Program generation device, method, and program

Abstract

This program generation device comprises a processor, a storage device, a display, and an input device. The processor: reads at least one operation signal, which includes information that relates to an operation command for a robot and is registered in advance within the storage device, from the storage device and displays the at least one operation signal in a first region of the display; reproduces one or more operation signals, which are selected from the at least one operation signal displayed in the first region, and arranges the resultant signal in a second region of the display, thereby generating an operation program; causes the input device to input a parameter pertaining to a function represented by any of the operation signals selected from the operation signals displayed in the first and second regions, thereby generating a parameter-including operation signal; and registers the generated parameter-including operation signal in the storage unit as one operation signal.

Description

Program generation device, method and program

[0001] The present disclosure relates to a program generation device, method, and program.

[0002] Conventionally, there has been known a teaching device that, in response to dragging of an icon displayed in a selection area of ​​a teaching screen, duplicates an icon identical to the dragged icon and moves it to a creation area (see, for example, Patent Document 1).

[0003] By listing multiple icons in the creation area, a robot's operation program can be generated. For the icons copied to the creation area, the user can set the parameters of the functions represented by the icons in the status window provided for the icons.

[0004] International Publication No. 2020 / 012558

[0005] When icons having the same function are used multiple times in an operation program, it is sometimes desirable to reuse parameters that have been set once. In such cases, it is cumbersome to reset the parameters for each icon from scratch. Therefore, it is desirable to be able to easily reuse operation symbols such as icons with set parameters.

[0006] One aspect of the present disclosure is a program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor reads from the storage device at least one action symbol containing information related to a robot's action command that has been pre-registered in the storage device and displays the read information in a first area of ​​the display, generates an action program by duplicating one or more action symbols selected from the action symbols displayed in the first area in a second area of ​​the display and arranging them in chronological order, generates a parameter-attached action symbol by inputting, via the input device, parameters of a function represented by any of the action symbols selected from the action symbols displayed in the first area or the second area, and registers the generated parameter-attached action symbol in the storage device as one of the action symbols.

[0007] 10. A diagram showing an example of a robot system to which a program generation device according to a first embodiment of the present disclosure is applied. A block diagram showing the program generation device of FIG. 1. A diagram showing an example of a display in the program generation device of FIG. 2. A diagram showing an example of a parameter setting area and a name setting area displayed on the display in the program generation device of FIG. 2. A diagram showing an example of an icon with parameters copied to a selection area in the program generation device of FIG. 2. A diagram showing a state in which an icon with parameters has been copied to favorites in the program generation device of FIG. 2. A flowchart illustrating a program generation method according to the first embodiment of the present disclosure. A diagram showing a modified example of the display in the program generation device of FIG. 2. A diagram in which a check box for selecting parameters to be registered in the parameter setting area of ​​FIG. 4 is added. A diagram showing an example of a display illustrating a program generation device according to a second embodiment of the present disclosure. A diagram showing a state in which a plurality of icons in the creation area of ​​FIG. 10 are copied to a selection area to generate a copy icon. A diagram showing an example of a name input area for inputting a name for the copy icon of FIG. 10. A diagram showing an example of a display for confirming the contents of the copy icon of FIG. 10. A diagram showing an example of a display for confirming whether or not to maintain parameters when copying the copy icon of FIG. 10 to the creation area.

[0008] A program generation device 1, a method, and a program according to a first embodiment of the present disclosure will be described below with reference to the drawings. As shown in FIG. 1 , the program generation device 1 according to this embodiment is applied to a robot system 20 including a robot 10 and a control device 11 that controls the robot 10.

[0009] The robot 10 is, for example, a vertical six-axis articulated robot, and is driven in response to a control signal output from the control device 11. The robot 10 is not limited to a vertical six-axis articulated robot, but may be a robot of any type, such as a horizontal articulated robot or a linear motion robot.

[0010] The control device 11 reads out an operation program stored in the storage device 3 (described later), generates a control signal based on the read operation program, and outputs it to the robot 10. The operation program is a program for operating the robot 10, and is command data including one or more operation commands.

[0011] The program generation device 1 according to this embodiment is a device that generates an operation program in response to user operations. Here, the generation of an operation program includes the creation of a new operation program as well as the editing of an existing operation program. As shown in FIG. 2 , the program generation device 1 includes at least one processor 2, at least one storage device 3, a display 4, and an input interface (input device) 5.

[0012] The processor 2 may be any processing device such as a CPU or an MPU. Furthermore, part of the processing executed by the processor 2 may be realized by a dedicated logic circuit or hardware.

[0013] The storage device 3 includes at least one of semiconductor memory such as RAM (random access memory) and ROM (read-only memory), and storage devices using storage media such as HDD (hard disc drive) and optical disc. The display 4 includes a liquid crystal display or an organic EL display. The input interface 5 includes a touch panel device, a keyboard, a mouse, etc.

[0014] The program generation device 1 may be a dedicated teaching device such as a teaching operation panel provided in the control device 11, or may be a general-purpose computer or tablet terminal on which a program generation program is installed.

[0015] The program generating device 1 according to this embodiment stores at least one operation symbol including information related to an operation command for the robot 10, which is registered in advance in the storage device 3. The operation symbol is, for example, various icons I (hereinafter referred to as icons) representing various operation commands for the robot 10. The operation commands include a linear movement command, an arc movement command, an operation command for a tool attached to the tip of the robot 10, etc.

[0016] Icons I include icons for which parameters of the function represented by the icon I can be set, and icons for which parameter setting is not required. For example, parameters for a movement command include a target position, intermediate positions, movement speed, etc.

[0017] 3, the processor 2 reads out icons I stored in the storage device 3 from the storage device 3 and displays them in a selection area (first area) A of the display 4 so that the user can select them. The user can select any of the icons I displayed in the selection area A using the input interface 5. The user can select an icon I using a touch panel or by positioning a cursor displayed on the display 4 with a mouse or the like.

[0018] When the user selects an icon I displayed in the selection area A using the input interface 5 and drags (duplicates) it to the creation area (second area) B, the processor 2 duplicates the dragged icon I. Then, when the user moves the dragged icon I to the creation area B on the display 4 and drops it, the processor 2 places the icon I in the creation area B near the position where it was dropped.

[0019] The position where the icon I is dropped within the creation area B does not have to be precise, and if the icon I is dropped into any empty space within the creation area B, the icon I will be arranged, for example, left-justified in the creation area B. Furthermore, if other icons I are already arranged within the creation area B, the arrangement of the new icon I will be determined based on the relative positional relationship with those icons I. For example, if two icons I are arranged within the creation area B, dropping the new icon I into the creation area B near the middle of the existing icons I will arrange the new icon I between the two existing icons I.

[0020] The user can select any of the icons I displayed in the creation area B using the input interface 5. When the user selects an icon I displayed in the creation area B for which parameters can be set, the processor 2 displays a parameter setting area C on the display 4. The parameter setting area C may be displayed as a pop-up at any position on the display 4, or may be displayed in place of the selection area A as shown in FIG. 4 . When the user inputs parameters into the parameter setting area C using the input interface 5, the processor 2 associates the input parameters with the selected icon I on the creation area B and stores them in the storage device 3.

[0021] By the user repeating these operations, the processor 2 can arrange a plurality of icons I horizontally within the creation area B, for example, along a timeline set from left to right within the creation area B. Therefore, by arranging the icons I horizontally, the processor 2 generates an operating program in which the icons I are arranged in chronological order along the timeline.

[0022] 3, the processor 2 selectably displays an icon deletion mark a, a duplication mark b, and an icon registration mark c on the display 4. When the user selects any of the icons I displayed in the selection area A or creation area B of the display 4 and then presses the icon registration mark c, the processor 2 displays a name setting area D in which the user can set a name for the icon I. For example, in the example shown in FIG. 4, the name setting area D is displayed as a pop-up on the creation area B of the display 4.

[0023] The name setting area D includes an input area D1 that allows the user to input any text representing the name of the icon I, a registration button D2 for confirming and registering the input name, and a cancel button D3 for canceling the process. When the user inputs any text representing the name in the input area D1 and presses the registration button D2, the processor 2 generates a new icon I in the selection area A with the input name.

[0024] That is, as shown in Fig. 5, the processor 2 stores (registers) a new icon I1 having the input name (e.g., speed100) in the storage device 3 as one of the icons I to be displayed in the selection area A. The newly registered icon I1 may be registered as a favorite, as shown in Fig. 6.

[0025] In this case, if a parameter representing the function of the icon I is set in the icon I, the processor 2 copies the icon with the parameter (parameter-attached action symbol) to which the parameter has been set. If an icon I for which a parameter can be set but no parameter has been set is selected, the processor 2 displays a parameter setting area C on the display 4 as shown in FIG. 4 and prompts the user to input the parameter.

[0026] When an icon with parameters is registered, the user can select the icon with parameters displayed in the selection area A in the same way as other icons I, and copy it to the creation area B by dragging and dropping. When the icon with parameters is copied to the creation area B, the parameters set in the icon I are maintained as they are.

[0027] When the user selects an icon group including multiple icons I arranged in the creation area B of the display 4 and presses the duplication mark b, the processor 2 generates an arbitrary icon for duplication I2. When the user selects an unnecessary icon I displayed in the selection area A and presses the icon deletion mark a, the processor 2 deletes the arbitrary icon I registered in the storage device 3.

[0028] Next, a program generation method according to this embodiment will be described below with reference to the drawings. As shown in FIG. 7 , the program generation method according to this embodiment includes step S1 of reading at least one icon I pre-registered in the storage device 3 from the storage device 3 and displaying it in a selection area A on the display 4. The program generation method also includes step S3 of generating an operating program by duplicating one or more icons I selected from the icons I displayed in the selection area A into a creation area B and arranging the copies in chronological order. The program generation method also includes step S5 of generating a parameter-attached icon by inputting parameters for any icon I selected from the icons I displayed in the selection area A or the creation area B. The program generation method also includes step S7 of registering the generated parameter-attached icon in the storage device 3 as one of the icons I.

[0029] 7, icons I are displayed in selection area A (step S1), and when the user drags one of the icons I (step S2), the dragged icon I is duplicated (step S3). Then, the duplicated icon I is dropped into creation area B, and an operating program is generated in creation area B.

[0030] It is determined whether the icon I dropped into the creation area B is an icon for which parameters can be set (step S4), and if it is an icon for which parameters can be set, a parameter setting area C is displayed. When the user inputs parameters (step S5) and presses the icon registration mark c (step S6), a name setting area D is displayed.

[0031] When the user inputs a name in the input area D1 and presses the register button D2, an icon with parameters is generated and registered in the storage device 3 as one of the icons I (step S7). It is determined whether or not to end the program generation (step S8), and if not, the process from step S2 is repeated.

[0032] In addition, if the user does not drag any of the icons I displayed in the selection area A in step S2, the process proceeds to step S8. Also, if it is determined in step S6 that the icon I for which parameters have been input in step S5 has not had the icon registration mark c pressed, the process proceeds to step S8.

[0033] Furthermore, if it is determined in step S4 that the icon I copied in step S3 is an icon I that does not require parameter setting, the process proceeds to step S8. By registering the icon with parameters in the storage device 3, the newly registered icon with parameters is included in the icons I displayed in the selection area A in step S1.

[0034] As described above, according to this embodiment, in a device that generates an operating program by arranging one or more icons I in the creation area B of the display 4, an icon with parameters can be registered as a selectable icon I. This eliminates the need to reset parameters from scratch for each icon I, even when the same icon with parameters is used multiple times in an operating program. Therefore, even in such a case, there is an advantage that the user can easily reuse the icon I without having to go through the troublesome task of resetting parameters.

[0035] Furthermore, when duplicating an icon with parameters displayed in the creation area B, the icon with parameters can be copied to the selection area A along with the parameters.

[0036] Note that the program generation device 1 and the program generation method according to the present embodiment have exemplified a case in which a single icon with a parameter is duplicated from a single icon with a parameter into the selection area A. Alternatively, a plurality of icons with parameters may be duplicated from a single icon with a parameter into the selection area A.

[0037] In this case, by selecting one of the icons I displayed in the selection area A and pressing the icon registration mark c, a different name can be entered in the displayed name setting area D. By selecting an icon with parameters displayed in the selection area A, pressing the icon registration mark c, and entering a name, multiple icons with parameters made up of the same type of icon I can be duplicated.

[0038] 8, an editing mark d may be displayed on the display 4, and when the user presses the editing mark d, the processor 2 may display a name setting area D and a parameter setting area C, allowing the name and parameters to be edited. Also, an icon I displayed in the selection area A with no registered parameters may be selected, and new parameters may be registered to create an icon with parameters.

[0039] Furthermore, when copying and registering an icon with parameters, the processor 2 may display the parameters stored in association with the icon I and allow the user to edit the parameters. By allowing the user to edit the parameters at the time of registration, it is possible to eliminate the need to register icons with the same type of parameters but with different parameters.

[0040] Furthermore, when duplicating a parameter-attached icon having multiple parameters, the processor 2 may display the parameter setting area C along with the name setting area D, and allow the user to select the parameter to be duplicated. For example, the parameter may be selected by the user checking the check box of the parameter to be duplicated, as shown in FIG.

[0041] For example, if position information, speed information, and route information are registered as parameters, the user may check only the speed information and route information and then press the register button D2. In this case, the processor 2 does not inherit the position information set in the original parameter-added icon, and registers the parameter-added icon, which inherits only the speed information and route information, in the storage device 3. The position information of the duplicated parameter-added icon may not be set, or default position information may be set.

[0042] Furthermore, instead of selecting the parameters to be duplicated when registering an icon with parameters, the parameters to be duplicated may be selected when the icon with parameters displayed in the selection area A is duplicated in the creation area B. In this case, when the user drags the icon with parameters displayed in the selection area A to duplicate it in the creation area B, the user simply checks the check box of the parameter to be duplicated. Furthermore, the user may be able to select parameters not to be carried over by unchecking the check box of the parameter.

[0043] In this embodiment, the program generation device 1 and the program generation method have been described, but are not limited to this. As described above, the program generation device may be a dedicated teaching device having the above configuration, or may be a general-purpose computer or tablet terminal, etc., on which a program generation program is installed. In this case, the program generation program may be one that causes the general-purpose computer or tablet, etc., to execute each step of the program generation method described above. Furthermore, although icons have been used as example action symbols, any other action symbols may be used instead.

[0044] Next, a program generation device 1, a method, and a program according to a second embodiment of the present disclosure will be described below with reference to the drawings. In the first embodiment, a single icon with parameters is duplicated and used. In this embodiment, a plurality of icons I are duplicated and used.

[0045] In this embodiment, the process is performed in a state where at least a part of an operating program has been generated by duplicating and arranging icons I displayed in a selection area A in a creation area B and setting parameters for some of the icons I. In the creation area B, an operating program or a part thereof in which a plurality of icons I are arranged is displayed, as shown in FIG.

[0046] When the user selects an icon group including multiple icons I arranged in the creation area B and drags it to the selection area A, the processor 2 generates a duplication icon (duplication symbol) I2 representing the icon group, as shown in Fig. 11 . Alternatively, after selecting the icon group, the user presses the icon registration mark c displayed on the display 4, causing the processor 2 to generate the duplication icon I2. The duplication icon I2 is a single icon I representing the selected icon group. The processor 2 then registers the generated duplication icon I2 in the storage device 3 as one of the icons I.

[0047] When the copy icon I2 is generated, the processor 2 displays a name setting area E in which the name of the copy icon I2 can be set. The name setting area E is displayed as a pop-up at an arbitrary position on the display 4, as shown in FIG.

[0048] The name setting area E includes an input area E1 that allows the user to input any text representing the name of the duplication icon I2, and a registration button E2 and a cancel button E3 for confirming and registering the input name. When the user inputs any text representing the name in the input area E1 and presses the registration button E2, the processor 2 generates a duplication icon I2 with the input name in the selection area A. In other words, the processor 2 stores (registers) the duplication icon I2 having the input name in the storage device 3 as one of the icons I to be displayed in the selection area A.

[0049] In this case, if parameters have been set for at least one icon I constituting the icon group, the processor 2 generates a duplicate icon I2 that retains the parameters. Once the duplicate icon I2 has been registered, the user can select the duplicate icon I2 displayed in the selection area A and duplicate it into the creation area B by dragging and dropping it, just like with other icons I.

[0050] Furthermore, when the duplicate icon I2 is duplicated in the creation area B, it is duplicated in a form expanded into the group of icons that make up the duplicate icon I2. The parameters set for at least one icon I that makes up the group of icons are maintained as they are.

[0051] The program generation method according to this embodiment includes the following steps in addition to the program generation method according to the first embodiment. That is, when a group of icons displayed in the creation area B is selected and the duplication mark b is pressed or dragged to the selection area A, a duplication icon I2 is generated. The generated duplication icon I2 is then registered in the storage device 3 as one of the icons I.

[0052] In this way, according to this embodiment, an icon group including multiple icons I arranged in the creation area B can be registered as a selectable icon for duplication I2. This allows the icons to be duplicated and pasted together when the same icon group is used multiple times in an operating program.

[0053] In particular, when parameters are set for at least one icon I that constitutes an icon group, there is no need to reset the parameters from scratch for each icon I in the duplicated icon group. Therefore, even in such a case, there is an advantage that the user can easily reuse the icon I without having to go through the troublesome task of resetting parameters.

[0054] In this embodiment, when an icon group including multiple icons I is duplicated in the selection area A, a single duplicate icon I2 is generated by combining the icons. The icon group, which is the contents of the duplicate icon I2, cannot be identified from the appearance and name of the duplicate icon I2 displayed in the selection area A alone.

[0055] 13, when the duplication icon I2 displayed in the selection area A is selected, a group of icons indicating the contents of the duplication icon I2 may be displayed on the display 4. For example, when the duplication icon I2 is selected, a group of icons indicating the contents of the duplication icon I2 may be displayed in a content display area F that pops up.

[0056] 14, when a duplication icon I2 including an icon I with set parameters is duplicated in the creation area B, a confirmation area G may be displayed to confirm whether or not to duplicate the icon I while maintaining the set parameters. If maintaining the parameters is selected, the icon I is duplicated while retaining the set parameters. If not maintaining the parameters is selected, the parameter settings may be canceled, or default parameters may be set.

[0057] In addition, in the above-described embodiments, the icon I or a group of icons with set parameters is used multiple times when generating the same operation program. Alternatively, the parameter-attached icon or the duplicate icon I2 stored in the storage device 3 may be used when generating different operation programs.

[0058] In addition, in the above-described embodiments, an example has been given of an icon I or a group of icons to which parameters have been set being used multiple times when generating an operating program. Alternatively, as a reference example, the present invention may be applied to a case in which an operating program is generated by using multiple icons I, each of which is made up of multiple icons to which parameters have not been set, multiple times.

[0059] That is, multiple icons I for which no parameters have been set may be selected in the creation area B, and a duplicate icon I2 may be generated by dragging or pressing the icon registration mark c, and registered in the storage device 3. Even if no parameters have been set, by registering the duplicate icon I2 as one of the icons I, operability can be significantly improved in the same way as described above.

[0060] Although the example in which the duplication icon I2 is generated by a duplication operation has been described, the duplication icon I2 may instead be generated by a cut operation. For example, the duplication icon I2 may be generated in the selection area A when an operation of cutting icons from the creation area B is performed and then pasting the icons into the selection area A.

[0061] This allows the user to easily insert the icons I from the selection area A into any desired position on the operating program when the user wishes to change the positions of the selected icons I within the operating program.

[0062] In the above embodiment, the operation commands are exemplified as linear movement commands, circular movement commands, and commands to operate a tool attached to the tip of the robot 10, but are not limited to these. For example, the operation commands may include any operation commands required in the operation program, such as conditional branch commands, register values, and other I / O operation commands.

[0063] Although each embodiment of the present disclosure has been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0064] The following supplementary notes are further disclosed regarding the above-described embodiments and modifications: (Supplementary Note 1) A program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor reads from the storage device at least one action symbol containing information related to an action command for a robot that has been registered in advance in the storage device and displays the read operation symbol in a first area of ​​the display, generates an operation program by duplicating and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of ​​the display, generates a parameter-attached action symbol by inputting, via the input device, a parameter of a function represented by any of the action symbols selected from the action symbols displayed in the first area or the second area, and registers the generated parameter-attached action symbol in the storage device as one of the action symbols.

[0065] (Supplementary Note 2) The program generating device according to Supplementary Note 1, wherein the processor causes the input device to input a name to be associated with the parameter-attached action symbol in response to registration of the parameter-attached action symbol in the storage device.

[0066] (Supplementary Note 3) The program generating device according to Supplementary Note 1 or Supplementary Note 2, wherein the processor, in response to selection of the parameter-attached action symbol, causes the input device to edit the parameter input to the parameter-attached action symbol.

[0067] (Appendix 4) A program generation device described in any one of Appendices 1 to 3, wherein the processor generates a single duplication symbol representing the group of action symbols in response to selection of the group of action symbols including a plurality of the action symbols arranged in the second area, and registers the generated duplication symbol in the storage device as one of the action symbols.

[0068] (Supplementary Note 5) The program generating device according to Supplementary Note 4, wherein the processor displays, in response to selection of the duplication symbol, the group of action symbols constituting the duplication symbol on the display.

[0069] (Supplementary Note 6) The program generating device according to Supplementary Note 4 or Supplementary Note 5, wherein the processor is capable of selecting the duplication symbol displayed in the first area when creating a different operation program.

[0070] (Appendix 7) A program generation device described in any one of Appendices 4 to 6, in which, when the processor registers the duplication symbol in the storage device, the processor prompts the user to input via the input device whether or not to maintain the parameters set in each of the action symbols that make up the duplication symbol, and if not to maintain them, resets the parameters and registers the duplication symbol in the storage device.

[0071] (Supplementary Note 8) A program generation method comprising: reading from a storage device at least one action symbol containing information relating to an action command for a robot that has been pre-registered in the storage device, displaying the readout in a first area of ​​a display; generating an action program by duplicating and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of ​​the display; generating a parameter-attached action symbol by inputting parameters of a function represented by any of the action symbols selected from the action symbols displayed in the first area or the second area; and registering the generated parameter-attached action symbol in the storage device as one of the action symbols.

[0072] (Supplementary Note 9) A program generation program that causes a computer to execute the following steps: read at least one action symbol, which includes information related to an action command for a robot and which is pre-registered in a storage device, from the storage device and display it in a first area of ​​a display; generate an action program by duplicating and arranging one or more action symbols selected from the action symbols displayed in the first area in a second area of ​​the display; generate a parameter-attached action symbol by inputting parameters of a function represented by any of the action symbols selected from the action symbols displayed in the first area or the second area; and register the generated parameter-attached action symbol in the storage device as one of the action symbols.

[0073] (Supplementary Note 10) A program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor reads from the storage device at least one action symbol containing information relating to an action command for a robot pre-registered in the storage device and displays the read action symbol in a first area of ​​the display, generates an action program by duplicating one or more action symbols selected from the action symbols displayed in the first area in a second area of ​​the display and arranging them in chronological order, selects an action symbol group containing a plurality of the action symbols arranged in the second area, and generates a single duplication symbol representing the action symbol group in response to a duplication operation, and registers the generated duplication symbol in the storage device as one of the action symbols.

[0074] REFERENCE SIGNS LIST 1 program generation device 2 processor 3 storage device 4 display 5 input interface (input device) 10 robot A selection area (first area) B creation area (second area) I icon (action symbol) I2 duplication icon (duplication symbol)

Claims

1. It comprises at least one processor, at least one storage device, a display, and an input device. The aforementioned processor, At least one operation symbol, which includes information about robot operation commands pre-registered in the storage device, is read from the storage device and displayed in the first area of ​​the display. An operation program is generated by duplicating and arranging one or more operation symbols selected from the operation symbols displayed in the first area in the second area of ​​the display. By having the input device input the parameters of the function represented by any of the operation symbols selected from the operation symbols displayed in the first or second area, a parameterized operation symbol is generated. A program generation device that registers the generated parameterized operation symbol as one of the operation symbols in the storage device.

2. The aforementioned processor, The program generation device according to claim 1, which causes the input device to input a name to be associated with the parameterized operation symbol in response to the registration of the parameterized operation symbol in the storage device.

3. The aforementioned processor, The program generation device according to claim 1 or claim 2, which causes the input device to edit the parameters entered into the parameterized operation symbol in response to the selection of the parameterized operation symbol.

4. The aforementioned processor, In response to the selection of a group of operation symbols including a plurality of operation symbols arranged in the second region, a single copy symbol representing the group of operation symbols is generated. The program generation device according to claim 1 or claim 2, wherein the generated copy symbol is registered in the storage device as one of the operation symbols.

5. The aforementioned processor, The program generation apparatus according to claim 4, which displays the group of operation symbols constituting the reproduction symbol on the display in response to the selection of the reproduction symbol.

6. The aforementioned processor, The program generation device according to claim 4, which allows selection of the duplication symbol displayed in the first area when creating different operating programs.

7. The aforementioned processor, When registering the aforementioned duplication symbols in the storage device, the input device is used to input whether or not to maintain the parameters set for each of the operation symbols that constitute the duplication symbols. If the parameters are not maintained, the program generation device according to claim 4, wherein the parameters are reset and the copy symbol is registered in the storage device.

8. At least one operation symbol containing information about robot operation commands pre-registered in the storage device is read from the storage device and displayed in the first area of ​​the display. An operation program is generated by duplicating and arranging one or more operation symbols selected from the operation symbols displayed in the first area in the second area of ​​the display. By inputting the parameters of the function represented by any of the operation symbols selected from the operation symbols displayed in the first or second area, a parameterized operation symbol is generated. A program generation method for registering the generated parameterized operation symbol as one of the operation symbols in the storage device.

9. At least one operation symbol containing information about robot operation commands pre-registered in the storage device is read from the storage device and displayed in the first area of ​​the display. An operation program is generated by duplicating and arranging one or more operation symbols selected from the operation symbols displayed in the first area in the second area of ​​the display. By inputting the parameters of the function represented by any of the operation symbols selected from the operation symbols displayed in the first or second area, a parameterized operation symbol is generated. A program generation program that causes a computer to register the generated parameterized operation symbol as one of the operation symbols in the storage device.