JPH07200019A - Robot controller - Google Patents

Abstract

PURPOSE:To perform control while confirming the operations of a peripheral equipment and a robot by performing the simulation of the sequence of a controller and the robot and outputting the simulation pictures in synchronism. CONSTITUTION:A robot model is inputted from a keyboard 15 and a sequence model is inputted while clicking a mouse 16. The models are converted to simulation and sequence control instructions and then transferred through a bus 19 to a robot controller 17 and a sequence control part 18 and the simulation of the robot 20 and the sequence control of the controller 21 are performed by the robot controller 17 and the sequence control part 18. Simultaneously with the operation, the actual operation signals of the robot 20 and the controller 21 are transferred from the robot controller 17 and the sequence control part 18 to a CRT controller 8 and the images are outputted by a CRT 9. Thus, the operations of the peripheral equipment 22 and the robot 20 are confirmed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot controller, and more particularly to a controller for controlling an actual robot and peripheral devices and a robot, and a robot simulation and a controller sequence simulation. The present invention relates to a robot control device that can be simultaneously performed.

[0002]

2. Description of the Related Art Generally, when simulating machining or assembling of parts by a robot, first a geometric model of the robot or peripheral devices is input to define the motion of the robot, and then the teaching point of the robot is defined. Is set, the data is simulated on the CRT screen, and then the teaching point is changed and the simulation is repeated until a series of operations becomes an intended operation.
At this time, check if there is any interference between the robot and peripheral devices. Further, a robot control program is defined by the completed operation and converted into an actual robot language (such robot control devices are disclosed in Japanese Patent Laid-Open Nos. 63-18403 and 63-63). 46
514, Japanese Patent Laid-Open No. 1-92809).

[0003]

However, in such a conventional robot control device, although the control operation of the peripheral device and the control device actually exists, there is a problem that there is no simulation for the control device. there were.
That is, the off-line sequence control command of the control device is not developed, and the development efficiency is not good.

Further, an input / output device is required for the robot control device in order to perform real-time comparison of operations and transmission / reception of download between the simulation device and the control device of the actual robot and peripheral equipment. When such wiring is performed, the device becomes complicated and the time delay of transmission and reception becomes a problem. Therefore, the invention according to claim 1 can confirm the control operation by performing the sequence of the control operation for the control device and simultaneously outputting the simulation image of the sequence, and based on the simulation result. It is possible to control the actual robot and peripheral equipment. Furthermore, by incorporating the sequence control means in the same device as the robot control means, the robot program and sequence program can be directly downloaded and uploaded and controlled by this robot control device. It is an object of the present invention to provide a robot controller capable of developing software.

It is an object of the present invention to provide a robot controller capable of centrally managing a plurality of robots and peripheral equipment. According to the invention described in claim 3, when the operation of the robot is abnormal, the robot can be quickly stopped to notify the operator immediately of the abnormality,
It is an object of the present invention to provide a robot control device that can quickly perform a returning operation.

The invention according to claim 4 provides a robot control device capable of promptly stopping the peripheral device when the peripheral device is abnormal to notify the worker of the abnormality, and capable of promptly performing the returning work. Is intended.
It is an object of the invention according to claim 5 to provide a robot controller capable of operating a peripheral device online and confirming the operation of the peripheral device.

According to a sixth aspect of the present invention, there is provided a robot control device capable of efficiently teaching a robot without carelessly exceeding the hardware operating range, and allowing an operator to confirm the operating state of the robot in real time. The purpose is to do.

[0008]

The invention according to claim 1 is
In order to solve the above-mentioned problems, a robot, a robot control device for controlling equipment provided around the robot, and input means for inputting operation models of the control device for the robot and peripheral equipment, and the operation model Robot control means for controlling the actual robot based on the above, sequence control means for controlling the control device for the actual peripheral equipment based on the operation model, and simulation of the robot based on the model input to the input means Robot simulation means, and control device simulation means for simulating the sequence of the control device for the peripheral device based on the model input to the input means,
Output means for outputting a simulation image executed by the robot simulation means and the control device simulation means; and a synchronous control means for synchronously controlling the robot control means, the sequence control means, the robot simulation means and the control device simulation means. It is characterized by having.

In order to solve the above problems, the invention according to claim 2 is characterized in that, in the invention according to claim 1, at least one robot control means is provided. In order to solve the above-mentioned problems, the invention according to claim 3 is the invention according to claim 1 or 2, wherein a comparison means compares the actual motion signal of the robot with the motion of the robot during simulation. Based on the comparison result of the means, whether or not the robot is operating normally is monitored, and if an operation abnormality is found, an alarm or abnormality information is displayed and a monitoring means for emergency stop of the robot is provided. Is characterized by.

In order to solve the above-mentioned problems, the invention according to claim 4 compares the operation signal of the actual control device with the operation during simulation of the control device in the invention according to claim 1 or 2. Based on the comparison means and the comparison result of the comparison means, it is monitored whether or not the peripheral device is operating normally, and if an operation abnormality is found, an alarm and abnormality information are displayed and the peripheral device is stopped in an emergency. And means are provided.

In order to solve the above-mentioned problems, a fifth aspect of the present invention is the invention according to any one of the first and second aspects, in which an input / output port number and sequence control means in an actual peripheral device control device are used. A robot port number storage means for storing a correspondence relationship with a key corresponding to the input / output port number in, and when the predetermined key is operated, the peripheral device is controlled via the input / output port of the corresponding control device. In addition, it is characterized by inspecting the operating state of the input / output port of the control device.

In order to solve the above-mentioned problems, the invention according to claim 6 is, in the invention according to claim 1 or 2, a setting means for setting a software limit range of robot operation, and the setting means. And a display unit for displaying the limit range set by the above, and at the time of actual robot teaching, the operation of the robot is simulated by the output unit, and the limit range of the robot is displayed in a predetermined color during the simulation to warn. It is characterized in that it is provided with a warning means and a canceling means for canceling a movement command in a direction beyond the limit range when the position is on the boundary of the software limit.

[0013]

According to the first aspect of the invention, the robot simulation and the control device sequence simulation are performed based on the input model, and the simulation images are output in synchronization. Therefore, the operation of the peripheral device and the robot operation are confirmed, and the actual robot and the peripheral device are controlled based on the simulation result.

Since the sequence control means is incorporated in the same device as the robot control means, the control program can be developed by directly downloading and uploading the robot program and the sequence program to describe the simulation operation. it can. In addition to this, since the sequence control means is exclusively provided, it functions as the central control board of the line, and if the simulation operation is confirmed, it is possible to control the actual robot and peripheral equipment. .

According to the second aspect of the present invention, since at least one robot control means is provided, a plurality of robots and peripheral devices can be centrally managed. According to the invention of claim 3, whether or not the robot is operating normally is monitored by comparing the actual operation signal of the robot and the operation during the simulation of the robot, and if an operation abnormality is found, an alarm or abnormality information is detected. While displaying
Since the emergency stop of the robot is performed, the robot can be quickly stopped when the operation of the robot is abnormal, the operator can be immediately notified of the abnormality, and the recovery work can be performed quickly.

According to the fourth aspect of the invention, the operation signal of the actual control device is compared with the operation of the sequence of the control device during simulation to monitor whether or not the peripheral device is operating normally, and an operation abnormality is detected. When an error occurs in the peripheral device, the peripheral device is stopped in an emergency, and the peripheral device can be stopped immediately to notify the operator immediately of the error. Work can be done quickly.

According to a fifth aspect of the present invention, the correspondence relationship between the input / output port number in the actual peripheral device control device and the key corresponding to the input / output port number in the sequence control means is stored, and a predetermined key is stored. When is operated, the peripheral device is controlled via the input / output port of the corresponding control device, and the operating state of the input / output port of the control device is inspected.

Therefore, when a key corresponding to the input / output port of the control device is operated, the control device controls the peripheral device designated by the operation key, so that the peripheral device is operated online. When a key corresponding to the input / output port of the control device is operated, the peripheral device is inspected, so that the operation of the peripheral device can be easily confirmed. According to the sixth aspect of the present invention, the software limit range of the robot operation is set, the set limit range is displayed, and the robot operation is output as a simulation image during the actual robot teaching. At the same time, the limit range of the robot is displayed in a predetermined color during the simulation. Then, when it comes to a position on the boundary of the software limit, the movement command in the direction beyond the limit range is canceled.

Therefore, the robot can be taught efficiently without carelessly exceeding the hardware operation range, and
The operator can confirm the operating state of the robot in real time.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1 to 7 are views showing an embodiment of a robot controller according to the invention described in any of claims 1 to 6. First, the configuration will be described. 1 and 2, reference numeral 50 denotes a robot controller, which is a central processing unit (hereinafter referred to as CP
U) 1, RAM (Random Access Memory) 2, RO
M (Read Only Memory) 3, expansion RAMs 4, 5, floating-point arithmetic coprocessor 6, image memory 7, CRT
Controller 8, CRT 9, floppy disk controller 10, floppy disk 11, hard disk controller 12, hard disk 13, standard input / output port 14,
It is composed of a keyboard 15, a mouse 16, a robot controller 17, a sequence controller 18, and a bus 19,
The bus 19 connects each of these devices.

At least one robot controller 17 is provided, and the controller 17 is connected to the robot 20 via an input / output I / O port (not shown). Further, the sequence controller 18 uses the input / output port I /
It is connected to a control device 21 via an O port 23, and this control device 21 controls peripheral devices 22 such as a conveyor and sensors.

The CPU 1 executes various arithmetic processes of the robot controller 50 based on a control program stored in the ROM 3, and constitutes a comparing means, a monitoring means, a setting means, a warning means, and a canceling means. There is. RAM
Reference numeral 2 is used for the created robot operation program, robot teaching data, control device control program, control program conversion program, and also temporary data storage and data storage for arithmetic processing. The RAM 2 also stores the correspondence between the input / output port numbers in the control device 21 of the peripheral device 22 and the keys corresponding to the input / output I / O port numbers in the sequence control unit 18, and the port number storage means. Are configured.

The floating-point arithmetic coprocessor 6 is adapted to perform a determinant arithmetic operation for conversion from the position of the Cartesian coordinate system to values (rotation angles) of each axis of the robot and its inverse conversion. The hard disk controller 12 performs control such as loading a program in the hard disk 13 into the RAM 2.

On the hard disk 13, the shape and structure data of the robot and the control device, the conversion from the position of the Cartesian coordinate system to the rotation angle of each axis, and the robot motion analysis program for performing the conversion, the movable range of each axis, the maximum A robot created by storing robot data such as speed and maximum acceleration, part data of the part shape of the work target of the robot 20, an operation program of the part supply device, data describing the communication relationship with the peripheral device 22, etc. Operation programs, sequence control commands, etc. are also stored.

The control program data converted by the RAM 2 can be transferred to the floppy disk 11 via the bus 19 and the floppy disk controller 10, and can also be stored in the hard disk 13 and vice versa. It is also possible to load the control program from the disk 11 to the RAM 2. Standard input / output port 14
Is a keyboard having various command keys and numerical keys for inputting operation models of the robot 20 and the control device 21.
A mouse 16 for moving a cursor on the screen 15 and the graphic display screen and designating a position on the screen is connected, and constitutes a input means together with the keyboard 15 and the mouse 16.

Further, the robot controller 17 has a built-in CPU and memory for controlling the robot 20, and the sequence controller 18 also controls the controller via the input / output I / O port 23.
It has a built-in CPU and memory to control the 21. Therefore, the model input from the keyboard 15 is transferred from the standard input / output port 14 to the robot controller 17 via the bus 19.
And output to the sequence control unit 18.

The image memory 7 stores the screen position of the image, and the CRT controller 8 is connected to the image memory 7. This CRT controller 8
CRT9 is connected to this CRT9, and this CRT9 is shown in FIG.
As shown in FIG. 3, a CRT 9 for drawing the robot 20, parts, peripheral devices 22, etc., and simulating and displaying the operation and control signals of the robot is connected. In addition, this CRT
The controller 8 and the CRT 9 constitute robot simulation means, control device simulation means, and output means, and the actual operation of the robot 20 and the control device 21.
Is simulated and the image is output.

Further, in this embodiment, as shown in FIG.
The operation state of the control device 22 during sequence control can be monitored. For example, the number on the input side corresponds to each port of the input / output I / O port of the control device. For example, when the port "0001" on the input side is 0, the port "0100" on the output side is When it becomes 1, it can be seen that the input / output I / O port of the control device 21 is operating normally.

Specifically, as shown in FIG. 4, this check is performed while looking at the table output on the screen 31 of the CRT 9. When the virtual key is clicked with the mouse 16, the CPU 1 causes the RAM 2 The corresponding port stored in is searched, OUT of this port is turned on, the color changes, and the output becomes 1. By clicking again, the color changes and the output becomes 0, so that the input / output I / O control of the control device 21 is performed, the operation is confirmed and debugged when the device 50 is started, and the peripheral device 22 is controlled. Peripheral device to which the signal corresponding to each port is input
Perform 22 operations. In addition, the distinction between starting and driving is
It can be divided by pressing a predetermined operation switch.

The expansion ROM 4 and the expansion RAM 5 are optionally connected to the bus 19. Next, the operation of the robot controller 50 will be described based on the flowcharts shown in FIGS. First, as described above, the input / output I / O port of the control device is inspected while observing the screen 31 shown in FIG. If the result of the inspection shows that the input / output I / O port is normal, the robot 20
And the control device 21 is simulated.

First, the robot model is input from the keyboard 15 and the sequence model is input while clicking the mouse 16. This model is converted into a simulation and sequence control command by a conversion program, and then transferred to the robot controller 17 and the sequence control unit 18 via the bus 19, and the robot controller 17 and the sequence control unit 18 simulate and control the robot 20. 21 sequence controls are performed.

At the same time as this operation, the robot controller
17 and sequence controller 18 to CRT controller 8
The actual operation signals of the robot 20 and the control device 21 are transferred to the, and this image is output by the CRT 9. Next, compare the operation of the robot 21 and the simulation, and
A process when an abnormality occurs in 21 will be described based on the flowchart shown in FIG.

In FIG. 5, first, when the robot controller 17 actually starts the operation of the robot 21.
(Step S1), the encoder signal of the robot 21 and the number of pulses of each axis are monitored (step S2). At this time, C
The simulation image is also output on the RT9 (step S11), and the pulse number of each axis is monitored (step S1).
2). Further, since the actual encoder signal of the robot 21 and the number of pulses of each axis are input to the CPU 1, the number of pulses of each axis and the robot 21 at the time of simulation are calculated by the CPU 1.
The number of pulses of each axis is compared (step S13).

Then, from the robot controller 17 to CP
When the abnormality code is transmitted to U1 (step S3), the operation status of the robot 20 is analyzed based on the actual robot 20 and the number of pulses at the time of simulation, an alarm is issued, and the abnormality information is displayed on the CRC 9. . Then, send a signal to the robot controller 17
20 is forcibly stopped (step S4).

Next, the operation of the peripheral device 22 will be compared with the simulation of the control device 21 to explain the process when an abnormality occurs in the peripheral device 22, based on the flowchart shown in FIG. In FIG. 6, first, when the operation of the peripheral device 21, for example, a conveyor line such as a conveyor is actually started by the sequence control unit 18 (step S21), an I / O signal of the control device 21 and a signal from each sensor To monitor. (Step S22). At this time, a simulation image is also output on the CRT 9 (step S31), and each I / O signal is monitored (step S32).

Further, the CPU 1 has an I
Since the / O signal is input, the CPU 1 compares the I / O signal at the time of simulation with the I / O signal of the control device 21 (step S33). Then, when the abnormal code is transmitted from the sequence control unit 18 to the CPU 1, the operation status of the control device 21 is analyzed based on the I / O signal of the actual control device 21 and the I / O signal at the time of simulation, and an alarm is issued. Is generated and the abnormality information is displayed on the CRC 9. Then, a signal is transmitted to the sequence control unit 18 to forcibly stop the peripheral device 22 (step 24).

Next, the simulation screen is monitored by the CRT 9 during the actual teaching of the robot 21, and the processing when the movable range of the robot 21 reaches the movable limit range of the software is described based on the slow chart shown in FIG. explain. In FIG. 7, first, a software limit range of the operation of the robot 20 is set in advance, and the set movable range is displayed on the CRT 9.

In this state, the robot controller 17 actually teaches the robot 20 (step S41), and the encoder signal and the number of pulses of each axis are transferred from the robot controller 17 to the CPU 1 (step S42). On the other hand, at this time, a simulation image is also output on the CRT 9 (step S51), and the pulse number of each axis is monitored (step S52). In addition, the CPU 1 has a robot controller 1
Since the actual encoder signal of the robot 20 and the pulse number of each axis are input from 7, when the CPU 1 reaches the boundary of the preset operating range based on the pulse number of each axis and the pulse number of each axis of the robot 20 at the time of simulation. CPU
A signal is sent from 1 to the CRT 9 to give the robot 21 a red display color to notify that the robot 21 is near the limit range. Next, when the robot 21 is on the boundary of the limit range, the CPU 1 sends a cancel signal to the robot controller 17 (step S53) to cancel the movement command in the direction beyond the movable range (step S43).

As described above, in this embodiment, the simulation and control device for the robot 20 is based on the input model.
Simulate 21 sequences,
Since the simulation image is output in synchronization, the operation of the peripheral device 22 and the operation of the robot 20 can be confirmed, and the actual robot 20 and the peripheral device 21 can be controlled based on the simulation result. it can.

Since the sequence controller 18 is incorporated in the same device as the robot controller 17, the control program can be developed by directly downloading and uploading the robot program and the sequence program to describe the simulation operation. You can In addition to this, since the sequence control unit 18 is exclusively provided, it functions as the central control panel of the line,
If the simulation operation of the sequence is confirmed, the actual robot 20 and the peripheral device 22 can be controlled accordingly.

Since at least one robot controller 17 is provided, a plurality of robots 20 and peripheral devices 22 can be centrally managed. It also monitors whether the robot 20 is operating normally by comparing the actual operation signals of the robot 20 with the robot simulation operation, and displays an alarm or abnormality information when an operation abnormality is found. Since the robot 20 is in an emergency stop, the robot will
The operator can be immediately notified of the abnormality by stopping 20 quickly, and the restoration work can be performed quickly.

Further, by comparing the actual operation signal of the control device 21 and the operation of the control device 21 during simulation, peripheral devices are compared.
If the abnormal operation of the peripheral device 22 is detected, if the abnormal operation of the peripheral device 22 is detected, an alarm and abnormal information are displayed. The operator can be immediately stopped to notify the operator of the abnormality immediately, and the restoration work can be performed quickly.

Further, the correspondence between the input / output I / O port number in the control device 21 of the peripheral device 22 and the key corresponding to the input / output I / O port 23 number in the sequence control unit 18 is stored, When a predetermined key on the screen 32 is operated, the peripheral device 22 is controlled via the input / output I / O port of the corresponding control device 21, and the operating state of the input / output I / O port of the control device 21 is inspected. Therefore, if you operate the key corresponding to the input / output I / O port of the control device 21,
Since the peripheral device 22 designated by the operation key is controlled on the 21 side, the peripheral device 22 can be operated online.

By operating the key corresponding to the input / output I / O port of the control device 21, the peripheral device 22 can be inspected, so that the operation of the peripheral device 22 can be easily confirmed. Further, a software-based limit range of the robot operation is set, the set limit range is displayed on the CTR 9, and the operation of the robot 20 is output to the CTR 9 as a simulation image during the actual robot teaching. The limit range of the robot 20 is displayed in a predetermined color during the simulation. When the position on the boundary of the software limit is reached, the movement command in the direction of exceeding the limit range is canceled, so the robot does not carelessly exceed the hardware operation range.
20 can be taught efficiently, and the operator can confirm the operating state of the robot in real time.

In this embodiment, the robot controller
The 17 and the sequence control unit 18 have a built-in CPU and memory, but the built-in CPU is CPU 1 (multi-CPU).
Shared with, built-in memory expansion RAM4, expansion ROM
5 may be used, or a local memory or a shared memory device may be separately provided. In this embodiment, clicking the mouse 16 causes the O on the screen 31 to be displayed.
I confirmed N / OFF, but instead of this, a keyboard
ON / O on screen 31 by operating the keys on 15
The FF may be confirmed.

[0046]

According to the invention described in claim 1, the operation of the peripheral device and the robot operation can be confirmed, and the actual robot and the peripheral device can be controlled based on the simulation result. Since the sequence control means is incorporated in the same device as the robot control means, the control program is developed by directly downloading and uploading the robot program and the sequence program to describe the simulation operation and the sequence simulation operation. be able to. In addition to this, since the sequence control means is exclusively provided, it serves as the central control board of the line, and if the simulation operation is confirmed, the actual robot and peripheral devices can be controlled thereby. .

According to the second aspect of the present invention, since at least one robot control means is provided, it is possible to centrally manage a plurality of robots and peripheral devices. According to the third aspect of the present invention, when the operation of the robot is abnormal, the robot can be quickly stopped to notify the operator immediately of the abnormality, and the recovery work can be performed quickly.

According to the fourth aspect of the present invention, when the peripheral device is abnormal, the peripheral device can be stopped quickly to notify the operator immediately of the abnormality, and the recovery work can be performed quickly. According to the invention of claim 5, the peripheral device can be operated online, and the operation of the peripheral device can be easily confirmed.

According to the sixth aspect of the invention, the robot can be efficiently taught without carelessly exceeding the hardware operation range, and the operator can confirm the operation state of the robot in real time.

[Brief description of drawings]

FIG. 1 is a block diagram of a robot controller according to any one of claims 1 to 6.

FIG. 2 The robot, robot controller and C
It is a figure which shows connection of RT.

FIG. 3 is a diagram showing input / output and input / output states of an input / output I / O port of the control device.

FIG. 4 is a diagram showing a state in which an input / output I / O port of a control device is controlled or inspected, and a CRT screen is instructed with a mouse.

FIG. 5 is a flowchart showing a process when an abnormality occurs in the robot by comparing the operation of the robot and the simulation.

FIG. 6 is a flowchart showing a process when an abnormality occurs in the peripheral device by comparing the operation of the peripheral device and the simulation of the control device.

FIG. 7: CRT during actual robot teaching
9 is a slow chart showing the processing when the simulation screen is monitored in 9 and the movable range of the robot reaches the movable limit range of the software.

[Explanation of symbols]

1 CPU (comparing means, monitoring means, setting means, warning means, canceling means) 2 RAM (port number storing means) 8 CRT controller (robot simulation means, control device simulation means) 9 CRT (output means, display means) 17 robot Controller (robot control means) 18 Sequence control part (sequence control means) 14 Standard input / output port (input means) 15 Keyboard (input means) 16 Mouse (input means) 20 Robot 21 Control device 22 Peripheral device

Claims (6)

[Claims] 1. A robot and a robot control device for controlling equipment provided around the robot, wherein input means for inputting an operation model of the control device for the robot and peripheral equipment, and an actual operation based on the operation model. Robot control means for controlling the robot, sequence control means for controlling an actual peripheral device control device based on the operation model, and robot simulation means for simulating the robot based on the model input to the input means. A control device simulation means for simulating a sequence of a control device for a peripheral device based on a model input to the input means; and an output means for outputting a simulation image executed by the robot simulation means and the control device simulation means. , The robot A robot control device comprising: a control unit, a sequence control unit, a robot simulation unit, and a synchronization control unit that synchronously controls the control unit simulation unit. 2. A robot control device comprising at least one or more robot control means. 3. Comparing means for comparing the actual motion signal of the robot and the motion during the simulation of the robot, and based on the comparison result of the comparing means, whether or not the robot is operating normally is monitored and an abnormal operation is found. If done,
The robot controller according to claim 1, further comprising: a monitoring unit that displays an alarm or abnormality information and that makes an emergency stop of the robot. 4. Comparing means for comparing the actual operation signal of the control device with the operation of the control device during simulation, and based on the comparison result of the comparing means, monitoring whether or not the peripheral device is operating normally, and operating If an abnormality is found,
The robot control device according to claim 1, further comprising: a monitoring unit that displays an alarm and abnormality information and that makes an emergency stop of peripheral devices. 5. A port number storage means for storing a correspondence relationship between an input / output port number in an actual peripheral device control device and a key corresponding to the input / output port number in the sequence control means, the predetermined number being provided. 3. When the key is operated, the peripheral device is controlled via the input / output port of the corresponding control device, and the operating state of the input / output port of the control device is inspected. The described robot controller. 6. A setting means for setting a software limit range of the robot operation, a display means for displaying the limit range set by the setting means, and a robot operation output at the time of actual robot teaching. Along with simulating by means, a warning means for displaying the robot's limit range in a predetermined color during the simulation to warn, and canceling the movement command in the direction beyond the limit range when it reaches the position on the software limit boundary Cancel 3. The robot controller according to claim 1, further comprising: a means.