Industrial robot speed display system
The speed display system for industrial robots dynamically controls display modes based on safety thresholds, ensuring workers are alerted to speed abnormalities, thereby enhancing safety and reducing processing load.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- DENSO WAVE INC
- Filing Date
- 2022-03-29
- Publication Date
- 2026-06-10
Smart Images
Figure 0007872482000001 
Figure 0007872482000002 
Figure 0007872482000003
Abstract
Description
【Technical Field】 【0001】 The present invention relates to a speed display system for displaying the speed of an industrial robot. 【Background Art】 【0002】 Conventionally, it has been proposed to display parameters indicating the speed performance of a robot (see, for example, Patent Document 1). 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2019-964 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 Displaying the actual speed of an industrial robot is considered useful for enhancing the safety of the site where the industrial robot is installed. On the other hand, even if the speed is simply displayed, there is a risk that the essential significance of displaying the speed, that is, the purpose of enhancing safety, cannot be achieved. 【0005】 The present invention has been made in view of the above circumstances, and an object thereof is to provide a speed display system for an industrial robot that can enhance safety. 【Means for Solving the Problems】 【0006】 In the invention described in claim 1, a speed display system for an industrial robot is one that displays the speed of an industrial robot that can be set to a low-speed mode that operates within a range not exceeding a predetermined reference speed and a high-speed mode that can operate beyond the reference speed, and includes a display unit and a control unit that controls the display mode when displaying the current speed of the industrial robot on the display unit based on safety. 【0007】 The control unit then determines whether to display the speed on the display unit if the industrial robot is set to low-speed mode, or to display the speed on the display unit if the current speed of the industrial robot is not greater than the reference speed, while displaying the speed on the display unit if the current speed of the industrial robot is greater than the reference speed. 【0008】 In this way, by displaying the speed when it exceeds the standard speed, the mere presence of the speed display serves as a message to the worker that a safety-related situation has occurred. In other words, the worker can understand that safety-related information is being presented reliably and quickly without having to read the displayed numerical value. 【0009】 Therefore, safety can be enhanced, such as by enabling actions to be taken to deal with dangers. In addition, by not displaying the speed in low-speed mode, the processing load can be reduced, and the risk of delaying other processes can be reduced. 【0010】 The invention described in claim 2 displays the speed of an industrial robot, which has a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed and a high-speed mode in which it can operate above the reference speed, and comprises a display unit and a control unit that controls the display manner when displaying the current speed of the industrial robot on the display unit based on safety. 【0011】 The control unit displays the current speed of the industrial robot on the display unit regardless of the mode set for the industrial robot. However, when the industrial robot is set to low-speed mode and the current speed of the industrial robot exceeds the reference speed, the control unit changes the display mode of the display unit for at least a predetermined period of time so that the display mode is different from when the speed does not exceed the reference speed. 【0012】 In this way, by displaying the speed regardless of the speed mode, it is possible to first present the worker with a speed that can be used to assess safety. Furthermore, if an abnormality occurs, such as the speed exceeding the standard speed in low-speed mode, the worker can be notified of the abnormality by changing the display to one that differs from the normal display when no abnormality is occurring. Therefore, the worker can accurately and quickly grasp the current situation without having to read the displayed numerical values, and can take appropriate action against hazards, thereby enhancing safety. 【0013】 The invention described in claim 3 displays the speed of an industrial robot, which can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed, and comprises a display unit and a control unit that controls the display manner when displaying the current speed of the industrial robot on the display unit based on safety. 【0014】 The control unit displays the current speed of the industrial robot on the display unit regardless of the mode set for the industrial robot. However, if the current speed of the industrial robot exceeds the reference speed, the display is changed to a different format than when the reference speed is not exceeded. Furthermore, the display is changed to a different format for high-speed mode and low-speed mode. 【0015】 In this way, by displaying the speed regardless of the speed mode, it is possible to first present the worker with a speed that can be used to judge safety. Furthermore, if an abnormality occurs, such as the speed exceeding the standard speed in low-speed mode, the worker can be notified of the occurrence by displaying a warning message that differs from the normal display when no abnormality occurs. Therefore, the worker can accurately and quickly grasp the current situation without having to read the displayed numerical values, and can take appropriate action against hazards, thereby enhancing safety. 【0016】 Furthermore, by using different display modes for high-speed and low-speed modes, when a situation that is considered unlikely to occur, such as exceeding the standard speed, occurs in low-speed mode, the display mode will be unfamiliar, which is expected to allow operators to notice the abnormality more quickly. 【0017】 The invention described in claim 4 displays the speed of an industrial robot, which can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed, and comprises a display unit and a control unit that controls the display manner when the current speed of the industrial robot is displayed on the display unit based on safety. 【0018】 The control unit then displays the speed of the industrial robot on the display unit at all times when the industrial robot is set to high-speed mode, and when the industrial robot is set to low-speed mode, it does not display the speed unless the current speed of the industrial robot exceeds the reference speed. However, if the current speed of the industrial robot exceeds the reference speed, it changes the display mode of the display unit to a different display mode than when the speed does not exceed the reference speed. 【0019】 In this way, by displaying the actual speed in high-speed mode, the system can first present the operator with the actual speed that can be used to assess safety. Then, in low-speed mode, by displaying the actual speed when it exceeds the standard speed, the mere display of the actual speed serves as a warning of danger to the operator. Therefore, operators can accurately and quickly grasp the current situation without having to read the displayed values, and can take appropriate action against dangers, thereby enhancing safety. 【0020】 The invention described in claim 5 displays the speed of an industrial robot, which can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed, and comprises a display unit and a control unit that controls the display manner when the current speed of the industrial robot is displayed on the display unit based on safety. 【0021】 The control unit then displays the speed of the industrial robot on the display unit at all times when the industrial robot is set to high-speed mode, and changes the display mode to distinguish whether the current speed of the industrial robot exceeds the reference speed or not. When the industrial robot is set to low-speed mode, it does not display the speed unless the current speed of the industrial robot exceeds the reference speed, while changing the display mode on the display unit to a different mode than when the current speed of the industrial robot exceeds the reference speed. 【0022】 In this way, by displaying the actual speed in high-speed mode, the system can first present the operator with the actual speed that can be used to assess safety. Furthermore, by changing the display format when the speed exceeds the standard speed, it becomes easier for the operator to judge the danger. Moreover, in low-speed mode, by displaying the actual speed when it exceeds the standard speed, the mere display of the actual speed serves as a warning of danger to the operator. Therefore, the operator can accurately and quickly grasp the current situation without having to read the displayed values, and can take appropriate action against danger, thereby enhancing safety. 【0023】 In the invention described in claim 6, the control unit at least displays the speed of the fastest part among the various parts of the industrial robot. For example, even if the speeds of a plurality of parts exceed the reference speed, if the operator can be presented with the fact that at least one part's speed exceeds the reference speed, it is considered that the operator can grasp that the situation is one where safety is deteriorating. Therefore, by at least displaying the speed of the fastest part, safety can be enhanced without displaying a plurality of speeds. 【0024】 In the invention described in claim 7, when the control unit determines that there is a possibility that the speed of the current industrial robot may exceed the reference speed in a state where the speed of the industrial robot does not exceed the reference speed, the control unit regards the speed of the industrial robot as exceeding the reference speed and changes the display mode to the display unit. In this case, the control unit can, for example, determine the possibility that the future speed exceeds the reference speed based on the amount of change in speed or the rate of increase per unit time, and when there is a possibility of exceeding the reference speed, display the speed or change the display mode. By changing the speed display or the display mode at a stage before the speed exceeds the reference speed, it becomes possible to prompt the operator to pay attention before the situation where safety is a concern due to exceeding the reference speed occurs, and safety can be further improved. 【0025】 In the invention described in claim 8, the control unit enables the display of the speed on the display unit when the industrial robot is manually operated, while disabling the display of the speed on the display unit when the industrial robot is not manually operated. Thereby, safety can be ensured during manual operation when it is assumed that an operator is present near the industrial robot, and the processing load can be reduced when manual operation is not being performed and it is highly likely that no operator is present near the industrial robot. 【Brief Description of the Drawings】 [[ID=I2]] 【0026】 [Figure 1] Diagram schematically showing the schematic configuration of the speed display system [Figure 2] Diagram schematically showing the electrical configuration of the operating device [Figure 3] A schematic diagram showing examples of display modes for the control device. [Figure 4] A schematic diagram illustrating the operation of an industrial robot. [Figure 5] Diagram showing the processing flow in the first example of display mode. [Figure 6] A schematic diagram illustrating the changes in the display mode over time. [Figure 7] Diagram showing the processing flow in the second example of display mode. [Figure 8] This diagram schematically shows examples of changes with different display modes. [Figure 9] A schematic diagram illustrating the changes in the display mode over time. [Figure 10] Diagram showing the processing flow in the third example of display mode. [Figure 11] A schematic diagram illustrating the changes in the display mode over time. [Figure 12] Diagram showing the processing flow in the fourth example of display mode. [Figure 13] A schematic diagram illustrating the changes in the display mode over time. [Figure 14] Diagram showing the processing flow in the fifth example of display mode. [Figure 15] A schematic diagram illustrating the changes in the display mode over time. [Figure 16] A schematic diagram illustrating other display methods. [Modes for carrying out the invention] 【0027】 The embodiments will be described below with reference to the drawings. Furthermore, although multiple display configurations will be described below, they are based on a common technical concept and share a common basic system configuration. Therefore, the system configuration common to each display configuration will be described first, followed by a detailed explanation of each individual display configuration. 【0028】 <System Configuration> As shown in Figure 1, the speed display system 1 for the industrial robot of this embodiment includes a control device 3 for controlling the robot 2 as an industrial robot, and an operating device 4 that is communicatively connected to the control device 3 and can operate the robot 2 via the control device 3. In this embodiment, the robot 2 is assumed to be a so-called 6-axis robot with multiple vertical articulated arms. However, a so-called 7-axis robot or a so-called 4-axis robot with horizontal articulation can also be used as the robot 2. 【0029】 Robot 2 has an arm section comprising a base 2a installed on a mounting surface, a shoulder 2b rotatably mounted relative to the base 2a, a lower arm 2c rotatably mounted relative to the shoulder 2b, a first upper arm 2d rotatably mounted relative to the lower arm 2c, a second upper arm 2e rotatably mounted coaxially with respect to the first upper arm 2d, and a wrist 2f located at the tip of the second upper arm 2e. Robot 2 performs tasks by repeatedly executing programmed movements, with a hand or tool (not shown) attached to a flange 2g at the tip of the wrist 2f. 【0030】 Furthermore, the robot 2 can be set by the control device 3 to either a low-speed mode in which it operates within a predetermined range of a reference speed, or a high-speed mode in which it can operate at a speed exceeding the reference speed. While the configuration of a 6-axis robot is well-known and therefore a detailed explanation is omitted, the overall posture of the robot 2 is controlled by the rotation of each arm section by rotating motors (not shown) on each axis. 【0031】 In this embodiment, the control device 3 is connected to the robot 2 and controls the entire control device 3 by executing a program stored internally, as well as controlling the operation of the robot 2, including the setting of the speed mode described above. Furthermore, when the control device 3 is connected to the operating device 4 in a communicative manner, it also controls the operation of the robot 2 in response to the operation input to the operating device 4. Hereinafter, the operation of the robot 2 in response to the operation input to the operating device 4 will be referred to as manual operation. During manual operation, it is considered highly likely that an operator is present and performing work near the robot 2. 【0032】 The operating device 4 is envisioned as a so-called teaching device that performs teaching tasks to the robot 2, such as instructing it on the starting position to begin its movement, the ending position to end its movement, and the positions it should pass through during its movement. However, the operating device 4 can be configured to run operating software on a notebook computer, smartphone, or tablet computer, for example, as long as it is connected to the control device 3 in a way that allows it to communicate with the robot 2. 【0033】 As shown in Figure 2, the operating device 4 includes a control unit 10, a storage unit 11, a display unit 12, an input unit 13, and a communication unit 14. The control unit 10 is composed of a computer (not shown) and controls the entire operating device 4 by executing a program stored in the storage unit 11. The control unit 10 also performs processes to control the display mode when the current speed of the robot 2 is displayed on the display unit 12, and processes to enable or disable the display of the speed on the display unit 12, based on safety considerations, although these will be described in detail later. Hereinafter, the current speed of the robot 2 will also be referred to as the actual speed. 【0034】 The storage unit 11 is composed of, for example, semiconductor memory or an HDD, and stores basic software for communication with the control device 3, and operating software for providing a user interface to the operator. The storage unit 11 also stores data on the type and shape of the robot 2. 【0035】 The display unit 12 is composed of, for example, an LCD panel or an organic EL panel, and displays a user interface for operating the robot 2 based on the video signal output from the control unit 10. For example, as shown in Figure 3 as the speed display enabled state, the display unit 12 is provided with a data area (M1) that displays the rotation angles of each axis of the robot, an image display area (M2) that displays a virtual image corresponding to the posture of the robot 2, and a dedicated speed display area (M3) that displays the actual speed of the robot 2. When an operator performs a teaching operation, various types of information are displayed. 【0036】 Furthermore, in this embodiment, the speed display area (M3) is displayed on the display unit 12 when the speed display is enabled, as will be described later, while it is not displayed on the display unit 12 when the speed display is disabled, as indicated by the speed display disabled state. Note that the user interface configuration and the types and number of data displayed shown in Figure 2 are just examples. 【0037】 The input unit 13 consists of enable switches, deadman switches, buttons, switches, and a touch panel corresponding to the display unit 12. When an operator operates the input unit 13, the operation is transmitted to the control device 3, and the robot 2's posture and arm movements are controlled in response to the operation. Note that the types, number, and arrangement of switches constituting the input unit 13 shown in Figure 2 are just examples. 【0038】 The communication unit 14 communicates with the control device 3, and in this embodiment, it is connected to the control device 3 by a wired cable. However, the communication unit 14 can be configured to communicate with the control device 3 by wireless communication, or it can be configured to enable both wired and wireless communication. 【0039】 Next, I will explain the function of the above-described configuration. As mentioned above, displaying the actual speed of industrial robots is considered useful for improving safety at sites where industrial robots are installed. In particular, when industrial robots are manually operated, there is a high probability that workers will be in close proximity to the robot, making it extremely important to enhance safety. 【0040】 On the other hand, even if the actual speed is displayed, there is a risk that the essential purpose of displaying the actual speed, namely, to enhance safety, will not be fulfilled. This is because even if the actual speed is displayed, workers may not notice the display, or they may need to interpret and judge whether the displayed speed has an impact on safety, or they may become accustomed to the display and stop paying attention to it. 【0041】 Furthermore, if the control device 3 and the operating device 4 are connected in a communicative manner, it is considered easy to acquire and display the speed of each axis individually. Here, the speed of each axis refers to the speed of the part of the arm rotated by that axis that is furthest from the center of rotation. This is because, although the rotational speed of each axis cannot be directly compared to the reference speed, it can be compared to the reference speed by determining the moving speed of the tip based on the length of the individual arm rotated by that axis. 【0042】 However, when considering safety, there are other points to consider. Specifically, as shown in Figure 4, the overall posture of robot 2 is controlled by the rotation of the corresponding arm sections by rotationally driving each of the first axis (J1), second axis (J2), third axis (J3), fourth axis (J4), third axis (J5), and sixth axis (J6). Hereafter, the end of the arm section opposite the center of rotation will also be referred to as the tip of the arm section. For example, suppose the lower arm 2c rotates around the second axis (J2) in the direction indicated by arrow R1 at a speed (v1), and the first upper arm 2d rotates around the third axis (J3) in the same direction indicated by arrow R2 at a speed (v2). 【0043】 In this case, it is thought that the flange 2g will have the fastest movement speed among the various parts of robot 2, as indicated by the dashed arrow R3 showing its movement path. If the other axes are not rotating, the speed of flange 2g (v3) will be the sum of the speed of the lower arm 2c (v1) and the speed of the first upper arm 2d (v2), resulting in v3 = v1 + v2. Furthermore, even if the speed of the tip of the lower arm 2c (v1) and the speed of the tip of the first upper arm 2d (v2) are both below the reference speed, the speed of flange 2g (v3), which is the sum of these speeds, may exceed the reference speed. 【0044】 Thus, even if the speed of each axis individually is below the reference speed, when considering the robot 2 as a whole, the speed of a certain part may exceed the reference speed. Furthermore, it is conceivable that the part with the highest speed will change depending on the posture of the robot 2. In other words, when identifying the part of the robot 2 with the highest speed, it is necessary to consider not only the rotational speed of each axis, but also the shape data of the robot 2, such as the length of the arm, and its posture. 【0045】 In this case, a simple method is to determine the velocity vector of each axis, add the velocity vectors of each axis involved in the movement to obtain the composite vector at the tip of each arm, and compare them to determine the part with the highest speed and its speed. However, it is also possible to configure the control device 3 to determine the actual speed and the operating device 4 to acquire the actual speed as data from the control device 3. 【0046】 Therefore, the speed display system 1 aims to improve safety, which is the essential significance of displaying the actual speed, by displaying the actual speed in the following various display modes. Several display modes will be explained individually below, but each display mode is for when the robot 2 is operated manually, and the control device 3 and the operating device 4 are connected to each other so as to be able to communicate with each other, and the display of speed on the display unit 12 is enabled as described above. 【0047】 In other words, the control unit 10 is configured to enable the display of speed on the display unit 12 when the industrial robot is operated manually, and to disable the display of speed on the display unit 12 when the industrial robot is not operated manually. Furthermore, in each display mode, a reference speed that serves as the basis for determining safety is set in advance, and in this embodiment, 250 mm / sec, which is the safety standard speed specified by ISO, is set as the reference speed. 【0048】 <Example of the first display method> The first example of display mode will be explained below, mainly with reference to Figures 5 and 6. The operating device 4 performs the process shown in Figure 5 to display the actual speed. Specifically, the operating device 4 identifies the current speed mode set for the robot 2 (S101). Here, the operating device 4 identifies whether the robot 2 is set to the low-speed mode or the high-speed mode described above. Since the speed mode is basically set from the operating device 4 when performing teaching work, the operating device 4 can determine the speed mode. 【0049】 Next, as described above, the control device 4 determines the speed of each axis (S102) and the actual speed of the fastest part (S103). Then, the control device 4 determines whether the current speed mode is high-speed mode or not (S104), and if it is not high-speed mode (S104: NO), it proceeds to step S107. In other words, when the control device 4 is set to low-speed mode, the robot 2 will not basically exceed the reference speed, so the control device 4 is configured not to display the actual speed. 【0050】 In response, if the operating device 4 determines that it is in high-speed mode (S104:YES), it determines whether the actual speed has exceeded the reference speed (S105). If it determines that the actual speed has exceeded the reference speed (S105:YES), it displays the actual speed on the display unit 12 as shown in Figure 3 (S106). At this time, the operating device 4 determines that the reference speed has been exceeded if the actual speed is equal to or greater than the reference speed. 【0051】 On the other hand, if the control device 4 determines that the actual speed does not exceed the reference speed (S105: NO), it proceeds to step S107. In other words, even in high-speed mode, the control device 4 is configured not to display the actual speed if the actual speed does not exceed the reference speed, that is, if the actual speed is below the reference speed. 【0052】 The operating device 4 then determines whether the series of operations, such as rotating the arm and changing the posture of the robot 2, has been completed (S107). If it determines that the operations have not been completed (S107: NO), it proceeds to step S102 and continues processing. On the other hand, if the operating device 4 determines that the operations have been completed (S107: YES), it terminates processing. 【0053】 By performing this process, as shown in Figure 6 as the high-speed mode, when the robot 2 is set to high-speed mode, as shown in Graph G1, the speed display is turned OFF, meaning the actual speed is not displayed, when the actual speed does not exceed the reference speed, such as during the period from t10 when the operation starts to t11 when the operation ends. On the other hand, the speed display is turned ON, meaning the actual speed is displayed, when the actual speed exceeds the reference speed, such as during the period from t11 to t12. When the actual speed falls below the reference speed, such as during the period from t12 to t13, the speed display is turned OFF. 【0054】 Furthermore, as shown in Figure 6 for the low-speed mode, when robot 2 is set to low-speed mode, the speed display will be turned OFF, meaning the actual speed will not be displayed, regardless of the actual speed of robot 2 shown in graph G11, as in the period from t15 to t16. Note that the graph shown in Figure 6 is an example of the change in the actual speed of flange 2g, that is, the so-called tool center point, in the situation described in Figure 4 above, in order to make the explanation easier to understand. In other words, the graph shown in Figure 6 does not show the so-called movement trajectory used to control robot 2, but rather shows the change in speed when the posture of robot 2 is changed by manual operation. This is also true for the graphs of other display mode examples. 【0055】 As described above, the speed display system 1 in this example of display configuration is an industrial robot speed display system that displays the speed of an industrial robot, which can be set to a low-speed mode that operates within a range that does not exceed a predetermined reference speed and a high-speed mode that allows operation exceeding the reference speed, and comprises a display unit 12 and a control unit 10 that controls the display configuration when displaying the current speed of the industrial robot on the display unit 12 based on safety. 【0056】 Furthermore, the control unit 10 does not display the speed on the display unit 12 when the industrial robot is set to low-speed mode, and when the industrial robot is set to high-speed mode, it does not display the speed on the display unit 12 unless the current speed of the industrial robot exceeds the reference speed, while it displays the speed on the display unit 12 if the current speed of the industrial robot exceeds the reference speed. 【0057】 In this way, by displaying the actual speed when it exceeds the standard speed, the mere fact that the actual speed is displayed serves as a message to the worker that a safety-related situation has occurred. This allows the worker to accurately and quickly grasp the current situation without having to read the displayed numbers, and to take appropriate action against hazards, thereby enhancing safety. 【0058】 Furthermore, even if the actual speeds of multiple parts exceed the standard speed, if the worker is shown that the speed of at least one part exceeds the standard speed, the worker can understand that the situation is unsafe. Therefore, by displaying the actual speed of the fastest part, safety can be enhanced without displaying the speeds of multiple parts. 【0059】 Furthermore, by not displaying the actual speed in low-speed mode, the control device 4 can reduce the processing load and minimize the risk of delaying other processes. This is also true when the speed display is turned OFF in other display mode examples. 【0060】 Furthermore, the operating device 4 enables the display of speed on the display unit 12 when the industrial robot is being operated manually, while deactivating the display of speed on the display unit 12 when the industrial robot is not being operated manually. This ensures safety during manual operation when it is assumed that an operator is present near the industrial robot, and reduces the processing load when manual operation is not being performed and it is highly likely that no operator is present near the industrial robot. The same applies to other display configurations. 【0061】 <Example of a second display method> The second example of display mode will be explained below, mainly with reference to Figures 7 to 9. Detailed explanations of processes that are substantially common to the other example of display mode described above will be omitted. The operating device 4 performs the process shown in Figure 7 in order to display the actual speed. Specifically, the operating device 4 identifies the current speed mode set for the robot 2 (S201) and then turns off the warning flag (S202). This warning flag, which will be explained in detail below, is a flag that determines whether or not to display a warning. If the warning flag is ON, a warning is displayed, and if the warning flag is OFF, no warning is displayed. 【0062】 Next, the control device 4 determines the speed of each axis (S203), determines the actual speed of the fastest part (S204), and displays the actual speed of that part (S205). In other words, the control device 4 displays the actual speed regardless of the speed mode set for the robot 2. Then, the control device 4 determines whether the warning flag is ON or OFF (S206), and if the warning flag is not ON (S206: NO), it determines whether it is in low-speed mode or OFF (S207). If it is not in low-speed mode (S207: NO), the control device 4 proceeds to step S211. 【0063】 In response, if the operating device 4 determines that it is in low-speed mode (S207:YES), it further determines whether the actual speed exceeds the reference speed (S208). If it determines that the actual speed does not exceed the reference speed (S208:NO), it returns to the standard display mode (S212) and then proceeds to step S211. Note that if step S212 is executed, the display mode changes described below will be reverted to their original state. 【0064】 On the other hand, if the operating device 4 determines that the actual speed exceeds the reference speed (S208: YES), it turns on the warning flag (S209) and changes the display mode (S210). This change in display mode is a display mode in which the actual speed is displayed in the speed display area (M3) in a manner different from the standard display mode (P0), which displays the actual speed when the actual speed does not exceed the reference speed, as shown in Figure 8, for example. For example, the first example of a changed display mode shows a changed display mode (P1) in which the background color of the speed display area (M3) is different from the standard display mode example (P0). In the changed display mode (P1), the state of the different background color is schematically shown by hatching. 【0065】 Furthermore, the second example of the modified display shows a modified display mode (P2) in which the border thickness and color of the speed display area (M3) differ from the standard display mode example (P0). The third example of the modified display show shows a modified display mode (P3) in which the content displayed in the speed display area (M3) differs from the standard display mode example (P0). Note that in the modified display mode (P3), the words "Warning!!" are displayed along with the speed. The fourth example of the modified display show shows a modified display mode (P4) in which the font, decoration, and color of the text displayed in the speed display area (M3) differ from the standard display mode example (P0). Note that in the modified display mode (P3), the numerical speed is underlined. 【0066】 Furthermore, the fifth example of a modified display shows a modified display (P5) that differs from the standard display example (P0) in that it displays symbols (P51) etc. outside the speed display area (M3). In addition, an exclamation mark is added to the display in the modified display (P5) to make it easy to understand that a situation requiring attention is occurring. However, each modified display shown here is an example, and other display modes can be used as long as they differ from the standard display mode (P0), or as long as they can be easily identified as being different from the standard display mode (P0). 【0067】 Then, the operating device 4 determines whether the operation has finished (S211). If the operation has not finished, it proceeds to step S203, where it calculates the speed of each axis (S203), calculates the actual speed (S204), and displays the actual speed (S205). If the warning flag is ON (S206: YES), it proceeds to step S210 to continue the changed display mode. In other words, as shown in Figure 9, when the robot 2 is in high-speed mode, the operating device 4 always displays the actual speed by turning on the speed display, such as during the period from t20 to t23, regardless of whether the actual speed shown in graph G2 exceeds the reference speed. 【0068】 In contrast, when the robot 2 is in low-speed mode, the control device 4 turns on the speed display and shows the speed regardless of whether the actual speed shown in graph G21 exceeds the reference speed. However, if the actual speed exceeds the reference speed, it is configured to change the display, indicating that a clear abnormality has occurred in the low-speed mode, where operation should be performed at a speed below the reference speed. 【0069】 Specifically, if the actual speed exceeds the standard speed at t26, the control device 4 will display a change indicator with hatching, as shown schematically. Furthermore, even if the actual speed falls below the standard speed at t27, the change indicator will continue as long as the warning flag mentioned above is ON. This is because it is abnormal for the actual speed to exceed the standard speed in low-speed mode, so the change indicator continues even when the actual speed falls below the standard speed to notify the operator of the occurrence. 【0070】 As described above, the speed display system 1 in this example of display configuration displays the speed of an industrial robot that can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed. The system comprises a display unit 12 and a control unit 10 that controls the display configuration when displaying the current speed of the industrial robot on the display unit 12, based on safety considerations. 【0071】 The control unit 10 displays the current speed of the industrial robot on the display unit 12 regardless of the mode set for the industrial robot. However, when the industrial robot is set to low-speed mode and the current speed of the industrial robot exceeds the reference speed, the control unit 10 changes the display mode of the display unit 12 for at least a predetermined period of time to a different display mode than when the speed is displayed when it does not exceed the reference speed. 【0072】 In this way, by displaying the actual speed regardless of the speed mode, it is possible to first present the operator with the actual speed that can be used to assess safety. Furthermore, if an abnormality occurs in low-speed mode, such as the actual speed exceeding the standard speed, the operator can be notified of the abnormality by changing the display to one that differs from the normal display when no abnormality occurs. Therefore, operators can accurately and quickly grasp the current situation without having to read the displayed numerical values, and can take appropriate action against hazards, thereby enhancing safety. 【0073】 Furthermore, even if the actual speeds of multiple parts exceed the standard speed, if the worker is shown that the speed of at least one part exceeds the standard speed, the worker can understand that the situation is one of reduced safety. Therefore, by displaying the actual speed of the fastest part, safety can be enhanced without displaying multiple speeds. 【0074】 <Example of the third display method> The third display mode example will be explained below, mainly with reference to Figures 10 and 11. Detailed explanations of processes that are substantially common to the other display mode examples described above will be omitted. The operating device 4 performs the process shown in Figure 10 to display the actual speed. Specifically, the operating device 4 identifies the current speed mode set on the robot 2 (S301), determines the speed of each axis (S302), determines the actual speed of the fastest part (S303), and displays the actual speed of the corresponding part (S304). In other words, the operating device 4 displays the actual speed regardless of the speed mode set on the robot 2. 【0075】 The operating device 4 then determines whether the actual speed exceeds the reference speed (S305). If it determines that the actual speed does not exceed the reference speed (S305: NO), it returns to the standard display mode (S310) and then proceeds to step S309. Note that if step S310 is executed, the display mode will be reverted to its original state. 【0076】 On the other hand, if the operating device 4 determines that the actual speed exceeds the reference speed (S305:YES), it further determines whether or not it is in high-speed mode (S306), and if it determines that it is in high-speed mode (S306:YES), it changes to the high-speed display mode (S307). 【0077】 Here, changing to a high-speed display mode means that in high-speed mode, the speed is displayed in a different manner than when the actual speed does not exceed the standard speed. For example, if the actual speed is displayed in the standard display mode (P0) shown in Figure 8 when the actual speed does not exceed the standard speed, then, for example, the modified display mode (P1) can be adopted as the high-speed display mode. In this case, since the operator is likely aware that the machine may operate at a speed exceeding the standard speed in high-speed mode, a warning can be drawn to the machine by, for example, changing the color of the display as an indicator of the danger. 【0078】 Furthermore, if the operating device 4 determines that it is not in high-speed mode (S306: NO), that is, if it determines that it is in low-speed mode, it changes to the low-speed display mode (S308). For example, if the actual speed does not exceed the reference speed, the actual speed is displayed in the standard display mode (P0) shown in Figure 8, then, for example, the modified display mode (P3) or the modified display mode (P5) can be adopted as the low-speed display mode. 【0079】 In this case, since the device should not operate at a speed exceeding the reference speed in low-speed mode, a display mode with a large difference from the standard display mode (P0) can be selected to make it easier to detect the occurrence of an abnormality. In this case, the operating device 4 will have different display modes for high-speed and low-speed modes. This is because, as mentioned above, in high-speed mode the main purpose should be to draw attention, while in low-speed mode, operating at a speed exceeding the reference speed is considered abnormal. 【0080】 In other words, as shown in Figure 11, when the robot 2 is in high-speed mode, the operating device 4 always displays the actual speed, regardless of whether the actual speed shown in graph G3 exceeds the reference speed or not. However, if the actual speed exceeds the reference speed, the display changes to a different mode than when the actual speed does not exceed the reference speed. This allows the operator to be alerted. In Figure 11, hatching is used to schematically show that the display mode differs depending on whether the actual speed exceeds or does not exceed the reference speed. 【0081】 Furthermore, when the robot 2 is in low-speed mode, the control device 4 will always display the speed by turning on the speed display during the period from t35 to t38, regardless of whether the actual speed shown in graph G21 exceeds the reference speed or not. If the actual speed exceeds the reference speed, such as during the period from t36 to t37, the control device 4 will change the display mode to one different from when the speed does not exceed the reference speed, indicating that a clear abnormality has occurred in the low-speed mode where operation should be performed at a speed below the reference speed. 【0082】 Furthermore, when the operating device 4 changes the display mode in low-speed mode, it changes to a different display mode than in high-speed mode. In Figure 11, different hatching is used to show that the display mode differs depending on whether the actual speed exceeds the reference speed or not, and that the display mode is different from that of high-speed mode. 【0083】 Specifically, if the actual speed exceeds the reference speed at t36, the operating device 4 displays a change in the display mode schematically shown with hatching, and if the actual speed falls below the reference speed at t37, it returns the display mode to the normal state. However, it is also possible to adopt the above-mentioned warning flag and configure the device to continue displaying the change as long as the warning flag is ON. 【0084】 As described above, the speed display system 1 in this example of display configuration displays the speed of an industrial robot that can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed. The system comprises a display unit 12 and a control unit 10 that controls the display configuration when displaying the current speed of the industrial robot on the display unit 12, based on safety considerations. 【0085】 The control unit 10 displays the current speed of the industrial robot on the display unit 12 regardless of the mode set for the industrial robot. However, if the current speed of the industrial robot exceeds the reference speed, the display mode of the display unit 12 is changed to a different mode than when the reference speed is not exceeded, and the display mode is changed to a different mode for high-speed mode and low-speed mode. 【0086】 In this way, by displaying the actual speed regardless of the speed mode, it is possible to first present the operator with the actual speed that can be used to assess safety. Furthermore, if an abnormality occurs in low-speed mode, such as the actual speed exceeding the standard speed, the operator can be notified of the occurrence by displaying a warning that differs from the normal display when no abnormality occurs. Therefore, operators can accurately and quickly grasp the current situation without having to read the displayed numerical values, and can take appropriate action against hazards, thereby enhancing safety. 【0087】 Furthermore, by using different display modes for high-speed and low-speed modes, when a situation that is considered unlikely to occur, such as exceeding the standard speed, occurs in low-speed mode, the display mode will be unfamiliar, which is expected to allow operators to notice the abnormality more quickly. 【0088】 Furthermore, even if the actual speeds of multiple parts exceed the standard speed, if the worker is shown that the speed of at least one part exceeds the standard speed, the worker can understand that the situation is one of reduced safety. Therefore, by displaying the actual speed of the fastest part, safety can be enhanced without displaying multiple speeds. 【0089】 <Example of the fourth display method> The fourth display mode example will be explained below, mainly with reference to Figures 12 and 13. The operating device 4 performs the process shown in Figure 12 to display the actual speed. Specifically, the operating device 4 identifies the current speed mode set for the robot 2 (S401), determines the speed of each axis (S402), and determines the actual speed (S403). 【0090】 The operating device 4 then determines whether the current speed mode is high-speed mode (S404). If it determines that it is high-speed mode (S404: YES), it displays the actual speed (S405) and proceeds to step S406. In other words, when the operating device 4 determines that it is high-speed mode, it always displays the actual speed and does not change the display mode. 【0091】 In response to this, if the operating device 4 is not in high-speed mode (S404:NO), that is, in low-speed mode, it determines whether the actual speed exceeds the reference speed (S407), and if it determines that the actual speed exceeds the reference speed (S407:YES), it changes the display mode (S408). On the other hand, if the operating device 4 determines that the actual speed does not exceed the reference speed (S407:NO), it returns to the standard display mode (S408) and then proceeds to step S406. Note that if step S310 is executed, the display mode will be reverted to its original state. 【0092】 In other words, the control device 4 does not basically display the speed in low-speed mode, but if the actual speed exceeds the reference speed, it is configured to display the actual speed as an abnormality. By performing this processing, as shown in Figure 13 for high-speed mode, when the robot 2 is set to high-speed mode, the speed display is turned ON as shown in Graph G4, from t40 to t41, and the actual speed is always displayed. 【0093】 In contrast, as shown in Figure 13 for low-speed mode, when robot 2 is set to low-speed mode, if the actual speed of robot 2 shown in graph G41 has not reached the reference speed, such as between t45 and t46, the speed display will be turned OFF and the actual speed will not be displayed. 【0094】 On the other hand, if the actual speed exceeds the reference speed, as in the period from t46 to t47, the system will consider this to be a clear abnormality in the low-speed mode, which is supposed to operate below the reference speed, and will turn on the speed display to show the actual speed. In other words, the display will change to a different format than when the speed does not exceed the reference speed. In this case, if the actual speed falls below the reference speed at t47, the system is configured to turn off the speed display and not show the speed. However, it is also possible to adopt the above-mentioned warning flag and configure the system to continue displaying the changed speed as long as the warning flag is ON. 【0095】 As described above, the speed display system 1 in this example of display configuration displays the speed of an industrial robot that can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed. The system comprises a display unit 12 and a control unit 10 that controls the display configuration when displaying the current speed of the industrial robot on the display unit 12, based on safety considerations. 【0096】 The control unit 10 then displays the speed of the industrial robot on the display unit 12 at all times when the industrial robot is set to high-speed mode, and when the industrial robot is set to low-speed mode, it does not display the speed unless the current speed of the industrial robot exceeds the reference speed, while changing the display mode of the display unit 12 to a different display mode than when the current speed of the industrial robot exceeds the reference speed. 【0097】 In this way, by displaying the actual speed in high-speed mode, the system can first present the operator with the actual speed that can be used to assess safety. Then, in low-speed mode, by displaying the actual speed when it exceeds the standard speed, the mere display of the actual speed serves as a warning of danger to the operator. Therefore, operators can accurately and quickly grasp the current situation without having to read the displayed values, and can take appropriate action against dangers, thereby enhancing safety. 【0098】 Furthermore, even if the actual speeds of multiple parts exceed the standard speed, if the worker is shown that the speed of at least one part exceeds the standard speed, the worker can understand that the situation is one of reduced safety. Therefore, by displaying the actual speed of the fastest part, safety can be enhanced without displaying multiple speeds. 【0099】 <Example of the fifth display method> The fifth example of display mode will be explained below, mainly with reference to Figures 14 and 15. The operating device 4 performs the process shown in Figure 14 to display the actual speed. Specifically, the operating device 4 identifies the current speed mode set for the robot 2 (S501), determines the speed of each axis (S502), and determines the actual speed (S503). 【0100】 The operating device 4 then determines whether the current speed mode is high-speed mode (S504). If it determines that it is high-speed mode (S504:YES), it displays the actual speed (S505) and further determines whether the actual speed exceeds the reference speed (S506). If the operating device 4 determines that the actual speed does not exceed the reference speed (S506:NO), it returns to the standard display mode (S511) and then proceeds to step S508. In other words, the operating device 4 always displays the actual speed when it determines that it is high-speed mode. Note that if step S511 is executed, the display mode will be reverted to its original state. 【0101】 Furthermore, if the operating device 4 determines that the actual speed exceeds the standard speed (S506: YES), it changes the display mode (S507). In this case, the operating device 4 changes the display mode to distinguish whether the actual speed exceeds the standard speed or not. For example, if the standard display mode (P0) shown in Figure 8 is displayed when the actual speed does not exceed the standard speed, the operating device 4 changes to a different display mode from the standard display mode (P0) when the actual speed exceeds the standard speed. 【0102】 Furthermore, if the operating device 4 is not in high-speed mode (S504: NO), it determines whether the actual speed exceeds the reference speed (S509), and if it determines that the actual speed exceeds the reference speed (S509: YES), it displays the actual speed (S510). On the other hand, if the operating device 4 determines that the actual speed does not exceed the reference speed (S510: NO), it proceeds to step S508. In other words, the operating device 4 basically does not display the speed in low-speed mode, but if the actual speed exceeds the reference speed, it is configured to display the actual speed as an abnormality. 【0103】 By performing this process, as shown in Figure 15 as the high-speed mode, when robot 2 is set to high-speed mode, the speed display is turned ON during the period from t50 to t53, regardless of the actual speed of robot 2 shown in graph G5, and the actual speed is always displayed. Furthermore, when the actual speed exceeds the reference speed, such as during the period from t51 to t52, the actual speed is displayed in a different display manner than when the actual speed does not exceed the reference speed. In Figure 15, the different hatching is used to schematically show that the display manner is different. 【0104】 In contrast, as shown in Figure 15 for low-speed mode, when robot 2 is set to low-speed mode, if the actual speed of robot 2 shown in graph G41 does not reach the reference speed, such as from t55 to t56, the speed display is turned OFF and the actual speed is not displayed. On the other hand, if the actual speed exceeds the reference speed, such as during the period from t56 to t57, it is considered that a clear abnormality has occurred in low-speed mode, where operation should be performed below the reference speed, and the speed display is turned ON to show the actual speed. 【0105】 In other words, the display mode is changed to one different from when the speed does not exceed the standard speed. In this case, if the actual speed falls below the standard speed in t57, the speed display is turned OFF and the speed is not displayed. However, it is also possible to adopt the above-mentioned warning flag and configure the system to continue displaying the changed speed as long as the warning flag is ON. 【0106】 As described above, the speed display system 1 in this example of display configuration displays the speed of an industrial robot that can be set to a low-speed mode in which it operates within a range that does not exceed a predetermined reference speed, and a high-speed mode in which it can operate above the reference speed. The system comprises a display unit 12 and a control unit 10 that controls the display configuration when displaying the current speed of the industrial robot on the display unit 12, based on safety considerations. 【0107】 The control unit 10 then displays the speed of the industrial robot on the display unit 12 at all times when the industrial robot is set to high-speed mode, and changes the display mode to distinguish whether the current speed of the industrial robot exceeds the reference speed or not. When the industrial robot is set to low-speed mode, the control unit 10 does not display the speed unless the current speed of the industrial robot exceeds the reference speed, while changing the display mode of the display unit 12 to a different mode than when the current speed of the industrial robot exceeds the reference speed. 【0108】 In this way, by displaying the actual speed in high-speed mode, the system can first present the operator with the actual speed that can be used to assess safety. Furthermore, by changing the display format when the speed exceeds the standard speed, it becomes easier for the operator to judge the danger. Moreover, in low-speed mode, by displaying the actual speed when it exceeds the standard speed, the mere display of the actual speed serves as a warning of danger to the operator. Therefore, the operator can accurately and quickly grasp the current situation without having to read the displayed values, and can take appropriate action against danger, thereby enhancing safety. 【0109】 Furthermore, even if the actual speeds of multiple parts exceed the standard speed, if the worker is shown that the speed of at least one part exceeds the standard speed, the worker can understand that the situation is one of reduced safety. Therefore, by displaying the actual speed of the fastest part, safety can be enhanced without displaying multiple speeds. 【0110】 The present invention is not limited to the embodiments described above or shown in the drawings, and various modifications, extensions, or combinations with other configurations are included within the scope of equivalence, without departing from the spirit thereof. 【0111】 In this embodiment, an example configuration is shown in which the actual speed of the fastest part is displayed. However, as shown in Figure 16 as another example of a display configuration, for example, the display unit 12 can be provided with speed display areas (M4) for each axis, and speed data (M5) can be displayed for any axis whose speed exceeds the reference speed. In this case, the speed data (M5) is displayed to indicate that the speeds of the fifth axis (J5) and the sixth axis (J6) exceed the reference speed. 【0112】 Alternatively, as shown in the second example of another display mode, the speed data (M5) can be constantly displayed in the speed display area (M4) for each axis, and the display mode can be changed to a different mode when the reference speed is exceeded. Furthermore, it can be combined with the configurations described in the above examples of display modes, such as using different display modes for high-speed mode and low-speed mode. It can also be used in conjunction with a dedicated speed display area (M3). 【0113】 Thus, by configuring the system to display the actual speed for multiple parts or to change the display mode, the same effects as in the above-described embodiment can be obtained. For example, by displaying the actual speed, the operator can be presented with an actual speed that can be used to judge safety, and by changing the display mode when the standard speed is exceeded, the operator can more easily judge the danger. Therefore, safety can be enhanced. 【0114】 Furthermore, the control unit 10 can be configured to change the display mode on the display unit 12 if it determines that the speed of the industrial robot may exceed the reference speed while the current speed of the industrial robot is not exceeding the reference speed. In this case, the control unit 10 can determine the possibility of the future speed exceeding the reference speed based on, for example, the amount of change in speed or the rate of increase per unit time, and if there is a possibility of exceeding the reference speed, it can display the speed or change the display mode. By displaying the speed or changing the display mode before the speed exceeds the reference speed, it becomes possible to alert the worker before a situation arises where safety is a concern due to exceeding the reference speed, thereby further improving safety. 【0115】 In the embodiment, an example was shown where the reference speed is set to the safety reference speed. However, by setting the reference speed to a value lower than the safety reference speed, a configuration can be created that allows for a margin of safety in the judgment. Even with such a configuration, it is possible to alert the worker before the reference speed is exceeded, thereby further improving safety. 【0116】 In this embodiment, the display of speed on the display unit 12 is enabled when the robot 2 is manually operated, while the display of speed on the display unit 12 is disabled when the robot 2 is not manually operated. However, it is also possible to configure the system so that the display of speed is enabled even when the robot 2 is not manually operated. 【0117】 In this embodiment, an example was shown in which the actual speed of the fastest part of the robot 2 is displayed. However, it is also possible to configure the system to display the speed of each axis together. In that case, the actual speed of the fastest part can be displayed in a different manner than the actual speeds of the other parts, or the actual speed of parts exceeding a reference speed can be displayed in a different manner. 【0118】 In this embodiment, the speed of each part of the robot 2 is calculated and the actual speed of the fastest part is displayed as an example. However, in typical robot 2 operation, the actual speed of the tool center point, which is expected to have the greatest movement speed and travel distance, can be pre-selected as the display target, and the speed display can be turned ON or OFF or the display mode can be changed as in the embodiment. This reduces the processing load while displaying the actual speed of the part that is expected to move the fastest, thereby improving safety. In this case, the actual speed can be displayed in the speed display area (M3), or in combination with the display of the actual speed in the speed display area (M4) for each axis. 【0119】 In this embodiment, a configuration is shown that displays the actual speed of the tip of the arm driven by an axis, but it is also possible to display the moving speed of each axis as the actual speed. For example, the speed of the tip of the lower arm 2c, which is defined as the speed of the second axis (J2) in Figure 4, can be considered to be roughly the moving speed of the third axis (J3) itself. Therefore, it is possible to configure the system to treat and display the moving speed of the third axis (J3) as the actual speed. As a result, since the operator is assumed to be familiar with the structure of the robot 2, if they are notified that, for example, the third axis (J3) exceeds the reference speed, they will be able to easily understand which part is dangerous. The same applies to the other axes. 【0120】 In the embodiment, a configuration in which the actual speed is determined based on the velocity vector of each axis was illustrated. However, if, for example, an acceleration sensor is provided on the arm of the robot 2 for vibration suppression processing when the arm is moved, a configuration can be made in which the speed can be directly obtained based on the detection result of the acceleration sensor. 【0121】 In this embodiment, an example was shown in which the control unit 10 of the operating device 4 performs various processes. However, for example, the control device 3 can perform processes such as determining the actual speed or identifying the fastest part, or perform some of these processes. [Explanation of symbols] 【0122】 In the drawing, 1 represents the speed display system, 2 represents the robot (industrial robot), 4 represents the operating device, 10 represents the control unit, and 12 represents the display unit.
Claims
[Claim 1] An industrial robot speed display system that displays the speed of an industrial robot, which has two modes: a low-speed mode that operates within a predetermined range and a high-speed mode that allows operation exceeding the predetermined speed. Display unit and The system includes a control unit that controls the display mode for displaying the current speed of the industrial robot on the display unit based on safety considerations, The control unit, When the industrial robot is set to low-speed mode, the speed is not displayed on the display unit. An industrial robot speed display system that, when the industrial robot is set to high-speed mode, does not display the speed on the display unit unless the current speed of the industrial robot exceeds a reference speed, while displaying the speed on the display unit if the current speed of the industrial robot exceeds a reference speed. [Claim 2] An industrial robot speed display system that displays the speed of an industrial robot, which has two modes: a low-speed mode that operates within a predetermined range and a high-speed mode that allows operation exceeding the predetermined speed. Display unit and The system includes a control unit that controls the display mode for displaying the current speed of the industrial robot on the display unit based on safety considerations, The control unit, Regardless of the mode set for the industrial robot, the current speed of the industrial robot is displayed on the display unit. An industrial robot speed display system that, when the industrial robot is set to low-speed mode and the current speed of the industrial robot exceeds a reference speed, changes the display mode of the display unit for at least a predetermined period of time so as to be different from the display mode when the speed is not exceeded. [Claim 3] An industrial robot speed display system that displays the speed of an industrial robot, which has two modes: a low-speed mode that operates within a predetermined range and a high-speed mode that allows operation exceeding the predetermined speed. Display unit and The system includes a control unit that controls the display mode for displaying the current speed of the industrial robot on the display unit based on safety considerations, The control unit, Regardless of the mode set for the industrial robot, the current speed of the industrial robot is displayed on the display unit. An industrial robot speed display system that changes the display mode of the display unit so that when the current speed of the industrial robot exceeds the reference speed, the display mode is different from when the reference speed is not exceeded, and so that the display mode is different for high-speed mode and low-speed mode. [Claim 4] An industrial robot speed display system that displays the speed of an industrial robot, which has two modes: a low-speed mode that operates within a predetermined range and a high-speed mode that allows operation exceeding the predetermined speed. Display unit and The system includes a control unit that controls the display mode for displaying the current speed of the industrial robot on the display unit based on safety considerations, The control unit, When the industrial robot is set to high-speed mode, the speed of the industrial robot is always displayed on the display unit. An industrial robot speed display system that, when the industrial robot is set to low-speed mode, does not display the speed unless the current speed of the industrial robot exceeds a reference speed, while changing the display mode of the display unit to a different display mode than when the current speed of the industrial robot exceeds a reference speed. [Claim 5] An industrial robot speed display system that displays the speed of an industrial robot, which has two modes: a low-speed mode that operates within a predetermined range and a high-speed mode that allows operation exceeding the predetermined speed. Display unit and The system includes a control unit that controls the display mode for displaying the current speed of the industrial robot on the display unit based on safety considerations, The control unit, When the industrial robot is set to high-speed mode, the speed of the industrial robot is always displayed on the display unit, and the display mode is changed to distinguish whether the current speed of the industrial robot exceeds the reference speed or not. An industrial robot speed display system that, when the industrial robot is set to low-speed mode, does not display the speed unless the current speed of the industrial robot exceeds a reference speed, while changing the display mode of the display unit to a different display mode than when the current speed of the industrial robot exceeds a reference speed. [Claim 6] The control unit displays the speed of at least the fastest part of the industrial robot according to any one of claims 1 to 5. [Claim 7] The industrial robot speed display system according to any one of claims 1 to 5, wherein the control unit determines that there is a possibility that the speed of the industrial robot may exceed the reference speed when the current speed of the industrial robot does not exceed the reference speed, and deems that the speed of the industrial robot has exceeded the reference speed and changes the display mode on the display unit. [Claim 8] The industrial robot speed display system according to any one of claims 1 to 5, wherein the control unit enables the display of speed on the display unit when the industrial robot is manually operated, and disables the display of speed on the display unit when the industrial robot is not manually operated.