Robot teaching device with icon programming function

Abstract

To improve the convenience of an icon programming function.SOLUTION: A robot teaching device generates an operation program of a robot by arranging command icons representing operation commands of the robot. A processor of the robot teaching device displays at least one of an execution start line displayed on the command icon according to an execution state of the operation program and a mark for associating an identifier of position data of the command icon.SELECTED DRAWING: Figure 17A

Description

Technical Field

[0001] The present invention relates to a robot teaching device, and more particularly to a robot teaching device having an icon programming function.

Background Art

[0002] As a method for creating an operation program for a robot, icon programming has been conventionally proposed, in which various operation commands are replaced with icons and the icons are arranged on a creation screen to visually create an operation program for the robot. The following documents are known as technologies related to such programming methods.

[0003] Patent Document 1 discloses selecting a function icon from a first area displaying a function icon having a status window for displaying a setting outline of parameters of a function constituting a control program for a robot, arranging a function icon obtained by duplicating the function icon in a second area, setting parameters of the function represented by the function icon arranged in the second area, creating a control program based on the function icon and the settings, and changing the appearance of the function icon according to the settings. As an example of a function icon, a passing point icon having a status window for displaying the name of a passing point is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In robot motion programs, robot motion commands often include position data. In icon programming environments, the inclusion of position data in a motion command can be indicated to the user by displaying the position data on the icon representing the robot motion command. However, in the case of highly functional motion commands, a single motion command may include multiple position data points, and the display of position data on the icon may become complex. Therefore, it is desirable to visually represent the inclusion of multiple position data points in a single motion command in a concise manner. Furthermore, in the case of highly functional motion commands, the robot program may correct and use the position data set by the user. If the user is not informed that the position data has been corrected and used, the user may mistakenly believe that the robot is performing an action different from what was intended. Therefore, it is also necessary to visually and concisely understand that the position data has been corrected and used.

[0006] On the other hand, in robot motion programs, there are cases where you want to execute the program from a specified line. In the case of text-based programs, you can specify a line as the execution start line by placing the cursor on that line. In the case of icon-based programs, in order to edit the settings of an instruction icon, you need to select that icon. Therefore, if you try to change the execution line by selecting an icon, as in text-based programs, it may be difficult to determine whether the selection operation is for editing the program or for specifying the execution start line. As a result, selecting an icon for editing may also change the execution start line, leading to an unintended change in the execution start line. Therefore, there is a need for a method that allows you to set the program execution line and the selected line for editing separately.

[0007] Therefore, there is a need for technology that improves the usability of icon programming functionality. [Means for solving the problem]

[0008] This disclosure First aspectThis is a robot teaching device that generates a robot operation program by arranging command icons representing robot operation commands, and comprises at least one processor. The at least one processor is displayed on the command icons. Moves according to the execution status of the program. Marks that associate identifiers for the execution start line and command icon position data. At least one of the two Display Let . A second aspect of the present disclosure is a robot teaching device that generates a robot operation program by arranging command icons representing robot operation commands, comprising at least one processor, the at least one processor displaying at least one of an execution start line displayed on the command icon and a mark associating the identifier of the command icon's position data according to the execution status of the operation program, and the at least one processor changing the color of at least one of the identifier and the mark when the position data is not entered or is invalid. A third aspect of this disclosure is a robot teaching device that generates a robot motion program by arranging command icons representing robot motion commands, comprising at least one processor, the at least one processor displaying at least one of an execution start line displayed on the command icon and a mark associating the identifier of the command icon's position data according to the execution status of the motion program, and the at least one processor causing the shape of the mark to be changed and displayed when the position data is corrected and used. [Effects of the Invention]

[0009] According to one aspect of this disclosure, the convenience of the icon programming function is improved. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing the schematic configuration of a robot teaching device in one embodiment. [Figure 2] This is a functional block diagram of a robot teaching device in one embodiment. [Figure 3] This figure shows an example of a programming screen. [Figure 4] This is a perspective view showing an example of an operation command that includes multiple position data. [Figure 5] This figure shows an example of the detailed screen for the operation command shown in Figure 4. [Figure 6] This figure shows the location data identifier and marker colors changed. [Figure 7] This is a perspective view showing an example of an operation command that uses corrected position data. [Figure 8] Figure 7 shows an example of the operation command setting screen. [Figure 9] This perspective view shows an example of an application command that uses corrected position data. [Figure 10] This is a perspective view showing an example of a stacking pattern and path pattern for palletizing instructions. [Figure 11]It is a diagram showing an example of an icon group representing the paretozing instruction of FIG. 9. [Figure 12] It is a diagram showing an example of a detailed screen of the high - function icon of FIG. 11. [Figure 13] It is a diagram showing how the position data of the path pattern is corrected and used. [Figure 14] It is a diagram showing how the position data of the path pattern is corrected and used. [Figure 15] It is a diagram showing a virtual screen with identifiers and marks of position data arranged. [Figure 16] It is a flowchart showing the operation of the robot teaching device in one embodiment. [Figure 17A] It is a diagram showing an example of an execution start line. [Figure 17B] It is a diagram showing an example of an execution start line. [Figure 17C] It is a diagram showing an example of an execution start line.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In each drawing, the same or similar components are given the same or similar reference numerals. Also, the embodiments described below do not limit the technical scope and the meaning of the terms of the invention described in the claims.

[0012] FIG. 1 shows a schematic configuration of a robot teaching device 10 in this embodiment. The robot teaching device 10 is a computer device including a processor 11, a display unit 12, an input unit 13, a storage unit 14, etc. The processor 11 is composed of a CPU (central processing unit), a quantum processor, etc. The display unit 12 is composed of a liquid crystal display, an organic EL (electro - luminescence) display, etc. The input unit 13 is composed of a touch panel device, a keyboard, a mouse, etc., and the storage unit 14 is composed of a semiconductor memory, a magnetic storage device, etc.

[0013] The robot teaching device 10 further includes icon programming software 15 stored in the memory unit 14. The icon programming software 15 is read by the processor 11 and executed in response to information from the input unit 13. The icon programming software 15 is an event-driven program that displays a programming screen on the display unit 12 and generates an operation program 16 for the robot 20 in response to information from the input unit 13.

[0014] The generated motion program 16 is transmitted to the robot control device 30 via wired or wireless connection. The robot control device 30 includes a motion control unit 31 that controls the operation of the robot mechanism 21 and the tool 22 according to the motion program 16. The robot mechanism 21 may be an industrial robot such as an articulated robot or a parallel link robot, but it may also be a humanoid robot. The tool 22 consists of a suction hand, a gripping hand, a welding rule, a screw fastening tool, etc., depending on the work performed by the robot 20. The robot 20 may also be equipped with sensors 23. The sensors 23 consist of, for example, a vision sensor, a force sensor, a vibration sensor, etc. The robot control device 30 may correct the position data in the motion program 16 based on information from the sensors 23.

[0015] Figure 2 shows the functional blocks of the robot teaching device 10. The icon programming software 15 causes the processor of the robot teaching device 10 to function as a programming screen display means 40, an icon display means 41, an icon selection means 42, and a mark display means 43. The icon programming software 15 may also cause the processor to function as a detailed data setting means 44, a color changing means 45, a shape changing means 46, an operation program generation means 47, a virtual screen display means 48, an execution start line display means 49, and an execution start line movement means 32. The details of each means will be described below.

[0016] Figure 3 shows an example of a programming screen 50. The processor 11 functions as a programming screen display means 40 and displays the programming screen 50 on the display unit 12. The programming screen 50 preferably includes a creation screen 51 on which an operation program 16 can be created by arranging icons representing the operation commands of the robot 20 on a time axis 54, a selection screen 52 on which one icon can be selected from various pre-prepared icons 60-67, and a detail screen 53 on which detailed data of the icons 60-61 placed on the creation screen 51 can be set. Note that the icons can be arranged in chronological order, and in this case, it is not necessary to display the time axis 54.

[0017] Furthermore, the processor 11 functions as an icon display means 41, displaying various icons 60-67 representing the operation commands of the robot 20 on the selection screen 52. In addition, the processor 11 functions as an icon selection means 42, selecting one of the icons 60-67 on the selection screen 52 and placing a copy of the icon on the time axis 54 of the creation screen 51.

[0018] Icons 60-67 may include command icons 60-64 representing low-function operation commands and high-function icons 65-67 representing high-function operation commands. Command icons 60-64 include, for example, linear movement commands, arc movement commands, workpiece acquisition commands, hand close commands, hand open commands, etc. High-function icons 65-67 include, for example, application commands that repeat a predetermined operation pattern, correction commands based on information from sensor 23, etc. High-function icons 65-67 may have, for example, a U-shape, and one or more command icons 60-64 that teach operation patterns can be placed on the time axis 54 in the area enclosed by high-function icons 65-67. The placed one or more command icons 60-64 are used to correct as operation patterns of application commands or are used to correct by correction commands. Application commands include, for example, palletizing commands to stack workpieces one by one onto a pallet, depalletizing commands to unload workpieces one by one from the pallet, spot welding commands to weld one or more welding points, and screw fastening commands to fasten one or more screws.

[0019] Furthermore, the processor 11 functions as a mark display means 43, and when an operation instruction includes position data, it displays a mark 69 associated with the position data identifier 68 on the instruction icon 60. If an operation instruction includes multiple position data, the processor 11 may display multiple marks 69 associated with a single instruction icon 60. This allows for a visually concise display on the instruction icon that a single operation instruction includes multiple position data. The position data identifier 68 is composed of, for example, numbers, letters, or combinations thereof, and is identification information for position data that is commonly used within the operation program. Since the position data identifier 68 is common within the operation program, the same identifier 68 can be specified when the same position is to be used. The mark 69 may be a pin mark stuck into the instruction icon 61, but it may also take other forms, such as an arrow mark or a callout mark.

[0020] Figure 4 shows an example of an action command that includes multiple position data, specifically an arc movement command. The arc movement command is an action command in which the robot 20 moves in an arc from the starting point position 1, through position 2, to position 3, and includes two position data points, position 2 and position 3. As shown in Figure 3, when an instruction icon 61 placed on the time axis 54 is selected, the processor 11 functions as a detailed data setting means 44 and displays a detailed screen 53 for setting the detailed data of the instruction icon 61.

[0021] Figure 5 shows an example of the detailed screen for the operation command in Figure 4. The detailed data for the arc movement command includes two position data 70, position 2 and position 3, the robot's movement speed 71, the positioning format after movement 72, etc. The position data 70 may be an automatically entered initial value, the current location of the actual or virtual robot set by pressing the arm position reflection button 73, or position data manually entered by the user. In addition, the position data 70 may be switched between various coordinate systems, such as the user coordinate system or the robot coordinate system, by pressing the switch button 75. When the arm position operation button 74 is pressed, the actual or virtual robot is moved to the set position data 70, and the robot's position can be confirmed. The positioning format includes a "single-position" mode that pauses after movement, and a "smooth" mode that moves continuously to the next operation command, etc.

[0022] Furthermore, the processor 11 may also function as a color-changing means 45, and may change the color of at least one of the position data identifier 68 and mark 69 when the position data 70 on the detail screen 53 is not entered or is invalid. Figure 6 shows the state in which the colors of the position data identifier 68 and mark 69 have been changed. This makes it possible to individually determine on the instruction icon 60 that position 2 is not entered or is invalid.

[0023] In addition, the processor 11 may function as a shape changing means 46, and it is preferable to change the shape of the mark 69 when correcting and using the position data 70 set on the detail screen 53. Figure 7 shows a workpiece acquisition command as an example of an operation command that uses corrected position data. The workpiece acquisition command is an operation command in which the robot moves from the starting point position 1 to the position 2 where the workpiece is acquired, via the waiting position position 2'. Figure 8 shows an example of the setting screen for the operation command in Figure 7. The detailed data for the workpiece acquisition command includes the position data 70 of position 2, the robot's movement speed 71, the positioning format after movement 72, and the correction amount 76 (height) of the position data 70. When the workpiece acquisition command is executed, the position data 70 of position 2 is corrected based on the correction amount 76 (height) to calculate position 2'. When using corrected position data 70 in this way, it is preferable to change the shape of the mark 69, for example, from a pin mark to a diamond mark. This makes it possible to visually and concisely understand on the command icon 60 that the position data 70 is being used with correction.

[0024] Furthermore, the processor 11 may also change the shape of the mark 69 when the position data 70 is corrected and used in accordance with an application instruction that uses the position data corrected. Figure 9 shows a palletizing instruction as an example of an application instruction that uses the position data corrected. As mentioned above, the palletizing instruction is an application instruction in which the robot 20 acquires workpieces W and stacks them one by one on a pallet. For example, the robot 20 moves from the standby position 1 to position 2, moves to position 3 to acquire workpieces W, closes its hand, returns to position 2, moves to position 4 which is the approach point to the pallet, moves to position 5 which is the stacking point, opens its hand, moves to position 6 which is the escape point, and returns to the standby position 1 via position 2.

[0025] Figure 10 shows an example of a stacking pattern and a path pattern for a palletizing instruction. With a palletizing instruction, workpieces are stacked in an orderly manner simply by setting the stacking pattern and path pattern. The stacking pattern is determined based on, for example, the number of rows and columns, the position data of representative points, etc. The path pattern is determined based on, for example, the position data of approach points, stacking points, and escape points, etc. The three position data of the path pattern may be relative positions and are corrected and used based on the detailed data of the stacking pattern.

[0026] Figure 11 shows an example of the icon group representing the palletizing instruction in Figure 9. Palletizing instructions are programmed by placing a high-function icon 65 representing the palletizing instruction on the time axis 54 of the creation screen 51, and placing instruction icons 60 representing the path pattern in the area enclosed by the high-function icon 65. In this example, three instruction icons 60 that move in a straight line to the approach point, stacking point, and escape point, which are the path pattern, are placed in the area enclosed by the high-function icon 65. Detailed data for the path pattern can be set on the details screen by selecting the instruction icon 60, and detailed data for the stacking pattern can be set on the details screen by selecting the high-function icon 65.

[0027] Figure 12 shows an example of the detailed screen 53 of the high-function icon 65 in Figure 11. The detailed screen 53 of the high-function icon 65, which represents a palletizing instruction, is used to set the detailed data of the stacking pattern. The detailed data includes, for example, the number of rows and columns 77, the position data of the representative point 70, etc.

[0028] Figures 13 and 14 show how the position data of the route pattern is corrected and used. For example, in the first execution, the position data 70 of the route pattern is corrected based on the stacking pattern so that position [1,1,1] becomes a stacking point, as shown in Figure 13. For example, in the second execution, the position data 70 of the route pattern is corrected based on the stacking pattern so that position [2,1,1] becomes a stacking point. In this way, the route pattern is corrected by applying an offset to the position data 70 of the route pattern according to the stacking pattern.

[0029] Refer to Figure 11 again. Since the three position data of the path pattern are corrected and used based on the stacking pattern, the processor 11 changes the shape of the marks 69 on the three instruction icons 60 located in the area enclosed by the high-function icon 65, for example, from a pin mark to a diamond mark. This makes it visually easy to understand that the position data of the instruction icons 60 located in the area enclosed by the high-function icon 65 are corrected and used.

[0030] Furthermore, the processor 11 may also change the shape of the mark 69 when the position data is corrected and used in response to a correction command based on information from the sensor 23 shown in Figure 1. This makes it easy to visually understand that the position data is corrected and used based on information from the sensor 23.

[0031] Referring again to Figure 2, the processor 11 functions as an operation program generation means 47 and generates an operation program when programming is complete. The processor 11 may also function as a virtual screen display means 48 and display a virtual screen in which the identifier and mark of the position data are placed at the position in the virtual space indicated by the position data 70. Figure 15 shows a virtual screen 55 in which the identifier 68 and mark 69 of the position data are placed. A virtual robot 81 can be further placed in the virtual space 80 and the generated operation program can be simulated with the virtual robot 81. This makes it possible to grasp the position of the position data 70 used in the operation program using graphic information.

[0032] Figure 16 shows an example of the operation of the robot teaching device in this embodiment. In step S10, a programming screen including a selection screen, creation screen, detail screen, etc., is displayed. In step S11, various icons (command icons, high-function icons, etc.) are displayed on the selection screen. In step S12, an icon is selected and a copy of the icon is placed on the creation screen. In step S13, if the operation command includes position data, a mark associating the identifier of the position data is displayed on the command icon. In this case, if one operation command includes multiple position data, it is preferable to display multiple marks as associated on a single command icon. This makes it possible to visually and concisely display on the command icon that one operation command includes multiple position data.

[0033] In step S14, the detailed data of the operation command (position data, movement speed, positioning format, etc.) is set on the details screen. In step S15, if the position data is not entered or is invalid, the color of at least one of the position data identifier and mark is changed. This makes it possible to individually identify on the command icon whether the position data is not entered or is invalid. In step S16, if the position data is corrected before use, the shape of the mark is changed. This makes it possible to visually and concisely identify on the command icon that the position data has been corrected before use.

[0034] In step S17, it is determined whether or not the programming is complete. If the programming is not complete (NO in step S17), the process returns to step S12 and repeats the process of placing the icon on the timeline of the creation screen. If the programming is complete (YES in step S17), the operation program is generated in step S18.

[0035] Figures 17A and 17C show an example of an execution start line 90. As shown in Figure 17A, the processor 11 may function as an execution start line display means 49 and display an execution start line 90 indicating the execution start position in the program on the instruction icon 60. For example, the execution start line 90 may take the form of a line perpendicular to the time axis 54. Each of the instruction icons 60-62 placed on the time axis 54 is assigned an execution number indicating the execution position in the program. The processor 11 then displays the execution start line 90 on the instruction icon 60 with the execution number (hereinafter referred to as the execution start number) indicating the execution start position in the program. In the initial settings, it is preferable to display the execution start line 90 on the first instruction icon 60.

[0036] As shown in Figure 17B, the processor 11 functions as an execution start line moving means 32 and may move the execution start line 90 to another instruction icon 61 in response to user operations such as dragging. Alternatively, the processor 11 may move the execution start line 90 to the instruction icon closest to the user's position in response to user operations such as double-clicking (or double-tapping) on ​​the time axis 54 or the creation screen 51. Moving the execution start line 90 in response to operations such as double-clicking (or double-tapping) makes it possible to easily change the execution start position even for long program executions. At this time, the execution start number is changed to the execution number of the instruction icon to which the execution start line 90 was moved.

[0037] When the generated program is executed, execution begins from the position of the execution start line 90. During program execution, the processor 11 should move the execution start line 90 in accordance with the program's execution status. This movement of the execution start line 90 in accordance with program execution makes it possible to visually understand which part of the program is being executed. When the program finishes, the processor 11 stops the execution start line 90 on the instruction icon that was being executed at that time. The next execution start number is set to the execution number of that instruction icon.

[0038] When an operating program is paused, the processor 11 pauses the execution start line 90 on the instruction icon that was being executed at that time. The next execution start number is set to the execution number of that instruction icon. When the operating program is executed again, the execution of the instruction that was in progress is resumed. If the position of the execution start line 90 is changed while the operating program is paused, it is advisable for the processor 11 to display a confirmation screen asking whether it is okay to change the execution start number from the paused instruction icon to another instruction icon. If "Yes" is selected on the confirmation screen, the next execution start number will be changed to the execution number of the instruction icon to which the execution start line 90 was moved. If "No" is selected, the next execution start number will not be changed because the actual execution start number and the position of the execution start line 90 will be different. Therefore, when the operating program is restarted, it is advisable to display another confirmation screen asking whether it is okay to change the execution start number (whether it is okay to start the operating program from the instruction icon where the current execution start line 90 is located). Furthermore, if "No" is selected and the execution start line 90 is moved to another command icon, a confirmation screen may be displayed asking if it is OK to change the execution start number from the paused command icon to another command icon. Once the execution start number has been changed from the paused command icon to another command icon, it would be better to prevent the confirmation screen from being displayed again even if the position of the execution start line 90 is changed. This will improve user convenience.

[0039] By providing such an execution start line 90, it becomes possible to set the execution start position within the operation program without selecting the instruction icon 61. On the other hand, as shown in Figure 17C, if the instruction icon 60 is selected, it is possible to set the detailed data of the operation instruction without changing the execution start position within the operation program. The instruction icon 60 may have both an execution status and an editing status simultaneously, but in this embodiment, the instruction icon 60 has an editing status, and the execution start line 90 has an execution status. Since the execution start line 90 can be moved arbitrarily by the user, only the execution status can be changed without changing the editing status. Also, if the execution start line 90 is not moved, the contents of the instruction icon 60 can be edited without changing the execution status. In other words, when selecting an instruction icon, it is possible to prevent unintended changes to the execution start position.

[0040] According to the above embodiment, the convenience of the icon programming function is improved.

[0041] The program executed by the aforementioned processor may be provided on a computer-readable non-temporary recording medium, such as a CD-ROM.

[0042] Although various embodiments have been described herein, it should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the following claims. The following additional information is disclosed regarding the above embodiments and modifications. (Note 1) A robot teaching device that generates a robot operation program by arranging command icons that represent robot operation commands, A robot teaching device comprising a mark display means that, when an operation command includes multiple position data, displays multiple marks associated with the identifiers of the position data on a single command icon. (Note 2) The robot teaching device described in Appendix 1 is a pin mark that Mark has stuck into the command icon. (Note 3) The robot teaching device according to Appendix 1 or 2, further comprising a color-changing means for changing the color of at least one of the location data identifier and mark when location data is not entered or is invalid. (Note 4) A robot teaching device according to any one of the appendices 1 to 3, further comprising a shape-changing means for changing the shape of a mark when the position data is corrected before use. (Note 5) The robot teaching device described in Appendix 4 further comprises a detailed data setting means for setting detailed data including the amount of correction for position data. (Note 6) The robot teaching device according to Appendix 4 or 5, wherein the shape changing means changes the shape of a mark when the position data is corrected and used in response to an application command that corrects the position data or a correction command based on information from a sensor. (Note 7) The robot teaching device according to Appendix 6, further comprising an icon display means for displaying high-function icons representing application commands or correction commands. (Note 8) A robot teaching device according to any one of the appendices 1 to 7, further comprising a virtual screen display means for displaying a virtual screen in which an identifier and a mark for the position data are placed at the position indicated by the position data in the virtual space. (Note 9) The robot teaching device according to any one of the appendices 1 to 8, further comprising an execution start line display means for displaying an execution start line indicating the execution start position within the operation program on an instruction icon. [Explanation of symbols]

[0043] 1-6 position 2' Standby position 10 Robot teaching device 11 processors 12 Display section 13 Input section 14 Storage section 15 Icon Programming Software 16. Operating Program 20 Robots 21 Robot Mechanism 22 Tools 23 sensors 30 Robot control devices 31 Operation Control Unit 32 Execution start line moving means 40 Programming screen display means 41 Icon display means 42 Icon Selection Methods 43 Mark display means 44 Detailed data setting means 45. Methods for changing colors 46. ​​Means for changing shape 47 Operation program generation means 48 Virtual screen display means 49. Execution start line display means 50 Programming screen 51 Creation screen 52 Selection screen 53 Details screen 54 Timeline 55 Virtual Screen 60-64 Command Icons 65-67 High-Function Icons 68 Identifiers for location data 69 Mark 70 Location data 71 Movement speed 72 Positioning type 73 Apply button 74 Operation Buttons 75 Switch button 76 Correction Amount 77 Number of rows and columns 80 Virtual Space 81 Virtual Robots 90 Execution start line Double job

Claims

1. A robot teaching device that generates a robot operation program by arranging command icons representing robot operation commands, Equipped with at least one processor, A robot teaching device in which at least one processor displays at least one of an execution start line, which is displayed on an instruction icon and moves according to the execution status of the operation program, and a mark that associates an identifier of the position data of the instruction icon.

2. The robot teaching device according to claim 1, wherein the at least one processor, upon acquiring information of user operation, moves the execution start line to another instruction icon and displays it in accordance with the user operation.

3. The robot teaching device according to claim 1 or 2, wherein the at least one processor moves and displays the execution start line in accordance with the execution status of the operation program when the operation program is executed.

4. The robot teaching device according to claim 3, wherein when the operation program is paused, the at least one processor pauses and displays the execution start line on the instruction icon that was executing when the operation program was paused.

5. A robot teaching device that generates an operation program for a robot by arranging command icons that represent operation commands for the robot, Equipped with at least one processor, The at least one processor displays at least one of the execution start line and a mark that associates the identifier of the position data of the instruction icon, depending on the execution status of the operation program. A robot teaching device in which the at least one processor changes the color of at least one of the identifier and the mark when the position data is not entered or is invalid.

6. A robot teaching device that generates an operation program for a robot by arranging command icons that represent operation commands for the robot, Equipped with at least one processor, The at least one processor displays at least one of the execution start line and a mark that associates the identifier of the position data of the instruction icon, depending on the execution status of the operation program. The robot teaching device includes at least one processor which changes the shape of the mark and displays it when the position data is corrected and used.

Images