Teaching device and teaching program

Abstract

To provide a teaching device and a teaching program capable of displaying an operation screen suited for a skill level.SOLUTION: Provided is a teaching device for teaching a robot that has a first teaching mode and a second teaching mode, wherein a first robot operation screen is displayed on a display part in the first teaching mode, and a second robot operation screen different from the first robot operation screen is displayed on the display part in the second teaching mode, the number of options of commands provided on the second robot operation screen being smaller than that provided on the first robot operation screen. The options include a first speed option for operating the robot at a first speed and a second speed option for operating the robot at a second speed higher than the first speed, or a first distance option for moving the robot by a first distance in one step and a second distance option for moving the robot by a second distance longer than the first distance.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a teaching device and a teaching program.

Background Art

[0002] In order to cause a robot to perform a predetermined operation, it is necessary to perform a teaching operation on the robot prior to that. Since a high level of skill is required for the teaching operation, it is difficult for some users to perform this operation. In view of this point, Patent Document 1 discloses a teaching device that performs a teaching operation in an interactive manner and analyzes the operation content, thereby changing the operation guidance message and menu content according to the skill level of the user.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the teaching device of Patent Document 1, the display content of the operation screen for actually operating the robot is the same regardless of the skill level of the user. Therefore, in particular, it is difficult for users with a low skill level to operate the robot with appropriate parameters (such as operating speed, operating distance, etc.).

Means for Solving the Problems

[0005] The teaching device of the present invention is a teaching device for teaching a robot, having a first teaching mode and a second teaching mode, in the first teaching mode, a first robot operation screen is displayed on a display unit as a screen for operating the robot, In the second teaching mode, a second robot operation screen, different from the first robot operation screen, is displayed on the display unit as the screen for operating the robot. The command options provided on the second robot operation screen are fewer than the command options provided on the first robot operation screen. The aforementioned command is a parameter command relating to the robot's operating speed or travel distance. The aforementioned options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or a first distance option that causes the robot to move a first distance in one step and a second distance option that causes the robot to move a second distance longer than the first distance in one step.

[0006] The teaching program of the present invention is a teaching program for teaching a robot, It has a first teaching mode and a second teaching mode, In the first teaching mode, the first robot operation screen is displayed on the display unit as the screen for operating the robot. In the second teaching mode, a second robot operation screen, different from the first robot operation screen, is displayed on the display unit as the screen for operating the robot. The command options provided on the second robot operation screen are fewer than the command options provided on the first robot operation screen. The aforementioned command is a parameter command relating to the robot's operating speed or travel distance. The aforementioned options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or a first distance option that causes the robot to move a first distance in one step and a second distance option that causes the robot to move a second distance longer than the first distance in one step. [Brief explanation of the drawing]

[0007] [Figure 1] This is a perspective view showing the overall configuration of a robot system according to a preferred embodiment. [Figure 2] This figure shows an example of a robot operation screen. [Figure 3] This figure shows an example of a robot operation screen. [Figure 4] This figure shows an example of a robot operation screen. [Figure 5] This figure shows an example of a robot operation screen. [Figure 6] This figure shows an example of an input screen. [Figure 7] This figure shows an example of a robot operation screen. [Figure 8] This figure shows an example of the second robot operation screen. [Figure 9] This figure shows an example of a teaching point display screen. [Figure 10] This figure shows an example of the second robot operation screen. [Modes for carrying out the invention]

[0008] The teaching device and teaching program of the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

[0009] Figure 1 is a perspective view showing the overall configuration of a robot system according to a preferred embodiment. Figures 2 to 5 are diagrams showing examples of robot operation screens, respectively. Figure 6 is a diagram showing an example of an input screen. Figure 7 is a diagram showing an example of a robot motion screen. Figure 8 is a diagram showing an example of a second robot operation screen. Figure 9 is a diagram showing an example of a teaching point display screen. Figure 10 is a diagram showing an example of a second robot operation screen.

[0010] The robot system 1 shown in Figure 1 includes a robot 2, a robot control device 3 that controls the driving of the robot 2, and a teaching device 4 that displays information about the robot 2.

[0011] ≪Robot 2≫ Robot 2 is a six-axis robot having six drive shafts. Robot 2 has a base 21 and a robot arm 22 rotatably connected to the base 21, and an end effector 23 is attached to the tip of the robot arm 22.

[0012] The robot arm 22 is a robotic arm in which a plurality of arms 221, 222, 223, 224, 225, 226 are rotatably connected, and is provided with six joints J1 to J6. Among these, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Also, a motor M and an encoder E are installed in each of the joints J1, J2, J3, J4, J5, and J6.

[0013] Further, an end effector 23 is connected to the arm 226. The end effector 23 is detachable from the arm 226, and can be selected and attached with one suitable for the work to be executed by the robot 2.

[0014] The robot 2 has been described above, but the configuration of the robot 2 is not particularly limited. For example, the robot 2 may be a scalar robot (horizontal articulated robot), a dual-arm robot, etc. Also, the robot 2 may be fixed to the floor or the like and immovable, or may be fixed to a moving device such as an automated guided vehicle (AGV) and movable.

[0015] ≪Robot control device 3≫ The robot control device 3 controls the drive of the robot 2. The robot control device 3 is composed of, for example, a computer, and has a processor that processes information, a memory communicably connected to the processor, and an external interface that connects to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute various programs and the like stored in the memory.

[0016] ≪Teaching device 4≫ The teaching device 4 is a device that performs the teaching operation of the robot 2. The teaching device 4 is electrically connected to the robot control device 3, and performs the teaching operation of the robot 2 by registering the necessary teaching points by performing jog operations of the robot 2 via the robot control device 3. Teaching refers to generating an operation program and storing it in the memory of the teaching device 4 or the memory of the robot control device 3. The teaching device 4 is composed of, for example, a computer or teaching pendant, and has a processor that processes information, a memory that is communicatively connected to the processor, and an external interface that connects to external devices. The memory stores a teaching program Pt that can be executed by the processor, and the processor can read and execute this teaching program Pt.

[0017] As shown in Figure 1, the teaching device 4 is connected to a monitor 51 equipped with a display unit 511 and an input device 52 such as a keyboard and mouse. For example, an icon for the teaching program Pt is displayed on the display unit 511, and the teaching program Pt is launched when this icon is selected by the input device 52. However, the method of launching the teaching program Pt is not particularly limited.

[0018] The teaching device 4 has a first teaching mode for highly skilled users with advanced robot usage skills, such as developers, and a second teaching mode for less skilled users with advanced robot usage skills, such as production site operators. In both the first and second teaching modes, the robot operation screen 9 is displayed on the display unit 511 according to the user's request. However, in the first teaching mode, the first robot operation screen 9m1 for skilled users is displayed on the display unit 511, while in the second teaching mode, the second robot operation screen 9m2 for less skilled users, which is different from the first robot operation screen 9m1, is displayed on the display unit 511. Furthermore, the number of command options provided on the second robot operation screen 9m2 is fewer than the number of command options provided on the first robot operation screen 9m1.

[0019] For example, in a production environment, the position of robot 2 needs to be readjusted each time due to variations in the batches of workpieces being handled. However, production site operators often do not possess the same robot usage skills as developers. If operators are allowed to operate robot 2 using the same robot operation screen as the developers, there is a high probability that they will not be able to use it effectively, leading to errors in operating robot 2 or failure to perform teaching tasks properly. Furthermore, readjustment often only requires minor adjustments to the position and orientation of robot 2, so there is no need to provide a wide range of robot operation command options.

[0020] Therefore, in the teaching device 4, the robot operation screen 9 is made different for the first teaching mode for experts and the second teaching mode for inexperienced users, with fewer command options available on the second robot operation screen 9m2 in the second teaching mode than on the first robot operation screen 9m1 in the first teaching mode. With this configuration, experts can operate the robot 2 via the first robot operation screen 9m1, which has more command options, while inexperienced users can operate the robot 2 via the second robot operation screen 9m2, which has fewer command options. Thus, the teaching device 4 is easy to use for both experts and inexperienced users. A detailed explanation follows below.

[0021] Furthermore, when the teaching program Pt is closed, the teaching device 4 allows the user to choose whether to start it in the first teaching mode or the second teaching mode the next time it is started. Therefore, when the teaching device 4 starts up, it starts in the first teaching mode if the first teaching mode is selected, and starts in the second teaching mode if the second teaching mode is selected. However, it is not limited to this, and for example, when the teaching program Pt is started, a home screen may be displayed, and the user may choose from this home screen whether to perform the teaching work in the first teaching mode or the second teaching mode.

[0022] The overall configuration of the robot operation screen 9 displayed on the display unit 511 is common to both the first teaching mode and the second teaching mode. As shown in Figure 2, the robot operation screen 9 is the screen displayed when the robot 2 is jogged, and includes a robot display area 91 that displays a virtual robot 2, a parameter command display area 92 that displays parameter commands for setting various parameters of the jog operation, a mode selection area 93 that selects the mode of the jog operation, and an operation command display area 94 that displays operation commands for the jog operation. The arrangement and size of these areas 91, 92, 93, and 94 in the robot operation screen 9 are not particularly limited.

[0023] The robot display area 91 is displayed in the upper left corner of the robot operation screen 9. A virtual robot 2 is displayed in the robot display area 91, and this virtual robot 2 moves together with the real robot 2 according to the jog operation.

[0024] The parameter command display area 92 is displayed below the robot display area 91. The parameter command display area 92 also includes parameter commands PC, which include a speed setting command PC1 for setting the operating speed of the robot 2, a distance setting command PC2 for setting the operating distance which is the distance the robot 2 moves per jog operation, i.e., per step, and an open / close setting command PC3 for setting the opening and closing of the end effector 23.

[0025] In this embodiment, the operating speed setting command PC1 has two options: "low speed" and "high speed," the operating distance setting command PC2 has four options: "small," "medium," "large," and "custom," and the opening / closing setting command PC3 has two options: "grasp" and "release." By setting these options, a wide variety of robot operations become possible.

[0026] In this configuration, the "low speed" option in the operating speed setting command PC1 corresponds to the first speed option, and the "high speed" option corresponds to the second speed option. Similarly, the "small" option in the operating distance setting command PC2 corresponds to the first distance option, and the "medium" or "large" options correspond to the second distance option. However, the items of the parameter command PC displayed in the parameter command display area 92, and the types and number of options within each parameter command PC, are not particularly limited and can be set as appropriate according to the purpose.

[0027] The mode selection area 93 is located to the right of the robot display area 91. The mode selection area 93 has four jog operation modes: "Easy," "Joint," "World," and "Tool." However, the jog operation modes are not limited and can be set as appropriate depending on the purpose. The user can select the appropriate mode from these four jog operation modes according to their purpose and perform jog operations while switching between one or more modes.

[0028] Easy mode is a mode in which most teaching tasks can be completed without switching jog operation modes. Joint mode is a mode in which the rotation angle of each joint J1 to J6 can be set. World mode is a mode in which robot 2 is moved with base 21 as the reference position of the coordinate system. Tool mode is a mode in which robot 2 is moved with the tool center point, which is the control point, as the reference position of the coordinate system. The tool center point is a reference point set on the end effector 23 and can be set arbitrarily by the user. Furthermore, for the sake of explanation below, the coordinate system in World mode will also be called the world coordinate system, and the coordinate system in Tool mode will also be called the tool coordinate system.

[0029] The operation command display area 94 is located below the mode selection area 93. The operation command display area 94 varies depending on the selected jog operation mode. For example, in Easy mode, the operation command display area 94 includes a coarse adjustment command area 941 and a fine adjustment command area 942, as shown in Figure 2.

[0030] The coarse adjustment command area 941 displays two modes: one with operation commands to move the three joints J1, J2, and J3 at the root end, and another with operation commands to move the three joints J4, J5, and J6 at the tip end. Additionally, the coarse adjustment command area 941 displays a scroll bar SB as an operation command, and by moving this scroll bar SB left or right, each joint J1 to J6 can be operated independently.

[0031] The fine-tuning command area 942 displays commands to move the end effector 23 in the X, Y, and Z axes in the world coordinate system, commands to move the end effector 23 forward or backward, and commands to rotate the end effector 23 forward or backward around joint J6. In this way, most teaching tasks can be completed using Easy mode, which allows for angle adjustment of each joint J1 to J6 and position adjustment of the end effector 23.

[0032] Furthermore, the operation command display area 94 in Joint mode includes commands for setting the rotation angles of each joint J1 to J6, as shown in Figure 3. In addition, the operation command display area 94 in World mode includes a position adjustment area 943 with operation commands for moving the tool center point in the X, Y, and Z axes in the world coordinate system, as shown in Figure 4, and a posture adjustment area 944 with operation commands for rotating the end effector 23 around the X, Y, and Z axes while the tool center point is fixed.

[0033] Furthermore, as shown in Figure 5, the operation command display area 94 in Tool mode includes a posture adjustment area 945 having operation commands to rotate the end effector 23 around the X axis and Y axis while the tool center point is fixed in the tool coordinate system, and a position adjustment area 946 having operation commands to move the end effector 23 in the X axis direction and Y axis direction, operation commands to move the end effector 23 forward or backward, and operation commands to rotate the end effector 23 forward or backward around joint J6.

[0034] In all four jog operation modes described above, a teaching point registration button (not shown) is displayed in the operation command display area 94. When the robot 2 is positioned in the desired location and orientation, selecting the teaching point registration button registers that location and orientation as a teaching point. This allows the robot 2 to perform teaching operations.

[0035] The robot operation screen 9 has now been explained. Next, we will explain the difference between the first robot operation screen 9m1, which is displayed on the display unit 511 when the robot is started in the first teaching mode, and the second robot operation screen 9m2, which is displayed on the display unit 511 when the robot is started in the second teaching mode.

[0036] When the teaching device 4 starts up in the first teaching mode, it displays the input screen 8 (graphic user interface) shown in Figure 6 on the display unit 511. The input screen 8 includes an action block display area 81 for displaying action blocks A and B related to the operation of the robot 2, and an action block placement area 82 for performing visual programming using action blocks A and B.

[0037] Multiple action blocks AB are displayed in the action block display area 81. In the illustrated example, the action blocks AB are broadly divided into two categories: "basic actions" and "motors." The basic actions category includes a total of four action blocks AB: "move," "pick up," "place," and "loop," while the "motors" category includes a total of two action blocks AB: "motor ON" and "motor OFF." However, the content and number of action blocks AB are not particularly limited and can be set as appropriate depending on the configuration of the robot 2, the content of the action program to be created, etc.

[0038] The user can perform visual programming by selecting any action blocks A and B from the action block display area 81 and then sequentially placing the selected action blocks A and B in the action block placement area 82. The selection of action blocks A and B, and their placement in the action block placement area 82, can be performed, for example, by dragging and dropping with the mouse. In the illustrated example, "Motor ON" is selected in step S1, "Move" in step S2, and "Loop" in step S3. Furthermore, in the "Loop" step of step S3, "Pick up" is selected in step S31 and "Place down" in step S32.

[0039] Such an input screen 8 further includes a robot operation screen transition button 83 for transitioning to the robot operation screen 9. When the user selects the robot operation screen transition button 83, the teaching device 4 switches the screen displayed on the display unit 511 from the input screen 8 to the first robot operation screen 9m1. The teaching device 4 displays the robot operation screen 9 (see Figure 4) with the jog operation mode set to World mode as the first robot operation screen 9m1, or the top screen of the robot operation screen 9. World mode is one of the most common robot operation methods and is likely to be a mode that experienced users are familiar with. Therefore, by displaying World mode as the first robot operation screen 9m1, the teaching device 4 becomes easier to use for most experienced users, as it eliminates the need to select the jog operation mode.

[0040] Furthermore, since the first teaching mode is for experienced users, there are no restrictions on the parameter commands PC that can be selected in the parameter command display area 92. In other words, for the operating speed setting command PC1, users can select from "low speed" and "high speed," and for the operating distance setting command PC2, users can select from "small," "medium," "large," and "custom." This allows the teaching device 4 to provide experienced users with a high degree of freedom in jog operation.

[0041] Of course, the first robot operation screen 9m1 displays robot operation screen 9 with the jog operation mode set to World mode, but the user can also switch to other jog operation modes.

[0042] On the other hand, when the teaching device 4 starts up in the second teaching mode, it displays the robot operation screen 7 (graphic user interface) shown in Figure 7 on the display unit 511. The robot operation screen 7 includes a start button 71 to start driving the robot 2 based on the operation program created by the teaching operation, and a stop button 72 to stop driving the robot 2. Furthermore, the robot operation screen 7 includes a robot operation screen transition button 73 to transition to the robot operation screen 9, and a teaching point display button 74 to display the teaching points set in the operation program.

[0043] When the user selects the robot operation screen transition button 73, the teaching device 4 switches the screen displayed on the display unit 511 from the robot operation screen 7 to the second robot operation screen 9m2. As shown in Figure 8, the teaching device 4 displays the robot operation screen 9 with the jog operation mode set to Easy mode as the second robot operation screen 9m2, or the top screen of the robot operation screen 9. As mentioned above, Easy mode is easier to use than the other three jog operation modes (Joint, World, Tool) because most teaching tasks can be performed using only the jog operation within that mode. In addition, it can be operated using the scroll bar SB, making it intuitive even for inexperienced users. Therefore, by displaying Easy mode as the second robot operation screen 9m2, the teaching device 4 becomes easier to use for most inexperienced users, as it eliminates the need to select a jog operation mode.

[0044] Furthermore, since the second teaching mode is a mode for inexperienced users, the parameter commands PC that can be selected in the parameter command display area 92 are limited. As shown in Figure 8, in this embodiment, the operating speed setting command PC1 cannot be selected as "high speed" and is fixed to "low speed". Also, in the operating distance setting command PC2, "medium", "large", and "custom" cannot be selected and are fixed to "small". In this way, by reducing the number of options on the second robot operation screen 9m2 compared to the first robot operation screen 9m1, the effort required for setting is reduced, resulting in a robot operation screen 9 that is easy for inexperienced users to use. In particular, by making it impossible to select high-rate parameters as in this embodiment, dangerous movements of the robot 2 are suppressed, and even inexperienced users can safely perform jog operations.

[0045] However, the method of limiting the options is not particularly limited. For example, if there are three or more options set, such as in the operating distance setting command PC2, it is acceptable to allow selection from multiple options such as "small" and "medium".

[0046] Furthermore, when the user selects the teaching point display button 74, the teaching device 4 switches the screen displayed on the display unit 511 from the robot operation screen 7 to the teaching point display screen 6 shown in Figure 9. The teaching point display screen 6 displays a list of command contents and the teaching points set for each command. This allows the user to easily check the operation contents set in the operation program. The teaching point display screen 6 also includes an edit button 61, allowing for editing of each command. For example, to edit command No. 1, the user simply selects command No. 1 and then selects the edit button 61.

[0047] When the user selects the edit button 61, the teaching device 4 switches the screen displayed on the display unit 511 from the teaching point display screen 6 to the second robot operation screen 9m2. As shown in Figure 10, the teaching device 4 displays the robot operation screen 9 with the jog operation mode set to Tool mode as the top screen of the second robot operation screen 9m2, or robot operation screen 9. As mentioned above, Tool mode allows for more intuitive jog operation than the other three jog operation modes (Easy, Joint, World) because it uses the tool coordinate system to jog the robot 2. Therefore, by displaying Tool mode as the top screen of the robot operation screen 9, the teaching device 4 becomes easier to use for most inexperienced users, as it eliminates the need to select a jog operation mode.

[0048] Furthermore, since the second teaching mode is a mode for inexperienced users, the parameter commands PC that can be selected in the parameter command display area 92 are limited. As shown in Figure 10, in this embodiment, the operating speed setting command PC1 cannot be selected as "high speed" and is fixed to "low speed". Also, in the operating distance setting command PC2, "medium", "large", and "custom" cannot be selected and are fixed to "small". In this way, by reducing the number of options on the second robot operation screen 9m2 compared to the first robot operation screen 9m1, the effort required for setting is reduced, resulting in a robot operation screen 9 that is easy for inexperienced users to use. In particular, by making it impossible to select high-rate parameters as in this embodiment, dangerous movements of the robot 2 are suppressed, and even inexperienced users can safely perform jog operations.

[0049] However, the method of limiting the options is not particularly limited. For example, if there are three or more options set, such as in the operating distance setting command PC2, it is acceptable to allow selection from multiple options such as "small" and "medium".

[0050] The teaching device 4 and teaching program Pt have been described above. The teaching device 4 is a teaching device 4 that teaches the robot 2 and has a first teaching mode and a second teaching mode. In the first teaching mode, a first robot operation screen 9m1 is displayed on the display unit 511 as a screen for operating the robot 2. In the second teaching mode, a second robot operation screen 9m2, which is different from the first robot operation screen 9m1, is displayed on the display unit 511 as a screen for operating the robot 2, and the command options provided on the second robot operation screen 9m2 are fewer than the command options provided on the first robot operation screen 9m1. The command is a parameter command PC related to the operating speed of the robot 2, and the options include a first speed option "low speed" which operates the robot 2 at a first speed, and a second speed option "high speed" which operates the robot 2 at a second speed faster than the first speed. Alternatively, the command is a parameter command PC relating to the movement distance of robot 2, and has the following options: "Small," which is a first distance option that moves robot 2 by a first distance in one step, and "Medium" and "Large," which are second distance options that move robot 2 by a second distance longer than the first distance in one step.

[0051] With this configuration, skilled users can operate robot 2 via the first robot operation screen 9m1, which offers a wide range of command options and diverse operations, while inexperienced users can operate robot 2 via the second robot operation screen 9m2, which offers fewer command options and is easier to configure. Therefore, the teaching device 4 is easy to use for both skilled and inexperienced users.

[0052] Furthermore, as mentioned earlier, the second robot operation screen 9m2 does not allow the selection of the second speed option, "High Speed." This allows even inexperienced users to safely operate robot 2.

[0053] Furthermore, as mentioned earlier, the second robot operation screen 9m2 does not allow the selection of the second distance options, "medium" and "large." This allows even inexperienced users to safely operate robot 2.

[0054] Furthermore, as mentioned above, robot 2 comprises a base 21 and a robot arm 22 connected to the base 21, and the first robot operation screen 9m1 is a screen for operating robot 2 based on the world coordinate system, which is the coordinate system set for robot 2. This makes the teaching device 4 easy for experienced users to use.

[0055] Furthermore, as mentioned above, robot 2 comprises a base 21 and a robot arm 22 connected to the base 21, and the second robot operation screen 9m2 is a screen on which the robot arm 22 is operated by manipulating the scroll bar SB. This makes the teaching device 4 easy for inexperienced users to use.

[0056] Furthermore, as mentioned above, when editing the teaching points of robot 2 that have already been registered, the second robot operation screen 9m2 is a screen that operates robot 2 based on the tool coordinate system, which is the coordinate system set on the end effector 23 connected to robot 2. This enables intuitive jog operation, making the teaching device 4 easy for inexperienced users to use.

[0057] Furthermore, as mentioned above, the teaching program Pt is a teaching program for teaching robot 2, and has a first teaching mode and a second teaching mode. In the first teaching mode, a first robot operation screen 9m1 is displayed on the display unit 511 as a screen for operating robot 2, and in the second teaching mode, a second robot operation screen 9m2, which is different from the first robot operation screen 9m1, is displayed on the display unit 511 as a screen for operating robot 2, and the number of command options provided on the second robot operation screen 9m2 is fewer than the number of command options provided on the first robot operation screen 9m1. The command is a parameter command PC related to the operating speed of robot 2, and has as options a first speed option "low speed" which operates robot 2 at a first speed, and a second speed option "high speed" which operates robot 2 at a second speed faster than the first speed. Alternatively, the command is a parameter command PC relating to the movement distance of robot 2, and has the following options: "Small," which is a first distance option that moves robot 2 by a first distance in one step, and "Medium" and "Large," which are second distance options that move robot 2 by a second distance longer than the first distance in one step.

[0058] With this configuration, experienced users can operate robot 2 via the first robot operation screen 9m1, which offers a wide range of command options and diverse operations, while inexperienced users can operate robot 2 via the second robot operation screen 9m2, which offers fewer command options and is easier to configure. Therefore, the teaching program Pt is easy to use for both experienced and inexperienced users.

[0059] Although the teaching device and teaching program of the present invention have been described above based on the illustrated embodiments, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other components may be added to the present invention. [Explanation of Symbols]

[0060] 1...Robot system, 2...Robot, 21...Base, 22...Robot arm, 221...Arm, 222...Arm, 223...Arm, 224...Arm, 225...Arm, 226...Arm, 23...End effector, 3...Robot control device, 4...Teaching device, 51...Monitor, 511...Display unit, 52...Input device, 6...Teaching point display screen, 61...Edit button, 7...Robot operation screen, 71...Start button, 72...Stop button, 73...Robot operation screen transition button, 74...Teaching point display button, 8...Input screen, 81...Motion block display area, 82...Motion block placement area, 83...Robot operation screen transition button, 9...Robot operation screen, 9m1...First robot operation screen, 9m2...Second robot operation screen, 91...Robot display area, 92...Parameter command display area, 93...Mode selection area, 94...Operation command display area, 941...Coarse adjustment command area, 942...Fine adjustment command area, 943...Position adjustment area, 944...Attitude adjustment area, 945...Attitude adjustment area, 946...Position adjustment area, AB...Motion block, E...Encoder, J1...Joint, J2...Joint, J3...Joint, J4...Joint, J5...Joint, J6...Joint, M...Motor, PC...Parameter command, PC1...Motion speed setting command, PC2...Motion distance setting command, PC3...Open / close setting command, Pt...Teaching program, S1...Step, S2...Step, S3...Step, S31...Step, S32...Step, SB...Scroll bar

Claims

1. A teaching device for teaching a robot, It has a first teaching mode and a second teaching mode, In the first teaching mode, the first robot operation screen is displayed on the display unit as the screen for operating the robot. In the second teaching mode, a second robot operation screen, different from the first robot operation screen, is displayed on the display unit as the screen for operating the robot. The number of command options provided on the second robot operation screen is fewer than the number of command options provided on the first robot operation screen. The aforementioned command is a parameter command relating to the robot's operating speed or travel distance. The aforementioned options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or a first distance option that causes the robot to move a first distance in one step and a second distance option that causes the robot to move a second distance longer than the first distance in one step. A teaching device characterized in that the second robot operation screen does not allow the selection of the second speed option.

2. A teaching device for teaching a robot, It has a first teaching mode and a second teaching mode, In the first teaching mode, the first robot operation screen is displayed on the display unit as the screen for operating the robot. In the second teaching mode, a second robot operation screen, different from the first robot operation screen, is displayed on the display unit as the screen for operating the robot. The number of command options provided on the second robot operation screen is fewer than the number of command options provided on the first robot operation screen. The aforementioned command is a parameter command relating to the robot's operating speed or travel distance. The aforementioned options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or a first distance option that causes the robot to move a first distance in one step and a second distance option that causes the robot to move a second distance longer than the first distance in one step. A teaching device characterized in that the second robot operation screen does not allow the selection of the second distance option.

3. The teaching device according to claim 1, wherein the second robot operation screen does not allow the selection of the second distance option.

4. The robot comprises a base and a robotic arm connected to the base. The teaching device according to any one of claims 1 to 3, wherein the first robot operation screen is a screen for operating the robot with reference to a coordinate system set for the robot.

5. The robot comprises a base and a robotic arm connected to the base. The teaching device according to any one of claims 1 to 4, wherein the second robot operation screen is a screen on which the robot arm is operated by operating a scroll bar.

6. When editing the teaching points of the robot that have already been registered, The teaching device according to any one of claims 1 to 5, wherein the second robot operation screen is a screen for operating the robot with reference to a coordinate system set on an end effector connected to the robot.

7. A teaching program for teaching a robot, It has a first teaching mode and a second teaching mode, In the first teaching mode, the first robot operation screen is displayed on the display unit as the screen for operating the robot. In the second teaching mode, a second robot operation screen, different from the first robot operation screen, is displayed on the display unit as the screen for operating the robot. The number of command options provided on the second robot operation screen is fewer than the number of command options provided on the first robot operation screen. The aforementioned command is a parameter command relating to the robot's operating speed or travel distance. The aforementioned options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or a first distance option that causes the robot to move a first distance in one step and a second distance option that causes the robot to move a second distance longer than the first distance in one step. A teaching program characterized in that the second robot operation screen does not allow the selection of the second speed option or the second distance option.

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