Teaching Device

Abstract

A teaching device (30) for an industrial machine, comprising: a program creation unit (131) that generates a program creation screen for creating a program for the industrial machine; a comment setting unit (132) that accepts a setting for comments relating to instructions that make up the program; and a comment display switching unit (137) that switches between display and non-display of a set comment on a display screen.

Description

[Technical Field]

[0001] The present invention relates to a teaching device for teaching industrial machines. [Background technology]

[0002] Since it is generally difficult to understand the contents of a robot program, comments are added to the program. Patent Document 1 relates to a programming device that creates a program for a robot system by arranging graphical symbols in a sequence creation zone, and states, "Move robot 1 to position '1' at 300 m / s. The motion format is 'choksen', and the smoothness of acceleration / deceleration control is 50%. Also, as additional information, state that the motion direction is vertical. Next, output SDO

[10] on. As additional information, state that SDO

[10] has the content of hand open" (Fig. 7, paragraph 0043).

[0003] Patent Document 2 describes an example of the configuration of a program editing screen for creating a machining program for a machine tool (FIG. 4, paragraphs 0095-0100). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 08-249026 [Patent Document 2] Republished Publication No. 2021-014517 Summary of the Invention [Problem to be solved by the invention]

[0005] By adding comments to the area where the program is displayed on the display screen of the teaching device, the readability of the program can be improved. However, as the number of comments increases, the display becomes cluttered. For users who wish to use comments when teaching industrial machinery, it is desirable to provide a function for adding comments in a more convenient manner. [Means for solving the problem]

[0006] One aspect of the present disclosure is a teaching device for industrial machinery, comprising: a program creation unit that generates a program creation screen for creating a program for the industrial machinery; a comment setting unit that accepts settings of comments related to commands that constitute the program; and a comment display switching unit that switches between displaying and hiding the set comments on a display screen. a comment display / non-display setting unit that receives a setting input for setting whether or not the comment is to be displayed on the display screen for each command, and the comment display switching unit switches between displaying and non-displaying the comment set for each command in accordance with the setting input set for each command. It is a teaching device.

[0007] These and other objects, features and advantages of the present invention will become more apparent from the detailed description of exemplary embodiments of the invention illustrated in the accompanying drawings. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating a configuration of a robot system including a teaching device according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the hardware configuration of a robot control device, a teaching device, and a PC. [Figure 3] 1 is a functional block diagram of a teaching device according to a first embodiment. [Figure 4] FIG. 10 is a diagram illustrating an example of the basic configuration of a program creation screen. [Figure 5] 4A and 4B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the first embodiment. [Figure 6] FIG. 10 is a diagram illustrating a display state when there are many comments, as a reference example. [Figure 7] FIG. 10 is a functional block diagram of a teaching device according to a second embodiment. [Figure 8A] 10A and 10B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the second embodiment. [Figure 8B] 10A and 10B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the second embodiment. [Figure 9] FIG. 10 is a functional block diagram of a teaching device according to a third embodiment. [Figure 10] 10A and 10B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the third embodiment. [Figure 11] FIG. 10 is a functional block diagram of a teaching device according to a fourth embodiment. [Figure 12A] 10A and 10B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the fourth embodiment. [Figure 12B] 10A and 10B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the fourth embodiment. [Figure 13] FIG. 10 is a functional block diagram of a teaching device according to a fifth embodiment. [Figure 14A] 13A and 13B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the fifth embodiment. [Figure 14B] 13A and 13B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the fifth embodiment. [Figure 15] FIG. 10 is a functional block diagram of a teaching device according to a sixth embodiment. [Figure 16] FIG. 13 is a diagram showing a display state of a program and comments before the program is executed in the teaching device according to the sixth embodiment. [Figure 17] 13A and 13B are diagrams showing the display state of a program and comments during program execution in the teaching device according to the sixth embodiment. [Figure 18] 18 is a diagram showing a display example different from that of FIG. 17, illustrating a display state of a program and comments during program execution in the teaching device according to the sixth embodiment. FIG. [Figure 19]13 is a diagram for explaining a function of switching between displaying and not displaying comments by the teaching device according to the seventh embodiment. FIG. [Figure 20] 13 is a diagram for explaining a function of switching between displaying and not displaying comments by the teaching device according to the eighth embodiment. FIG. [Figure 21] 13A and 13B are diagrams for explaining a function of switching between displaying and not displaying comments by the teaching device according to the ninth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Next, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, like components or functional parts are designated by like reference numerals. The scales of these drawings have been changed appropriately to facilitate understanding. Furthermore, the embodiment shown in the drawings is one example for implementing the present invention, and the present invention is not limited to the illustrated embodiment.

[0010] The teaching devices according to the first to ninth embodiments will be described below. Since the configuration of the robot system including the teaching device is common to the first to ninth embodiments, the configuration of the robot system common to each embodiment and the hardware configuration of each device constituting the robot system will be described first with reference to FIGS.

[0011] FIG. 1 is a diagram illustrating the configuration of a robot system 100 including a teaching device 30 according to an embodiment. As shown in FIG. 1, the robot system 100 includes a robot 10 as an example of industrial machinery, a robot control device 20 that controls the robot 10, and a teaching device 30 connected to the robot control device 20. While FIG. 1 illustrates the robot 10 as a vertical articulated robot, other types of robots, such as a Cartesian coordinate robot, a SCARA robot, or a parallel link robot, may also be used as the robot 10. The teaching device 30 has various functions for teaching (programming) the robot 10. Here, the teaching device 30 is assumed to be a tablet-type device. Other types of information processing devices may also be used as the teaching device 30. As shown in FIG. 1, a PC (personal computer) 40 may be connected to the robot control device 20 and used as a teaching device (programming device).

[0012] The robot control device 20 controls the operation of the robot 10 according to commands from the teaching device 30 or an operation program loaded into the robot control device 20. Various tools can be attached as end effectors to the tip of the arm (flange portion) of the robot 10, allowing the robot 10 to perform various tasks. For example, by mounting a hand or a sensor (visual sensor, force sensor, etc.) on the tip of the arm, the robot 10 can perform various tasks such as workpiece picking, palletizing, and precision fitting.

[0013] The teaching device 30 (or PC 40) is configured to enable programming using command icons (hereinafter simply referred to as icons) that represent functions that constitute the control program of the robot 10 (i.e., represent robot control commands) in addition to text-based programming. Furthermore, the teaching device 30 provides a function that allows users to add comments in a more convenient manner when programming the robot. The PC 40 is configured to have the same functions as the teaching device 30 regarding teaching the robot 10.

[0014] 2 shows an example of the hardware configuration of the robot control device 20, teaching device 30, and PC 40. The robot control device 20 may have the configuration of a general computer, in which a memory 22 (ROM, RAM, nonvolatile memory, etc.), various input / output interfaces 23, an operation unit 24 including various operation switches, etc. are connected to a processor 21 via a bus. The teaching device 30 may have the configuration of a general computer, in which a memory 32 (ROM, RAM, nonvolatile memory, etc.), a display unit 33, an operation unit 34 including input devices such as a keyboard (or software keys), and various input / output interfaces 35 are connected to a processor 31 via a bus. The PC 40 has the hardware configuration of a general-purpose computer, in which a memory 42 (ROM, RAM, nonvolatile memory, etc.), a display unit 43, an operation unit 44 including input devices such as a keyboard and a mouse, a storage device (HDD, etc.) 45, and various input / output interfaces 46 are connected to a processor 41.

[0015] The teaching device 30 according to the first to ninth embodiments will be described below. The first to fifth embodiments and the seventh to ninth embodiments relate to the function of the teaching device 30 for icon-based programming. The sixth embodiment relates to the function of the teaching device 30 for text-based programming. The teaching devices according to the first to sixth embodiments are denoted by reference numerals 30A, 30B, 30C, 30D, 30E, and 30F, respectively.

[0016] First embodiment 3 is a functional block diagram showing the functional configuration of a teaching device 30A according to the first embodiment. The functional configuration shown in this functional block diagram may be realized by a processor 31 of the teaching device 30A executing various software stored in a memory 32, or may be realized by a configuration mainly based on hardware such as an ASIC (Application Specific Integrated Circuit). This also applies to the functional block diagrams according to the other embodiments shown below.

[0017] 3, the teaching device 30A has a program creation unit 131 that provides various basic functions for text-based or icon-based programming. The program creation unit 131 provides a program creation screen, a setting screen for detailed parameter setting (teaching), and various other UI (user interface) screens, and has a function to support user operations (selection, placement, etc. of command statements or command icons) via the various UI screens.

[0018] The teaching device 30A further includes a comment setting unit 132, a comment display / non-display setting unit 133, a comment display switching unit 137, and a comment drawing processing unit .

[0019] The comment setting unit 132 accepts input of comments to be set for icons to be placed in an area on the program creation screen for placing commands (icons, command statements, etc.) to create and display programs (hereinafter, this area will also be referred to as the program display area).

[0020] The comment display / hide setting unit 133 provides a function of accepting an operation input for switching whether or not the comment set by the comment setting unit 132 is to be displayed on the display screen of the display unit 33, or a setting input for setting whether or not the comment is to be displayed for each icon.

[0021] The comment display switching unit 137 provides a function of switching between displaying and hiding comments in accordance with an operation input or setting input received by the comment display / hide setting unit 133 .

[0022] The comment drawing processing unit 134 draws or erases the comment set by the comment setting unit 132 on the display screen in response to an instruction from the comment display switching unit 137 as to whether or not to display the comment.

[0023] 4 shows an example of the basic configuration of a program creation screen 400 created by the program creation unit 131 and displayed on the display unit 33. The basic configuration of the program creation screen 400 created by the program creation unit 131 is assumed to be the same in the second to fifth embodiments and the seventh to ninth embodiments described below.

[0024] 4, the program creation screen 400 includes an icon display area 200 that displays a list of various icons that can be used for programming, and a program display area 300 for creating a program by arranging the icons in order. In the example of Fig. 4, the icon display area 200 includes a close hand icon 201 that indicates a command to close the hand, an open hand icon 202 that indicates a command to open the hand, a linear movement icon 203, an arc movement icon 204, an add via point icon 205, a rotate icon 206 that rotates the hand, and a comment command icon 207 for setting and displaying a comment.

[0025] On the program creation screen 400, the user selects the programming tab 261 when programming. The user performs programming by selecting desired icons from the icon display area 200 and arranging them in the program display area 300, for example, by a drag-and-drop operation. In the example of FIG. 4, the program display area 300 has arranged therein, in this order, a closed hand icon 201, an arc movement icon 204, two linear movement icons 203, and an open hand icon 202. When there are a large number of icons to be arranged in the program display area 300, the user can arrange the icons by scrolling the screen horizontally.

[0026] On the other hand, the user can open a setting screen for making detailed settings for an icon by, for example, placing the cursor over the icon in the program display area 300 and selecting the details tab 262. Alternatively, when an icon is selected in the program display area 300, the setting screen for the icon may be launched.

[0027] The user can execute a program by placing an icon in the program display area 300 and performing a predetermined operation. The programs of the icons placed in the program display area 300 can be executed all at once, or the program can be stopped midway. Alternatively, the program can be executed step by step, one command icon at a time. Step by step execution is effective when checking a program by comparing the contents of the program created by the user with the robot's movements one by one.

[0028] The function of the teaching device 30A to switch between displaying and hiding comments will be described with reference to Fig. 5. The teaching device 30A provides a function to switch between displaying and hiding comments in accordance with a predetermined operation or setting by the user.

[0029] Fig. 5 shows a state in which a user has created a program 501 by arranging icons in the program display area 300. Fig. 5 shows a state in which the program 501 is being created (before execution). The following icons are displayed in the program display area 300 among the icons that make up the program 501: Wide pick-up icon 311 to command pick-up of workpieces ·Comment command icon 401 Hand close icon 312 for closing the hand and gripping the workpiece Register icon 313 that indicates the value to be set in the register ·Comment command icon 402 Wide FOR loop icon 314 to specify FOR loop processing Palletizing icon 315 Linear movement icons 316 and 317 Hand open icon 318

[0030] The wide pickup icon 311 includes detailed settings such as a standby position for approaching the target object and a gripping position for approaching and gripping the target object, and the pickup icon 311 and the icons included within its range (here, the hand close icon 312) realize the operation of picking up a workpiece. The range of the pickup icon 311 also includes a comment command icon 401, and when the pickup icon 311 is executed, the comment command icon 401 is also executed and a comment is displayed. The wide FOR loop icon 314 includes detailed settings such as conditions for executing each command within the FOR loop icon 314, and the FOR loop icon 314 and the icons arranged within its range realize the function of palletizing workpieces.

[0031] The program display area 300 displays a portion of the entire program 501 that can be displayed in the program display area 300. By performing a predetermined operation, the user can horizontally scroll the display in the program display area 300 to display other portions of the program 501. Furthermore, when the program 501 is executed, the icons arranged in the program display area 300 may be configured to scroll horizontally so that the command (icon) being executed is positioned in the center of the program display area 300, for example.

[0032] The user inserts a comment command icon 401 between the pickup icon 311 and the hand close icon 312 in order to add a comment to the part related to the workpiece pick-up operation consisting of the pickup icon 311 and the hand close icon 312. The comment command icon provides a function for displaying the comment set for the comment command icon at or near the position where the comment command icon is placed. When making settings for the comment command icon, by selecting the comment command icon (by moving the cursor to the comment command icon, clicking the comment command icon, etc.), a setting screen 450 for making detailed settings can be launched below the program display area 300.

[0033] The comment command icon 401 has "pickup workpiece A" specified as the comment text. In the program display area 300, the comment "pickup workpiece A" (comment 401a) set for the comment command icon 401 is displayed in the form of a flag. By looking at this comment "pickup workpiece A", the user can immediately recognize the operation content of the command (pickup icon 311) at the position where the comment command icon 401 is placed.

[0034] In the program display area 300 in Fig. 5, a comment command icon 402 is placed before the FOR loop icon 314. Fig. 5 shows a state in which the comment command icon 402 is selected to set a comment for the comment command icon 402, and a setting screen 450 for the comment command icon 402 is displayed at the bottom of the program creation screen 400. By inputting a comment in a comment input field 471 on this setting screen 450, the user can specify the comment to be displayed in the program display area 300.

[0035] On the setting screen 450 for the comment command icon 402, the user has set the comment text "palletize workpiece A" in the comment input field 471. As described above, setting a comment on the setting screen 450 is provided as a function of the comment setting unit 132. As a result, the comment text "palletize workpiece A" (comment 402a) set in the comment input field 471 is displayed in the program display area 300. Such display of the comment is performed by the comment drawing processing unit 134 drawing the comment under an instruction from the comment display switching unit 137 to display the comment.

[0036] As described above, in this embodiment, the comment drawing processing unit 134 displays the comment set to the comment command icon in a manner that allows the comment to be recognized as a comment associated with the icon, and so that the comment is positioned within the program display area 300. Note that, although FIG. 5 illustrates an example in which such a comment is displayed in the form of a flag, other display modes for displaying the comment, such as a speech bubble, may also be used. Note that, when the display of a comment is permitted, the comment drawing processing unit 134 may draw the comment on the condition that the comment command icons 401 and 402 are in the program display area 300 (scrolled in), and may erase the comment on the condition that the comment command icons 401 and 402 have left the program display area 300 (scrolled out).

[0037] As shown in FIG. 5, a comment display switch button 461 for switching between displaying and hiding comments and an enlarged display button 462 for enlarging the display are located on the upper right side of the program creation screen 400. The comment display switch button 461 provides a function for collectively switching between displaying and hiding comments set for each comment command icon. FIG. 5 illustrates a case in which the comment display switch button 461 is set to a state in which comments are displayable. Therefore, comments 401a and 402a set for comment command icons 401 and 402 are displayable. From the comment display state of FIG. 5, operating the comment display switch button 461 hides comments 401a and 402a (see FIG. 8B). Thus, in this example, the comment display switch button 461 operates to switch between displaying and hiding comments each time it is pressed. To make it easier to recognize whether a comment is displayable or not, the display mode of the comment display switch button 461 may be changed depending on the displayable / not displayable state of the comment (for example, by changing the color or highlighting when in the comment display state). Switching between displaying and hiding comments by operating the comment display switching button 461 is performed by the comment display / hide setting unit 133 accepting the operation input and instructing the comment display switching unit 137 on the content of the operation input.

[0038] As shown in FIG. 5, a check box 481 for setting whether or not to permit the display of a comment may be provided on the setting screen 450 for a comment command icon. If this check box 481 is checked, the display of the comment for that comment command icon in the program display area 300 is permitted. On the other hand, if this check box 481 is not checked, the display of the comment in the program display area 300 is not permitted even if a comment is set in the comment input field 471. The comment display / hide switching function using this check box 481 has the advantage of being able to set whether or not to display a comment for each comment command icon. Switching between displaying and hiding a comment for each icon using this check box 481 is performed by the comment display / hide setting unit 133 accepting the setting input and instructing the comment display switching unit 137 on the content of the setting input.

[0039] Note that, in a configuration in which check boxes 481 are provided on the setting screen of each comment command icon, the comment display switching button 461 may be omitted, or alternatively, the comment display switching button 461 may be provided. In a configuration in which both the comment display switching button 461 and the check boxes 481 on the setting screen of each comment command icon are provided, for example, when comment display is permitted by the comment display switching button 461, the display of comments may be switched depending on the state of the check boxes 481, and when comment display is not permitted by the comment display switching button 461, the comments may be hidden regardless of the state of the check boxes 481.

[0040] In this way, by placing the comment command icon at a desired position in the program display area 300, the user can display the comment set by the user at a desired position in the program display area 300. At the same time, the user can hide the comment in situations where the user does not want the comment to be displayed, such as when executing the program 501.

[0041] 6 shows, as a reference example, an example of how comments are displayed in the program display area 300 when the comments are long or there are a large number of comments. In Fig. 6, comments 401b, 312b, 402b, and 314b set in the comment command icon 401, the hand close icon 312, the comment command icon 402, and the FOR loop icon 314, respectively, are displayed in the program display area 300.

[0042] 6, when there are many comments and the comments are long, it may not be possible to display all of the comments in the desired position. In this regard, according to this embodiment, the function of switching between displaying and hiding comments all at once or for each individual icon is provided, so that it can be understood that the user can adjust the display of comments to an appropriate state.

[0043] Second embodiment The teaching device 30B according to the second embodiment will be described below. Fig. 7 is a functional block diagram of the teaching device 30B. The teaching device 30B has a program creation unit 131, a comment setting unit 132, a comment display / hide setting unit 133B, a comment drawing processing unit 134, a program execution unit 135, a program execution state recognition unit 136, and a comment display switching unit 137B. Of the functions of the teaching device 30B, the functions of the program creation unit 131, the comment setting unit 132, and the comment drawing processing unit 134 are equivalent to the functions of the teaching device 30A according to the first embodiment.

[0044] The teaching device 30B according to the second embodiment provides the following functions for displaying / hiding comments. (F21) The basic operation is to display comments before the program is executed (while it is stopped), and to hide comments while the program is running. (F22) However, it is possible to set each icon (each comment command icon) to allow comments to be displayed when the program is executed.

[0045] The comment display / non-display setting unit 133B provides the comment display switching unit 137B with information on the setting of whether or not to permit display of each comment command icon during program execution.

[0046] The program execution unit 135 cooperates with the robot control device 20 and provides a function of executing or stopping a program created on the program display area 300 in response to a user operation.

[0047] The program execution status recognition unit 136 receives information regarding the execution status of the program from the program execution unit 135, thereby recognizing whether the program is being executed or not, and provides information indicating whether the program is being executed or not to the comment display switching unit 137B.

[0048] The comment display switching unit 137B instructs the comment drawing processing unit 134 to switch between displaying and hiding comments based on the setting provided by the comment display / hide setting unit 133B as to whether or not to allow comments to be displayed during program execution, and on the information provided by the program execution status recognition unit 136 as to whether or not the program is being executed.

[0049] The comment drawing processing unit 134 draws or erases the comment set by the comment setting unit 132 on the display screen in accordance with an instruction to switch between displaying and hiding the comment by the comment display switching unit 137B.

[0050] The comment display / non-display switching function of the teaching device 30B according to the second embodiment will be described below with reference to Figures 8A and 8B. The program (command icon) arranged in the program display area 300, the arrangement of the comment command icons 401 and 402, and the comments set in the comment command icons 401 and 402 are assumed to be the same as those in the first embodiment. Figures 8A and 8B show an example in which the teaching device 30B operates with the basic function (F21) described above.

[0051] In each of the comment command icons 401 and 402, the check box 472 for permitting the display of comments during program execution is unchecked by default (display of comments during program execution is set to be prohibited). The comment display / hide setting unit 133B provides this setting information for each comment display icon to the comment display switching unit 137B. In this case, the comment display switching unit 137B operates to switch between displaying and hiding comments according to information relating to whether the program is being executed, which is provided by the program execution state recognition unit 136.

[0052] 8A shows the display state before execution of program 501. In this case, as shown in FIG. 8A, before execution of program 501, comments 401a ("pickup workpiece A") and 402a ("palletize workpiece A") set in comment command icon 401 and comment command icon 402 are displayed in program display area 300.

[0053] On the other hand, Figure 8B shows the display state during execution of program 501. In this case, information indicating that the program is being executed is provided from program execution state recognition unit 136 to comment display switching unit 137B, and comment display switching unit 137B instructs comment drawing processing unit 134 to hide comments 401a and 402a. Then, comment drawing processing unit 134 erases comments 401a and 402a. Note that in Figure 8B, dashed boxes are added at the positions where comments 401a and 402a were located, for convenience of illustrating that comments 401a and 402a have been erased during program execution.

[0054] As described above, the second embodiment can operate with the basic operation of hiding comments during program execution. While users who create programs improve the readability of a program by displaying comments while creating the program, they often focus on what instructions are being executed and the surrounding instructions while the program is running, as well as how the robot is actually operating. Therefore, the operation of automatically hiding comments during program execution is useful for users who wish to hide comments while the program is running and focus on the program execution status.

[0055] Next, a case where the teaching device 30B operates in accordance with the above functions (F21) and (F22) will be described. As shown in Fig. 8A, when a check box 472 for setting whether or not to permit the display of comments even during program execution is checked on the setting screen for the comment command icon 402 (that is, when the setting is made to permit the display of comments even during program execution), the comment display / hide setting unit 133B instructs the comment display switching unit 137B to permit the display of comments for the comment command icon 402 during program execution.

[0056] In this case, even when the program 501 is being executed, the comment display switching unit 137B instructs the comment drawing processing unit 134 to display a comment for the comment command icon 402. As a result, for the comment command icon 402, even when the program is being executed, the comment set for the comment command icon 402 is displayed in the program display area 300. This operation is useful for the user because it is possible to enjoy the advantage of making the program easier to view by hiding comments while the program is being executed, while also being able to display highly important comments even while the program is being executed.

[0057] The teaching device 30B may also be provided with a comment display switching button 461, and may be provided with a function for hiding comments regardless of whether the program is stopped or running.

[0058] In the second embodiment described above, an example of a configuration was shown in which comment display and non-display are automatically switched depending on the program execution state. Other possible configuration examples for automatically switching comment display and non-display depending on the program execution state are as follows. In this example, comment display and non-display are automatically switched depending on the operation mode of the robot control device 20. Specifically, when the robot control device 20 is in automatic operation (Auto mode), comments are automatically hidden as shown in FIG. 8B. When the robot control device 20 is in teaching operation (T1 / T2 mode), comments are automatically displayed as shown in FIG. 8A. Since a user may want to display comments during teaching operation to make the program content easier to understand, but may not need to display comments during automatic operation, this function is beneficial to the user. This function eliminates the need for the user to change the comment display settings each time the robot control device 20 switches its operation mode.

[0059] Such a function may be realized by adding a function for recognizing the operation mode of the robot control device 20 to the program execution state recognition unit 136 in the functional block diagram shown in Fig. 7. In this case, the program execution state recognition unit 136 instructs the comment display switching unit 137B to hide comments when the robot control device 20 is in automatic operation (Auto mode), and instructs the comment display switching unit 137B to display comments when the robot control device 20 is in teaching operation (T1 / T2 mode).

[0060] Third embodiment The teaching device 30C according to the third embodiment will be described below. Like the teaching device 30B according to the second embodiment, the teaching device 30C according to the third embodiment provides the following functions for switching between displaying and hiding comments. (F31) The basic operation is to display comments before the program is executed (while it is stopped), and to hide comments while the program is running. (F32) However, it is possible to set each icon (each comment command icon) to allow comments to be displayed when the program is executed. Furthermore, the teaching device 30C operates to display the comment in a comment display area 490 (see FIG. 10) arranged at a fixed position on the display screen.

[0061] 9 is a functional block diagram of the teaching device 30C. As shown in FIG. 9, the teaching device 30C includes a program creation unit 131, a comment setting unit 132, a comment display / hide setting unit 133B, a comment drawing processing unit 134C, a program execution unit 135, a program execution state recognition unit 136, and a comment display switching unit 137B. Of these functions, the functions of the program creation unit 131, the comment setting unit 132, the comment display / hide setting unit 133B, the program execution unit 135, the program execution state recognition unit 136, and the comment display switching unit 137B are the same as those of the teaching device 30B according to the second embodiment. The comment drawing processing unit 134C displays a comment in a comment display area 490, the position of which is fixed on the display screen.

[0062] 10 is a diagram showing an example of a screen display when the teaching device 30C operates in accordance with the basic function (F1) of switching between displaying and hiding comments depending on the execution state of the program. The arrangement of the program (command icon) and comment command icons 401 and 402 arranged in the program display area 300 is assumed to be the same as in the second embodiment.

[0063] 10 shows the display state before execution of program 501. A comment display area 490 for displaying comments is provided in a fixed area of ​​the display screen (in this example, the top of the display screen). In this example, comment display area 490 is created as an area large enough to display three comments side by side in the vertical direction of the display screen. The size of comment display area 490 shown in FIG. 10 is just an example, and comment display area 490 may have a different size (for example, a size large enough to display five comments).

[0064] The comment display area 490 includes three comment display fields 491, 492, and 493. In this example, the three comment display fields 491, 492, and 493 may be configured to be arranged in order from top to bottom of the comment display area 490, starting with the comment belonging to the command icon located at the beginning of the program (left side of the screen). In this example, the comment set for the comment command icon 401 is displayed in the comment display field 491, and the comment set for the comment command icon 402 is displayed in the comment display field 492. Note that the comment for the next comment command icon that has not yet been displayed in the program display area 300 may be displayed in the next comment display field 493.

[0065] When program 501 enters an execution state, information indicating that the program is executing is provided from program execution state recognition unit 136 to comment display switching unit 137B, and comment display switching unit 137B instructs comment drawing processing unit 134 to hide comments in comment display fields 491, 492, and 493 in comment display area 490. Then, comment drawing processing unit 134 erases the comments in comment display fields 491, 492, and 493 (or may erase comment display area 490).

[0066] A case where the teaching device 30C operates in accordance with the above functions (F31) and (F32) will be described. As shown in FIG. 10, the setting screen for each comment command icon may be provided with a check box 472 for setting whether or not to permit the display of comments even during program execution. When the check box 472 is checked on the setting screen for the comment command icon (i.e., when the setting is configured to permit the display of comments even during program execution), the comment display / hide setting unit 133B instructs the comment display switching unit 137B to permit the display of comments during program execution for that comment command icon. In this case, the comment drawing processing unit 134 operates to display comments in the comment display area 490 for comment command icons that are permitted to display comments during program execution, even during program execution.

[0067] By configuring the comments to be displayed in a fixed comment display area 490 that is independent of the program display area 300, it is possible to present the comments while avoiding a situation in which the program display area 300 becomes cluttered with comments.

[0068] Fourth embodiment A teaching device 30D according to the fourth embodiment will be described below. The teaching device 30D provides the following function for switching between displaying and hiding comments. (F41) During program execution, the comments set on the execution location icon (comment command icon) will be displayed. (F42) For each icon (each comment command icon), it is possible to set whether or not to allow comments to be displayed when a program is executed.

[0069] Fig. 11 is a functional block diagram of the teaching device 30D. As shown in Fig. 12, the teaching device 30D has a program creation unit 131, a comment setting unit 132, a comment display / hide setting unit 133B, a program execution unit 135, a comment display switching unit 137D, an instruction execution determination unit 138, a program display area display unit 139A, and a comment display area display unit 139B. Of these, the functions of the program creation unit 131, the comment setting unit 132, the comment display / hide setting unit 133B, and the program execution unit 135 are the same as those of the teaching device 30B according to the second embodiment.

[0070] The command execution determination unit 138 acquires information about which position in the program 501 is being executed based on information about the execution state of the program 501 provided by the program execution unit 135, and instructs the comment display switching unit 137D to display the comment command icon at the execution position of the program 501 as the target for comment display.

[0071] The comment display switching unit 137D notifies the program display area display unit 139A or the comment display area display unit 139B of an instruction as to whether or not to display the comment set in the comment command icon at the execution location.

[0072] The program display area display unit 139A provides a function to display comments in the program display area 300 in the form of flags added to comment command icons in the format shown in Fig. 8A. The comment display area display unit 139B provides a function to display comments in a fixed area on the display screen in the format shown in Fig. 10. The teaching device 30D is configured to be able to execute either the operation of displaying comments in flag format in the program display area by the program display area display unit 139A, or the operation of displaying comments in the comment display area by the comment display area display unit 139B.

[0073] Referring to Fig. 12A, an example of the operation of the teaching device 30D in accordance with the above functions (F41) and (F42) will be described. In Fig. 12A, the program (command icon) arranged in the program display area 300, the arrangement of the comment command icon 402, and the comment set in the comment command icon 402 are assumed to be the same as those in the first embodiment. Fig. 12A shows a scene where the current execution position of the program 501 is at the position of the comment command icon 402. The vertical bar 351 indicating the execution position of the program overlaps with the comment command icon 402. In this case, the command execution determination unit 138 provides information indicating that the comment command icon 402 is at the execution position to the comment display switching unit 137D.

[0074] The comment display / hide setting unit 133B sends a command to the comment display switching unit 137D regarding the setting of whether or not to permit comment display during program execution (the setting of checkbox 472). Here, it is assumed that display of comments during execution of the comment command icon 402 is permitted. Therefore, the comment display switching unit 137D operates to display comment 402a ("palletize workpiece A") of the comment command icon 402 at the currently executed location, as shown in FIG. 12A.

[0075] 12A, it is assumed that the program display area display unit 139A is responsible for the comment drawing function. Therefore, on the display screen of FIG. 12A, a comment 402a set in a comment command icon 402 is displayed in the form of a flag in the program display area 300.

[0076] According to this embodiment, the icon (comment command icon) at the execution location is the target for displaying comments, which has the advantage of making comments easier to recognize, especially for users who are closely watching the location of the command being executed.

[0077] As an additional function to the above-mentioned comment display / hide switching functions (F41) and (F42), a setting (check box) for whether to allow a comment to be displayed when a program is stopped may be provided on the setting screen for each comment command icon, so that it is possible to set for each comment command icon whether to allow a comment to be displayed when a program is stopped. In this case, when a program is stopped in the display screen state as shown in Fig. 12A, it is possible to set whether to display the comment set in the comment command icon 402.

[0078] Although the above-described operation example is an example of operation in which the program display area display unit 139A is responsible for drawing comments, it is also possible to set the comment display area display unit 139B to be responsible for drawing comments. Below, we will explain the operation in which the teaching device 30D operates in accordance with the above functions (F41) and (F42) and the comment display area display unit 139B is responsible for drawing comments, with reference to Figure 12B.

[0079] 12B, program 501 is being executed, and comment command icon 402 is currently in the execution position. Command execution determination unit 138 provides information indicating that comment command icon 402 is in the execution position to comment display switching unit 137D.

[0080] In this case, the comment display area display unit 139B displays the comment set for the comment command icon 402 in the running state in the comment display field 492 located in the vertical center of the comment display area 490, and also highlights the comment. Highlighting of the comment can be performed in various ways, such as by bolding the comment text, changing the color, or changing the color or pattern of the comment display field. In the program display area 300, the running comment command icon 402 is highlighted. The highlighting of the comment (comment display field) and the highlighting of the running comment command icon may be the same. The highlighting of the comment and the icon can be achieved by cooperation between the functional blocks of the teaching device 30D. By highlighting both the running comment command icon and the comment displayed in the comment display area 490 in this way, the user can instantly recognize which comment command icon is being executed and the comment set for that comment command icon.

[0081] In the comment display area 490, a comment set for the comment command icon 401 that was executed immediately before the comment command icon 402 may be displayed in a comment display field 491 at the top of a comment display field 492 that displays comments for the currently executed comment command icon. Also, a comment set for the comment command icon that is to be executed next after the comment command icon 402 (assuming that this comment command icon has not yet entered the program display area 300) may be displayed in a comment display field 493 at the bottom of the comment display field 492.

[0082] Note that, since the execution time of the comment command icon itself is relatively short, the display of the comment in the comment display area 490 may be maintained for a predetermined time after the comment command icon is executed. Specifically, for a predetermined time after the execution of the comment command icon 402 starts and the comment of the comment command icon 402 is displayed in the comment display field 492, even after the execution of the comment command icon 402 has ended, the comment set in the comment command icon 402 may continue to be displayed in the comment display field 492.

[0083] Fifth embodiment The following describes a teaching device 30E according to the fifth embodiment. The teaching device 30E provides a function of displaying comments in the program display area 300 in a manner that clearly indicates the range to which the comment applies.

[0084] Fig. 13 is a functional block diagram of a teaching device 30E. As shown in Fig. 13, the teaching device 30E has a program creation unit 131, a comment setting unit 132, a comment display / hide setting unit 133E, a comment display switching unit 137E, a comment drawing processing unit 134, an icon selection unit 140, and an icon range determination unit 141. Of these function blocks, the functions of the program creation unit 131, the comment setting unit 132, and the comment drawing processing unit 134 are equivalent to the functions of these function blocks in the first embodiment.

[0085] The comment display / non-display setting section 133E is (1) Setting whether to display or hide comments when a range comment icon (see range comment icon 403 in FIG. 14A) is selected; (2) Setting whether to allow comments to be displayed during program execution, is configured to accept

[0086] The icon selection unit 140 supports the operation of selecting an icon arranged in the program display area 300. For example, the icon selection unit 140 may select an icon when the user points the cursor at the icon, and may change the color of the icon to indicate that it is selected.

[0087] The icon range determination unit 141 determines whether the icon selected by the user is included in the range comment icon, and provides information about the determination result to the comment display switching unit 137E. Note that, if the selected icon is a range comment icon, the icon range determination unit 141 provides information indicating that the range comment icon has been selected to the comment display switching unit 137E.

[0088] When the icon selected by the user is included in the range of a range comment icon, or when a range comment icon is selected, the comment display switching unit 137E instructs the comment drawing processing unit 134 to display the comments set on the range comment icon and the icons included in the range of the range comment icon.

[0089] An example of the operation of the teaching device 30E regarding the function of switching between displaying and hiding comments will be described below with reference to Figures 14A and 14B. In the program display area 300 shown in Figures 14A and 14B, a program 502 including comment command icons 401 and 402 and wide-range comment icons 403 and 404 has been created.

[0090] As shown in FIG. 14A , the range of the range comment icon 403 includes the comment command icon 401 and the hand-closed icon 312, and it is graphically indicated that the comment command icon 401 and the hand-closed icon 312 are within the range to which the range comment icon 403 applies. That is, for the range comment icon 403, the start end position 403s and the end end position 403e to which the comment applies in the programmer are clearly indicated. The width of the range comment icon can be changed by user operation. The range comment icon 404 also includes the palletizing icon 315, the linear movement icons 316 and 317, the hand-open icon 318, and other icons, and it is graphically indicated that the palletizing icon 315, the linear movement icons 316 and 317, the hand-open icon 318, and other icons are within the range to which the range comment icon 404 applies.

[0091] 14A is an example of a display screen before a program is executed (while it is stopped). Here, it is assumed that range comment icon 403 has been selected by a user operation. As shown in FIG. 14A, a setting screen 450 for range comment icon 403 is displayed at the bottom of program creation screen 400. This setting screen has check box 472 for setting whether or not to allow comments to be displayed even when the program is executed, and check box 473 for setting whether or not to allow comments to be displayed when the range comment icon is selected. Here, check box 472 and check box 473 are checked, and the display of comments during program execution and the display of comments when the range comment icon is selected are allowed.

[0092] 14A , the icon range determination unit 141 notifies the comment display switching unit 137E that the comment range icon 403 is selected. In this case, the comment display switching unit 137E instructs the comment drawing processing unit 134 to display the comment set in the comment range icon 403. Furthermore, because the comment command icon 401 is also included within the range of the comment range icon 403, the icon range determination unit 141 also instructs the comment display switching unit 137E that the comment command icon 401 is included in the comment range icon 403. In this case, the comment display switching unit 137E instructs the comment drawing processing unit 134 to also display the comment of the comment command icon 401.

[0093] As a result, as shown in FIG. 14A, the comment 403a ("palletize workpiece A") set in the range comment icon 403 and the comment 401a ("pickup workpiece A") set in the comment command icon 401 are displayed in the form of flags in the program display area 300.

[0094] In addition, even in a situation where the comment command icon 401 or the closed hand icon 312, which are included in the range of the range comment icon 403, are selected by user operation, the icon range determination unit 141 determines that these icons are also included in the range of the range comment icon 403, and the comments set in the range comment icon 403 and the comment command icon 401 will be displayed, as in the state shown in Figure 14A.

[0095] 14B shows a state in which a range comment icon 404 has been selected in the program display area 300 by a user operation from the display state of FIG. 14A. As a result of the selection of the range comment icon 403 being deselected, the comment drawing processing unit 134 erases the comments in the range comment icon 403 and the comment command icon 401. As a result of the range comment icon 404 being selected, a comment 404a ("palletize workpiece A") set in the range comment icon 404 is newly displayed in the form of a flag in the program display area 300.

[0096] The user can freely set the width of the range comment icon with the support of the program creation unit 131. The user can create a program by appropriately including desired icons within the range of the range comment icon.

[0097] In this way, according to this embodiment, the comment accompanying the range comment icon is displayed in a state where the range comment icon graphically indicates the range to which the comment applies (the start and end positions to which the comment applies), so the user can check the content of the comment while clearly understanding the range to which the comment applies. By highlighting the selected range comment icon, the user can more clearly understand the range to which the comment applies.

[0098] In the first to fifth embodiments described above, configuration examples have been described in which a comment is set for a comment command icon or a wide-range comment command icon, which are dedicated icons for displaying comments. However, icons to which a comment can be set are not limited to such dedicated icons for setting comments. For example, a command icon such as a palletizing command icon may be configured to allow comments to be set. In this case, the setting screen for the palletizing command icon is provided with the above-mentioned comment setting field and various check boxes for setting whether to show or hide comments. This makes it possible to realize a comment display / hide switching function similar to that when a dedicated comment command icon or range comment command icon is used.

[0099] Sixth embodiment A teaching device 30F according to the sixth embodiment will be described below. The teaching device 30F has a configuration in which switching between displaying and hiding comments is applied to a text-based program. The teaching device 30F has a function of switching between displaying and hiding comments depending on whether the program is running or not.

[0100] 15 is a functional block diagram of a teaching device 30F. The teaching device 30F has a program creation unit 131, a comment setting unit 132F, a comment display / hide setting unit 133F, a program execution unit 135F, a program execution state recognition unit 136F, a comment display switching unit 137F, and a comment drawing processing unit 134F.

[0101] The program creation unit 131 provides various functions for supporting text-based program creation, including providing a program creation screen for creating a program.

[0102] The comment setting unit 132F provides a function for setting comments for a text-based program.

[0103] The comment display / non-display setting unit 133F provides a function for setting whether to display or not the comment attached to each comment.

[0104] The program execution unit 135F controls the execution of the program created on the program creation screen.

[0105] The program execution state recognition unit 136F receives information about the execution state of the program from the program execution unit 135, recognizes whether the program is being executed or not, and provides information indicating whether the program is being executed or not to the comment display switching unit 137F.

[0106] The comment display switching unit 137F instructs the comment drawing processing unit 134 to switch between displaying and hiding comments based on the comment display / hide setting provided by the comment display / hide setting unit 133F and information indicating whether the program is running or not provided by the program execution status recognition unit 136F.

[0107] The comment drawing processing unit 134F draws or erases the comment on the display screen in response to an instruction from the comment display switching unit 137F to switch between displaying and hiding the comment.

[0108] An example of the operation of the teaching device 30F's function of switching between displaying and hiding comments will be described below with reference to Figures 16 to 18. Figure 16 shows a program 511 created in a program display area 300A presented as part of a program creation screen with the support of the program creation unit 131 of the teaching device 30F. Comments have also been entered into the program 511. In the text-based program 511, the display / hide of comments shall follow the following rules. (R1) If the comment content is to be displayed at all times (whether the program is not running or running), the comment content is written after the first symbol (in this example, "!"). (R2) To hide the comment content while the program is running, write the comment content after the second symbol (in this example, "!!").

[0109] Comments are entered in program 511 in accordance with the above rules (R1) and (R2). Specifically, the comment on line 1, "Work A movement begins," and the comment on line 14, "Work A movement ends," are each written after an exclamation mark (!"). The comment on line 2, "Hand close," the comment on line 4, "Up," the comment on line 6, "Move to point A," the comment on line 8, "Down," the comment on line 10, "Hand open," and the comment on line 12, "Wait," are each written after an exclamation mark (!!). As shown in FIG. 16, before the program is executed, all of the entered comments are displayed.

[0110] In this embodiment, the comment setting unit 132F provides a function of setting text following the first symbol and second symbol as a comment. The comment display / hide setting unit 133F provides setting information regarding whether to allow display of a comment during program execution to the comment display switching unit 137F, according to the first symbol and the second symbol. The comment display switching unit 137F then instructs the comment drawing processing unit 134F to switch between displaying and hiding the comment, according to the setting information from the comment display / hide setting unit 133F.

[0111] 17 shows the display state of program display area 300A during execution of program 511. Because the program is in execution mode, the comments on lines 2, 4, 6, 8, 10, and 12 are hidden. On the other hand, the comments on lines 1 and 14 are still displayed during execution.

[0112] In this way, by providing a function to hide comments during program execution, the user can improve the readability of the program by displaying all comments before program execution (while the program is stopped), while reducing the number of comments displayed during program execution to prevent cluttering of the program display area 300A. In other words, the user can specify important comments that the user wants to display even during program execution.

[0113] FIG. 18 is a diagram showing another example of display during execution of the program 511 of FIG. 16. As shown in FIG. 18, this display example is an example of operation in which blank lines that are left blank when comments are hidden during execution are closed and displayed. By closing the blank lines and displaying the entire program 511, the program display area 300A becomes compact, making the program 511 easier to read and allowing more lines containing statements to be displayed. The function of performing such display can be configured to be controlled by the comment display switching unit 137F. For example, the comment display switching unit 137F may instruct the program creation unit 131 on information regarding lines that are left blank when comments are hidden during program execution, and cause the program creation unit 131 to close the blank lines and display them.

[0114] In addition, in the teaching device 30F of the sixth embodiment, an operation button may be provided on the display screen to simultaneously switch between displaying and hiding comments in the program display area 300A, similar to the comment display switching button 461 in the teaching device 30A of the first embodiment.

[0115] Seventh embodiment The teaching device 30 according to the seventh embodiment will be described below. The teaching device 30 according to the seventh embodiment corresponds to a modification of part of the functions of the teaching device 30A according to the first embodiment in terms of the specific method for switching between displaying and hiding comments and the display mode. Therefore, the teaching device 30 according to the seventh embodiment will be described below with reference to the functional block diagram (FIG. 3) according to the first embodiment.

[0116] 19 is a diagram for explaining the comment display / non-display switching function and comment display mode of the teaching device 30 according to this embodiment. These functions are realized by cooperation between the functional elements of the teaching device 30 (program creation unit 131, comment setting unit 132, comment display / non-display setting unit 133, comment display switching unit 137, and comment drawing processing unit 134). As in the example shown in FIG. 5, a program 501 is created in the program creation area 300.

[0117] As shown in FIG. 19 , this embodiment provides a function of adding small icons (611, 612) to each comment command icon so that the user can instantly know whether a comment has been set. Here, it is assumed that a comment has been set for the comment command icon 401 via the setting screen 450, while no comment has been set for the comment command icon 402. In this case, information on whether a comment has been set in the comment input field 471 is notified to the program creation unit 131 via the comment setting unit 132. The program creation unit 131 adds small icons 611, 612 indicating whether a comment content exists to the comment command icons 401, 402, respectively, and displays them. In this example, the small icon 611 indicating that a comment exists is added to the comment command icon 401. On the other hand, the small icon 612 indicating that no comment has been set is added to the comment command icon 402.

[0118] In this embodiment, when a small icon 611 indicating the presence of a comment is selected by tapping or the like, the comment of the comment command icon 401 corresponding to this small icon 611 is displayed. When this small icon 611 is not selected, the comment remains hidden. The comment display switching unit 137 cooperates with the program creation unit 131 to realize the function of switching between displaying and hiding such comments.

[0119] To improve the convenience of users who use the comment function, comments may be displayed in the following manner. The content of the comment displayed when the small icon 611 indicating the presence of a comment is touched may be abbreviated. In the example of Fig. 19, if the comment set in the comment command icon 401 is "pickup workpiece A, if there is a space at destination, etc.", the comment 401a displayed in the program display area 300 when the small icon 611 is touched is the abbreviated "pickup workpiece A."

[0120] When the omitted comment 401a is touched or dragged, the comment is highlighted and displayed in full (comment 601). In this case, a drawing process may be performed to display the comment 601 in full in the foreground, for example, so that it takes priority over other comments and is displayed in the program display area 300.

[0121] Furthermore, the display position of the comment 601 displayed in full may be movable within the display screen by a drag operation, etc. Fig. 19 shows the comment 601 moved to the location indicated by the reference numeral 602. This function is useful when a user wants to temporarily move a comment or when the user wants to carefully check its content.

[0122] The comment drawing function described above can be realized by the comment drawing processing unit 134 working in conjunction with other functional elements.

[0123] The above-described configuration has the advantage of being able to accurately display comments that the user needs, while preventing the space for displaying comments from becoming cluttered or full.

[0124] In the above-described operation of this embodiment, the setting of whether to allow or disallow comment display using check box 481 may also be effective. For example, when check box 481 is not checked (display of comments is disallowed), the small icon added to the comment command icon of that setting may be small icon 612 indicating no comment.

[0125] Eighth embodiment The teaching device 30 according to the eighth embodiment will be described below. The teaching device 30 according to the eighth embodiment corresponds to a modification of part of the functions of the teaching device 30A according to the first embodiment in terms of the specific method for switching between displaying and hiding comments and the display mode. Therefore, the teaching device 30 according to the eighth embodiment will be described below with reference to the functional block diagram (FIG. 3) according to the first embodiment.

[0126] FIG. 20 is a diagram for explaining the comment display mode and the comment display switching function of the teaching device 30 according to this embodiment.

[0127] It is assumed that the comment "pickup workpiece A" is set for the comment command icon 401 via its setting screen 450, and the comment "palletize workpiece A" is set for the comment command icon 402 via its setting screen 450. The components of the teaching device 30 according to the eighth embodiment work together to realize the function of collectively displaying comments within a certain range in the program display area 300 in the following manner.

[0128] The user can specify a certain range within the program display area 300 by a dragging operation or the like. Here, it is assumed that a rectangular specified area 621 is specified, as shown in FIG. 20 . The specified area 621 is displayed by a frame or the like. Such an area specifying operation may be provided as a function of the program creation unit 131.

[0129] The comment display / hide setting unit 133 sets to display the comment of the comment display icon in the specified area 621. In this case, even if the comment display check box 481 of the comment display icon is not checked (comment is not displayed), the comment display / hide setting unit 133 displays the comment for the comment command icon in the specified area 621.

[0130] 20, comments 401a and 402a are displayed for comment command icons 401 and 402, respectively, within designated area 621. When the designation of designated area 621 is released, comment display / hide setting unit 133 returns the comments of comment command icons within designated area 621 that were in a comment-hidden state before the area was designated to a comment-hidden state.

[0131] With the above configuration, the user can collectively switch between displaying and hiding comments in the program display area 300. The above configuration is useful when the user wants to temporarily check multiple comments that are set to hidden all at once.

[0132] Furthermore, in this embodiment, a function for collectively setting comment command icons can be provided as follows. For example, the comment display / hide setting unit 133 may collectively switch the settings of the check boxes 481 of all comment command icons in the specified area 621 according to the setting of the check box 481 of one comment command icon in the specified area 621. Such a function is useful for a user who wishes to collectively operate the settings of many comment command icons.

[0133] Ninth embodiment The teaching device 30 according to the ninth embodiment will be described below. The teaching device 30 according to the ninth embodiment corresponds to a modification of part of the functions of the teaching device 30A according to the first embodiment in terms of the specific method for switching between displaying and hiding comments. Therefore, the teaching device 30 according to the ninth embodiment will be described below with reference to the functional block diagram (FIG. 3) according to the first embodiment.

[0134] FIG. 21 is a diagram for explaining a method for switching between displaying and hiding comments in the teaching device 30 according to this embodiment.

[0135] In this embodiment, a function for setting whether to display or hide the comment for each icon is activated in response to a predetermined operation, such as pressing the comment display switching button 461 or pressing and holding one of the comment command icons (for example, the comment command icon 402 in FIG. 5). Here, as an example, it is assumed that a pop-up menu 630 such as that shown in FIG. 21 is displayed. In the pop-up menu 630, a "position" display field 631 indicates the position (line number) of the icon, and a "comment content" display field 632 displays the comment set for that icon. In the "display" field, a button 633 is displayed that indicates the setting state of whether to display or hide the comment (corresponding to the state of the check box 481 (FIG. 5, etc.)).

[0136] Button 633 functions as a toggle button that switches between display and non-display settings each time it is pressed. By operating button 633, the user can set whether to display or hide a comment for the comment command icon. The function of activating such pop-up menu 630 and setting whether to display or hide a comment may be realized as a function by comment display / hide setting unit 133.

[0137] With the above configuration, the user can easily set whether to display or hide comments for each icon. The position of the comment command icon and a list of the comment contents are displayed in the pop-up menu 630, improving the user's convenience in setting whether to display or hide the comment.

[0138] As described above, according to each embodiment, when programming using a teaching device for industrial machinery, it is possible to enjoy the benefit of improving the readability of the program by inputting comments, while also avoiding the display state becoming cluttered due to an increase in the number of comments.

[0139] That is, according to the configuration of each embodiment, it is possible to provide a function for adding comments in an even more convenient manner for users who wish to use comments in teaching industrial machinery.

[0140] Although the present invention has been described using exemplary embodiments, those skilled in the art will appreciate that modifications and various other changes, omissions, and additions can be made to the above-described embodiments without departing from the scope of the present invention.

[0141] The above-described embodiment is an example in which the programming target by the teaching device is a robot, but the various functions described in the above embodiment of switching between displaying and hiding comments can be applied to teaching devices (programming devices) for various industrial machines, including machine tools.

[0142] The programs for executing the various operations for switching the display / non-display of comments described in the above-mentioned embodiments can be recorded on various computer-readable recording media (e.g., semiconductor memories such as ROM, EEPROM, and flash memory, magnetic recording media, and optical discs such as CD-ROM and DVD-ROM). [Explanation of symbols]

[0143] 10. Robot 20 Robot control device 30, 30A, 30B, 30C, 30D, 30E, 30F Teaching device 40 PC 21, 31, 41 processors 22, 32, 42 memory 23, 35, 46 Input / Output Interface 33, 43 Display section 24, 34, 44 Operation section 45 Storage device 100 Robot Systems 131 Program Creation Department 132, 132F Comment setting section 133, 133B, 133E, 133F Comment display / hide setting section 134, 134C, 134F Comment drawing processing section 135, 135F Program Execution Unit 136, 136F Program execution state recognition unit 137, 137B, 137D, 137E, 137F Comment display switching section 138 Instruction execution determination unit 139A Program display area display section 139B Comment display area display section 140 Icon selection section 141 Icon range determination unit 200 Icon display area 300, 300F program display area 400 Program creation screen 401, 402 comment command icon 403, 404 range comment icon 403s Starting end position 403e End position 450 Settings Screen 461 Comment display switch button 471 Comment input field 490 Comment display area

Claims

1. A teaching device for industrial machinery, a program creation unit that generates a program creation screen for creating a program for the industrial machine; a comment setting unit that accepts setting of comments related to commands that constitute the program; a comment display switching unit that switches between displaying and hiding the set comment on a display screen; a comment display / non-display setting unit that receives a setting input for setting whether or not the comment is to be displayed on the display screen for each command, the comment display switching unit switches between displaying and hiding the comments set for each of the commands in accordance with the setting input set for each of the commands. Teaching device.

2. 2. The teaching device according to claim 1, wherein the instructions are written using icons representing functions that constitute the program.

3. The teaching device according to claim 1 , wherein the instruction is written as a text-based instruction statement.

4. A teaching device for industrial machinery, a program creation unit that generates a program creation screen for creating a program for the industrial machine; a comment setting unit that accepts setting of comments related to commands that constitute the program; a comment display switching unit that switches between displaying and hiding the set comment on a display screen, the comment display switching unit switches between displaying and hiding the comment on the display screen depending on the execution state of the program. Teaching device.

5. The teaching device according to claim 4 , wherein the comment display switching unit displays the comment when the program is not being executed and hides the comment when the program is being executed.

6. A teaching device for industrial machinery, a program creation unit that generates a program creation screen for creating a program for the industrial machine; a comment setting unit that accepts setting of comments related to commands that constitute the program; a comment display switching unit that switches between displaying and hiding the set comment on a display screen; a comment display / non-display setting unit that accepts a setting input for setting whether or not to permit display of a comment during execution of the program for each command constituting the program, the comment display switching unit switches between display and non-display during execution of the program for the comments set for each of the instructions in accordance with the setting input set for each of the instructions. Teaching device.

7. A teaching device for industrial machinery, a program creation unit that generates a program creation screen for creating a program for the industrial machine; a comment setting unit that accepts setting of comments related to commands that constitute the program; a comment display switching unit that switches between displaying and hiding the set comment on a display screen; an instruction execution determination unit that determines which instruction is being executed during execution of the program; the comment display switching unit displays a comment set for the command that is determined to be currently being executed by the command execution determination unit. Teaching device.

8. 3. The teaching device according to claim 1, wherein the program creation unit presents, on the program creation screen, an image that graphically indicates a start end position and an end end position to which the comment is applied in the program.

9. A teaching device for industrial machinery, a program creation unit that generates a program creation screen for creating a program for the industrial machine; a comment setting unit that accepts the setting of a comment related to an instruction written by an icon representing a function that constitutes the program; a comment display switching unit that switches between displaying and hiding the set comment on a display screen; an icon selection unit that accepts a selection of one of the plurality of icons that constitute the program; an icon range determination unit that determines whether the icon selected by the icon selection unit is a predetermined icon having a shape that graphically indicates a start end position and an end end position to which a comment is applied in the program, or an icon that is within a range between the start end position and the end end position of the predetermined icon, when the icon range determination unit determines that the predetermined icon or an icon within the range between the start end position and the end end position has been selected, the comment display switching unit displays comments set on the predetermined icon and the icon within the range between the start end position and the end end position. Teaching device.

10. The teaching device according to claim 1 , wherein the comment display switching unit displays the comment in a predetermined area for displaying the program on the program creation screen.

11. The teaching device according to claim 1 or 2, wherein the comment display switching unit displays the comment in a predetermined display area whose position is fixed on the display screen.

12. The teaching device according to claim 3 , wherein the comment display switching unit closes blank lines in the program due to the non-display of the comments, and displays the entire program.

13. The teaching device described in Claim 2, wherein the program creation unit adds an icon to the program creation screen indicating whether or not a comment has been set for each of the commands.

14. The program creation unit accepts a user operation to designate an area on the program creation screen, The teaching device according to claim 2 , wherein the comment display / non-display setting unit collectively sets whether or not to display comments for the instructions in the specified area.

15. The teaching device described in Claim 2, wherein the comment display / hide setting unit displays a setting screen on the display screen that includes a list of instructions in the program and allows the user to set whether or not to display a comment for each instruction, in accordance with a specified user operation.

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