are inherited from the operation parameters in the dedicated operation flow. can be, the operation parameters are parameters relating to the entire sequence, The operational parameters are parameters relating to each of the operations. A program creation support method comprising the steps of:

2. The operation of converting the dedicated operational flow causes the 2. The program of claim 1, wherein each of said special-purpose objects is converted into said generic object. How to support program creation.

3. 3. The method according to claim 1, wherein the converted generic object is displayed on the display device in an emphasized manner. The program creation support method according to claim 1,

4. The operation for changing the sequence indicates that the sequence is to be changed. The processor according to any one of claims 1 to 3, further comprising a display device that displays a warning message. How to support program creation.

5. displaying a source code of the program indicating the dedicated operation flow on the display device; 5. The program creation support method according to claim 1.

6. A program creation support device that supports the creation of programs for performing tasks using robots The position is An input device for detecting a user's operation; A display device for displaying an image; The type is determined by the operation of selecting the type of work, and a dedicated motion flow showing a sequence of motions of the robot, the motions being shown and A dedicated operation flow including a dedicated object in which the sequence change is prohibited is displayed. and displaying the dedicated object on the device and converting the dedicated object by the operation. The object is a generic object that indicates the operation and is permitted to change the sequence. a control circuit for converting the Equipped with The generic object performs the same operation as the dedicated object performs before the conversion. indicates, When the dedicated object is transformed, the behavior of the transformed generic object is The parameters are inherited from the operation parameters in the dedicated operation flow. can be, the operation parameters are parameters relating to the entire sequence, The operation parameters are parameters related to each of the operations. Support equipment.

7. A program creation support program that supports the creation of programs for performing tasks using robots It is a program Detecting a user's operation on an input device; determining the type of work by the operation of selecting the type of work; A dedicated motion flow showing a sequence of motions of the robot corresponding to the type, A dedicated motion including a dedicated object that indicates the motion and in which the sequence is prohibited from being changed. Display the operation flow on a display device, and The operation of converting the dedicated object converts the dedicated object to a converting the sequence into a generic object that exhibits the above behavior and allows modification of the sequence; The generic object performs the same operation as the dedicated object performs before the conversion. indicates, When the dedicated object is transformed, the behavior of the transformed generic object is The parameters are inherited from the operation parameters in the dedicated operation flow. can be, the operation parameters are parameters relating to the entire sequence, The operational parameters are parameters relating to each of the operations. A program creation support program that causes a computer to execute processes including the above.

8. The program creation support program according to claim 7 is stored in the computer. A readable storage medium.

Images