JP2010240816A - Robot teaching system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot teaching system capable of reducing time required for the teaching work of a robot. <P>SOLUTION: The robot teaching system 10 includes: the robot 11; a robot controller 12; a tool 13; and a control unit 20. The control unit 20 has a drawing data reading part 21 for reading the drawing data 25 of an object W to be processed, a display 29 for displaying the drawing data 25, and an input part 22 for moving a reference mark 35 on the display 29. A specified area setting part 43 sets a specified area 51 to a target figure 50, and a passing position setting part 24, when allowing the reference mark 35 to coincide with the specified area 51 on the drawing data 25, defines one passing position corresponding to the specified area 51. A program generation part 31 generates a moving program 32. An output part 33 transmits the moving program 32 to a robot controller 12. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a robot teaching system that teaches (teaches) a robot that performs a machining operation on a workpiece, and more particularly to a robot teaching system that can reduce the time required for the robot teaching operation.

  In general, when a robot performs operations such as soldering and screw tightening, a tool corresponding to each operation is previously attached to the tip of the robot, and then each operation position is taught to the robot. In this case, it is necessary to manually operate the robot to perform positioning, and to teach each working position to the robot one by one.

  Thus, it takes time to teach the robot. For this reason, in order to shorten the time required for the teaching operation of the robot, it is required to perform the teaching operation offline (offline teaching) without actually operating the robot.

  There is also a system for performing such offline teaching. However, in the conventional offline teaching system, it is necessary to set the teaching position one by one, so that it is difficult to efficiently create a robot program. For example, when a robot performs a soldering operation, the soldering location is often, for example, the center point of a circle on the workpiece or the end of a line segment. However, when a conventional offline teaching system is used, it is difficult to move the cursor on the screen by operating a mouse or the like, and to precisely align the teaching position with, for example, the center point of the circle or the end of the line segment. For this reason, the teaching work takes time.

Japanese Patent Laid-Open No. 11-188778

  The present invention has been made in consideration of such points, and by making it easy to accurately set the passing position on the target graphic, it is possible to reduce the time required for robot teaching work. An object of the present invention is to provide a simple robot teaching system.

  The present invention relates to a robot teaching system for teaching a robot that performs a machining operation on a workpiece, a robot, a robot controller connected to the robot, a tool attached to the robot, and a robot controller connected to the robot controller. A control unit that controls a drawing data reading unit that reads drawing data to be processed including the target graphic, a display unit that displays the drawing data including the target graphic, and a reference mark on the display unit. When the reference mark from the input unit matches the input unit to be moved and the target graphic, a specific region setting unit for setting a specific region for specifying one passing position, and an input unit in the specific region on the drawing data A passage position setting unit that determines one passage position corresponding to the specific area based on the drawing data when the reference marks from Based on the robot passage position set by the passage position setting section, a program creation section for creating a robot movement program, and an output section for transmitting the movement program created by the program creation section to the robot controller. It is the robot teaching system characterized.

  The present invention is the robot teaching system, wherein the display unit changes the color of the target graphic when the reference mark matches a specific area on the drawing data.

  The present invention is the robot teaching system characterized in that the target graphic has a circular shape, and the passing position setting unit determines a center point of a circle constituting the target graphic as the one passing position.

  In the robot according to the present invention, the target figure has a line segment shape, and the passing position setting unit determines one end point of the line segment constituting the target figure or the center point of the line segment as the one passing position. It is a teaching system.

  The robot teaching system according to the present invention is characterized in that the target figure has a rectangular shape, and the passing position setting unit determines a rectangular corner point or a rectangular center point constituting the target figure as the one passing position. is there.

  The present invention is the robot teaching system characterized in that the drawing data includes DXF data or Gerber data.

  The present invention is a robot teaching system further comprising a passing position editing unit that edits the passing position of the robot set by the passing position setting unit.

  In the robot teaching system according to the present invention, the control unit includes an information accumulation unit that accumulates additional information, and the program creation unit creates a movement program based on the additional information accumulated in the information accumulation unit. It is.

  The present invention further includes a tool controller connected to the tool and the robot controller, and the tool controller is controlled by a control signal from the robot controller.

  According to the present invention, even if the user does not accurately align the reference mark with the passage position (teaching point), the passage position setting unit accurately sets the passage position with respect to the target graphic, which is necessary for teaching work. Time can be shortened.

1 is an overall configuration diagram showing an embodiment of a robot teaching system according to the present invention. The figure which shows the specific example of a target figure and a specific area | region. The figure which shows the effect | action of one Embodiment of the robot teaching system by this invention (screen displayed on a display part). The flowchart which shows the setting method of the passage position in a passage position setting part.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 to FIG. 4 are diagrams showing an embodiment of the present invention.

  First, the outline of the robot teaching system according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the robot teaching system 10 includes a robot 11, a robot controller 12 connected to the robot 11, and provided with a programming pendant 15 used when the robot 11 is manually operated. And a tool controller 14 connected to the robot controller 12 and connected to the tool 13.

  Among these, the robot 11 is a robot that performs a machining operation on a workpiece (processing object) W, and includes, for example, an orthogonal robot, a SCARA robot, and a vertical articulated robot. Moreover, although the workpiece | work W consists of a printed circuit board, an electronic component etc., for example, if the operation | work is performed by the robot 11, it will not specifically limit.

  The tool 13 includes means for performing a predetermined operation on the workpiece W, such as a soldering tool, a screw tightening tool, a welding tool, and a painting tool. On the other hand, the tool controller 14 can control each tool 13 by a control signal from the robot controller 12.

  As shown in FIG. 1, the robot controller 12 is connected to a control unit 20 made of, for example, a computer that controls the robot controller 12. Hereinafter, the configuration of the control unit 20 will be described.

  The control unit 20 visually reads the drawing data reading unit 21 for reading the drawing data 25 of the workpiece W, the input unit 22 for inputting the passing position of the robot 11, the passing position of the robot 11, the drawing data 25 of the workpiece W, and the like. And a display unit 29 for displaying automatically.

  Among these, the display part 29 is comprised from conventionally well-known display means, such as a liquid crystal monitor. A pointer (reference mark) 35 is displayed on the display unit 29 (see FIGS. 3C to 3G). A pointer (reference mark) 35 is moved on the display unit 29 by operating the input unit 22.

  A storage unit 23 that stores drawing data 25 of the workpiece W is connected to the drawing data reading unit 21. The drawing data reading unit 21 has a function of reading the drawing data 25 from the storage unit 23 and displaying the drawing data 25 thus read on the display unit 29.

  The storage unit 23 includes a magnetic disk, floppy disk (registered trademark), hard disk, optical disk (CD-ROM, CD-R, DVD, etc.), magneto-optical disk (MO, etc.), semiconductor memory, etc. As long as it can be stored, it does not matter whether it is located inside or outside the control unit 20. Examples of the drawing data 25 include CAD data such as DXF files or CAM data such as Gerber data. The drawing data 25 includes a plurality of target figures 50. Here, the target graphic 50 refers to data of a partial graphic composed of a graphic of a typical shape such as a circle, a line segment, or a rectangle in the drawing data 25. Each target graphic 50 may correspond to, for example, an opening formed in a part of the workpiece W where soldering or screw tightening is performed.

  Furthermore, examples of the input unit 22 include an input unit that can be used when the user moves the pointer 35 on the display unit 29 or inputs information, such as a mouse and a keyboard.

  On the other hand, a specific area setting unit 43 is connected to the drawing data reading unit 21. The specific area setting unit 43 has a function of setting a specific area 51 for each target graphic 50 on the drawing data 25.

  Here, the specific area 51 is an area for specifying one passage position when the pointer 35 from the input unit 22 matches as will be described later. Specifically, the specific area 51 is an area set within a range of a size that allows the user to easily align the pointer 35 inside or around each target graphic 50. The specific area 51 includes an area inside each target graphic 50 and / or an area near the outside of each target graphic 50. Moreover, it is preferable that the specific areas 51 of the adjacent target graphic 50 do not overlap each other.

  For example, when the target graphic 50 is a circle, the specific area setting unit 43 can determine a specific area 51 within a certain area from the center point of the circle (see FIG. 2A). In this case, the circle constituting the specific area 51 may be the same circle as the circle of the target graphic 50. Or the circle which comprises the specific area | region 51 may consist of a circle larger than the circle of the target figure 50, and may consist of a circle smaller than the circle of the target figure 50 as shown to Fig.2 (a).

  When the target graphic 50 is a line segment, the specific area setting unit 43 can determine a rectangular area having a certain distance from the line segment as the specific area 51 (see FIG. 2B). Alternatively, the specific area setting unit 43 may determine the inside of a circle centered on each end point of the line segment of the target graphic 50 as the specific area 51.

  When the target graphic 50 is a rectangle (rectangle), the specific area setting unit 43 can determine the inside of the rectangle as the specific area 51 (see FIG. 2C). Alternatively, the specific area setting unit 43 may determine the inside of a circle centered on each corner point of the rectangle as the specific area 51, and the specific area 51 within a certain range of circles centered on the center point of the rectangle. It may be determined as Furthermore, when the specific area 51 is a rectangle, this rectangle may be the same rectangle as the rectangle constituting the target graphic 50 (FIG. 2C). Alternatively, the rectangle of the specific area 51 may be larger or smaller than the rectangle constituting the target graphic 50.

  Further, the passage position setting unit 24 is connected to the specific area setting unit 43. The passing position setting unit 24 sets a passing position and a passing order through which the robot 11 passes when performing a machining operation. The passing position setting unit 24 sets a specific area 51 based on the drawing data 25 read by the drawing data reading unit 21. It has a function of determining a corresponding one passing position (teaching point). The passing position setting unit 24 also has a function of displaying the passing position and the passing order on the display unit 29.

  That is, when the user tries to set the passage position, the input unit 22 is operated to make the pointer (reference mark) 35 coincide with one specific area 51 among the plurality of specific areas 51 on the drawing data 25. Next, the target graphic 50 is designated by the user operating the input unit 22. Then, the passage position setting unit 24 performs one passage corresponding to the specific area 51 based on the information of the target graphic 50 specified by the input unit 22 and the drawing data 25 read by the drawing data reading unit 21. The position (teaching point) is determined.

For example, when the target graphic 50 is a circle, the passage position setting unit 24 can determine the center point of this circle as the passage position T ₁ (see FIG. 2A).

Also when the target figure 50 is a line segment, passes through the position setting unit 24 may define one of the end points of the line segment as the passing position T ₂ (see Figure 2 (b)). Alternatively, the passage position setting unit 24 may determine the center point of the line segment as the passage position.

When the target graphic 50 is a rectangle (rectangle), the passage position setting unit 24 can determine the center point of the rectangle as the passage position T ₃ (see FIG. 2C). Alternatively, the passage position setting unit 24 may determine a rectangular corner point as the passage position.

  Referring again to FIG. 1, the passage position setting unit 24 is connected to the passage position editing unit 30. The passing position editing unit 30 is for editing the passing position of the robot 11 set by the passing position setting unit 24. Specifically, in the passing position editing unit 30, the user can finely adjust the passing position of the robot 11 set by the passing position setting unit 24 as necessary by operating the input unit 22. It has become.

  Further, a program creation unit 31 is connected to the passage position editing unit 30. This program creation unit 31 is based on the information on the passage position and passage order of the robot 11 set by the passage position setting unit 24 (or the passage position and passage order edited by the passage position editing unit 30). The moving program 32 is created. That is, the program creation unit 31 creates a moving program 32 that passes through each passing position in a predetermined passing order based on the passing position and passing order information of the robot 11.

  Furthermore, an output unit 33 that transmits the movement program 32 created by the program creation unit 31 to the robot controller 12 is connected to the program creation unit 31.

  On the other hand, an information storage unit 34 that stores additional information 40 set in advance for each target graphic 50 is connected to the program creation unit 31. Here, as the additional information 40, for example, a registered name (for example, “circle 1”) regarding the target graphic 50, a work content (for example, soldering, screwing) for the target graphic 50, and the like can be cited. The program creation unit 31 can create the movement program 32 based on the additional information 40 stored in the information storage unit 34.

  Next, the operation of the present embodiment having such a configuration will be described. Specifically, an example in which the robot 11 performs soldering on a workpiece W made of a printed circuit board will be described with reference to FIGS. Here, FIGS. 3A to 3G show screens of the drawing data 25 displayed on the display unit 29. In the following, for convenience, it is assumed that the tool 13 attached to the robot 11 moves two-dimensionally along the surface of the printed board.

  First, when the user operates the input unit 22, the drawing data 25 of the workpiece W is read from the storage unit 23 to the drawing data reading unit 21. Here, the drawing data 25 includes a plurality of target figures 50 (50a to 50d) provided on the workpiece W. The drawing data reading unit 21 displays the drawing data 25 read in this way on the display unit 29 (FIG. 3A). In addition, in the screen of the display unit 29 shown in FIG. 3A, the target figures 50a to 50d respectively correspond to holes in the work W where the soldering operation is performed.

  Next, the specific area setting unit 43 sets a specific area 51 (51a to 51d) for each target graphic 50 (50a to 50d) in the drawing data 25. Next, the user operates the input unit 22 to match the pointer 35 from the input unit 22 with the target graphic 50. Subsequently, the passing position setting unit 24 sets the passing position and the passing order of the robot 11 based on the drawing data 25 read by the drawing data reading unit 21.

  Specifically, the passing position and passing order of the robot 11 are set as follows.

  First, the specific area setting unit 43 extracts a plurality of target graphics 50 a to 50 d from the drawing data 25. Next, the specific area setting unit 43 sets specific areas 51 (51a to 51d) for the extracted target graphics 50a to 50d (FIG. 3B). In practice, since the specific areas 51a to 51d are not displayed on the display unit 29, in FIG. 3B, these specific areas 51a to 51d are displayed with virtual lines (two-dot chain lines).

  Next, for example, when the input unit 22 is a mouse, the user moves the pointer 35 while referring to the display unit 29 (FIG. 3C). Then, the input unit 22 is operated (for example, left click of the mouse) for each passing position (teaching point) through which the robot 11 passes and according to the order in which the robot 11 passes through.

  At this time, the user operates the input unit 22 (for example, moves the mouse) to select one of the plurality of specific areas 51a to 51d on the drawing data 25 corresponding to the passing position through which the robot 11 first passes. The pointer 35 is matched with the specific area 51a (FIG. 3D). Thus, when the pointer 35 coincides with the specific area 51 on the drawing data 25, the display unit 29 may change the color of the target graphic 50a. In addition, it is preferable that the drawing data 25 displayed on the display unit 29 can be appropriately enlarged and reduced by the user operating the input unit 22.

  Next, when the user further operates the input unit 22 (for example, by left clicking the mouse), information indicating that the target graphic 50a has been designated is sent from the input unit 22 to the passing position setting unit 24. Thereby, the designation of the target graphic 50a is completed.

Next, the passage position setting unit 24 determines one passage position T _a (teaching point) corresponding to the specific area 51 based on the information from the input unit 22 and the drawing data 25 (FIG. 3E). ).

That is, as shown in FIG. 3D, the user operates the input unit 22 (for example, moves the mouse) to match the pointer 35 within the specific area 51a corresponding to the circular target graphic 50a, and further to the input unit When 22 is operated (for example, left click), information indicating that the target graphic 50 a has been designated is sent to the passage position setting unit 24. In this case, passage position setting unit 24 defines the center point of the circle of the target figure 50a as a passage position T _a (see FIG. 3 (e)). At this time, on the display unit 29, the pointer 35 may automatically move to the center point of the circle of the target graphic 50a (that is, the passing position _Ta ).

Subsequently, the user operates the input unit 22 (for example, moves the mouse), and one of the plurality of specific areas 51a to 51d on the drawing data 25 corresponds to the passing position through which the robot 11 passes. The pointer 35 is made to coincide with the specific area 51b. That is, the pointer 35 is matched with the specific area 51b corresponding to the rectangular target graphic 50b. Subsequently, when the user operates the input unit 22 (for example, left click), information that the target graphic 50b is designated is sent to the passage position setting unit 24. In this case, passage position setting unit 24 defines a rectangular central point of the target figure 50b as the passing position T _b (see FIG. 3 (f)). At this time, on the display unit 29, the pointer 35 may be automatically moved to the center point of the rectangle of the target graphic 50a (that is, the passing position T _b ).

Similarly, the passage position setting unit 24 determines passage positions T _c and T _d for the target figures 50c and 50d, respectively (see FIG. 3G). Next, the passing position setting unit 24 sets the passing position and the passing order of the robot 11 in the order of T _a , T _b , T _c , and T _d . At this time, the passing position setting unit 24 may display the passing position and passing order of the robot 11 on the display unit 29 in a form that can be visually recognized.

  Subsequently, the passage position editing unit 30 edits the passage position of the robot 11 set by the passage position setting unit 24. That is, when the user operates the input unit 22, the passing position of the robot 11 set by the passing position setting unit 24 is edited as necessary. For example, the passage position (X direction, Y direction, Z direction) of the robot 11 can be finely adjusted, or the speed of the robot 11 can be adjusted.

Subsequently, the program creation unit 31 creates a movement program 32 for the robot 11 based on the information on the passage position of the robot 11 set by the passage position setting unit 24. That is, the program creation unit 31 creates a movement program 32 that allows the robot 11 to pass through the passage positions _Ta , _Tb , _Tc , and _Td in this order. The movement program 32 is described in a language format that can be directly read by the robot controller 12.

At this time, the program creation unit 31 may create the movement program 32 based on the additional information 40 with reference to the additional information 40 stored in advance in the information storage unit 34. Specifically, the program creation unit 31, the passing position _{T a, T b, T c} , for each T _d, the target figure 50 a to 50 d (each passage position _{T a, T b, T c} , T d ) Refer to the additional information 40 for each. The program creation unit 31, the robot 11 is passing position _{T a, T b, T c} , upon reaching T _d, the target figure 50 a to 50 d (each passage position _{T a, T b, T c} , T d) A processing work program for performing a predetermined processing work (for example, soldering, screw tightening, etc.) based on the additional information 40 may be created. In this case, the machining work program is included in a part of the movement program 32.

An example of the machining work program is as follows. That is, first, when the robot 11 reaches the passing positions _Ta , _Tb , _Tc , _Td , the robot 11 approaches the workpiece W and temporarily stops in this state. Next, a control signal is transmitted from the robot controller 12 to the tool controller 14. As a result, the tool 13 performs a predetermined machining operation on the workpiece W, and the robot 11 is on standby during this time. After the machining operation is completed, a signal is transmitted from the tool controller 14 to the robot controller 12, and upon receiving this signal, the robot 11 moves away from the workpiece W and proceeds toward the next passing position.

  When the movement program 32 is completed in this way, the output unit 33 transmits the created movement program 32 to the robot controller 12.

  In this way, the teaching work of the robot 11 can be completed off-line without the user manually operating the programming pendant 15. After the off-line teaching work is completed, the robot controller 12 operates the robot 11 according to the movement program 32.

  In the present embodiment, when the pointer 35 is made to coincide with the specific area 51, a mode for automatically determining one passage position corresponding to the specific area 51 (hereinafter also referred to as a suction mode), such as It is preferable that the mode specified by the input unit 22 as it is as the passing position of the robot 11 (hereinafter also referred to as a normal mode) can be switched without using the suction mode.

  Next, referring to FIG. 4, the passing position setting method in the passing position setting unit 24 will be further described.

  First, the passage position setting unit 24 determines whether or not the suction mode (that is, the mode for automatically determining one passage position corresponding to the specific area 51 when the pointer 35 is matched with the specific area 51). Is determined (step S01). When this is denied (NO), the process proceeds to the normal mode in which the position designated by the user by operating the input unit 22 is set as the passing position of the robot 11 as it is (step S06).

  On the other hand, when this is affirmed (YES), the passage position setting unit 24 determines whether or not the position of the pointer 35 designated by the input unit 22 matches the specific area 51 on the drawing data 25 ( Step S02). When this is denied (NO), the passage position setting unit 24 sets the position designated by the user by operating the input unit 22 as it is as the passage position of the robot 11 (step S05).

  On the other hand, when this is affirmed (YES), the passage position setting unit 24 determines one passage position corresponding to the specific area 51 (step S03).

  Next, the passing position setting unit 24 sends the passing position information thus determined to the program creation unit 31 (step S04).

  Thereafter, as described above, the program creation unit 31 creates the movement program 32 of the robot 11 based on the passage position of the robot 11 set by the passage position setting unit 24, and the output unit 33 uses the movement program 32. Is transmitted to the robot controller 12.

  As described above, according to the present embodiment, when the passing position setting unit 24 matches the pointer 35 to one specific area 51 among the plurality of specific areas 51 on the drawing data 25, Based on this, one passing position corresponding to the specific area 51 is determined. Accordingly, the passing position setting unit 24 accurately sets the passing position (teaching point) with respect to the target graphic 50 even if the user does not accurately align the pointer 35 with the passing position. Time can be shortened.

  Further, according to the present embodiment, the display unit 29 changes the color of the target graphic 50 when the pointer 35 coincides with the specific area 51 on the drawing data 25, so that the displayed target graphic 50 is displayed. Easy to visually recognize the selection.

  Further, according to the present embodiment, the target graphic 50 has a circular shape, and the passing position setting unit 24 determines the center point of the circle constituting the target graphic 50 as one passing position. Alternatively, the target graphic 50 has a line segment shape, and the passing position setting unit 24 determines one end point of the line segment constituting the target graphic 50 or the center point of the line segment as one passing position. Alternatively, the target graphic 50 has a rectangular shape, and the passing position setting unit 24 determines a rectangular corner point or a rectangular center point constituting the target graphic 50 as one passing position. Accordingly, the passing position can be easily determined for the shape of a typical target graphic 50 that is often included in the drawing data 25 of the workpiece W.

  Furthermore, according to the present embodiment, the passage position editing unit 30 can edit the passage position of the robot 11 set by the passage position setting unit 24, so that the passage position of the robot 11 can be changed as necessary. Fine adjustments can be made.

  Further, according to the present embodiment, the control unit 20 has the information storage unit 34 that stores the additional information 40, and the program creation unit 31 moves based on the additional information 40 stored in the information storage unit 34. A program 32 is created. As a result, the contents of the machining work performed by the robot 11 at each passing position can be automatically incorporated into the movement program 32, and the time required for the teaching work can be shortened.

DESCRIPTION OF SYMBOLS 10 Robot teaching system 11 Robot 12 Robot controller 13 Tool 14 Tool controller 15 Programming pendant 20 Control part 21 Drawing data reading part 22 Input part 23 Storage part 24 Passing position setting part 25 Drawing data 29 Display part 30 Passing position edit part 31 Program creation Unit 32 Movement program 33 Output unit 34 Information storage unit 35 Pointer (reference mark)
40 Additional information 43 Specific area setting unit 50, 50a to 50d Target graphic 51, 51a to 51d Specific area

Claims (9)

In a robot teaching system for teaching a robot that performs a processing operation on a processing target,
With robots,
A robot controller connected to the robot;
A tool attached to the robot,
A controller connected to the robot controller and controlling the robot controller;
The control unit
A drawing data reading unit that reads drawing data to be processed including the target graphic;
A display unit for displaying drawing data including the target graphic;
An input unit for moving the reference mark on the display unit;
When the reference mark from the input unit matches the target graphic, a specific region setting unit that sets a specific region for specifying one passing position;
A passage position setting unit that determines one passage position corresponding to the specific area based on the drawing data when the reference mark from the input unit matches the specific area on the drawing data;
A program creation unit for creating a robot movement program based on the passage position of the robot set by the passage position setting unit;
A robot teaching system, comprising: an output unit that transmits the movement program created by the program creation unit to the robot controller.   The robot teaching system according to claim 1, wherein the display unit changes the color of the target graphic when the reference mark matches a specific area on the drawing data.   3. The robot teaching system according to claim 1, wherein the target graphic has a circular shape, and the passage position setting unit determines a center point of a circle constituting the target graphic as the one passage position.   3. The target figure has a line segment shape, and the passage position setting unit determines one end point of the line segment constituting the target figure or the center point of the line segment as the one passage position. The robot teaching system described.   3. The robot according to claim 1, wherein the target graphic is a rectangular shape, and the passing position setting unit determines a rectangular corner point or a rectangular center point constituting the target graphic as the one passing position. Teaching system.   The robot teaching system according to claim 1, wherein the drawing data is DXF data or Gerber data.   The robot teaching system according to any one of claims 1 to 6, further comprising a passing position editing unit that edits the passing position of the robot set by the passing position setting unit.   The control unit includes an information storage unit that stores additional information, and the program creation unit creates a travel program based on the additional information stored in the information storage unit. A robot teaching system according to claim 1. A tool controller connected to the tool and the robot controller;
9. The robot teaching system according to claim 8, wherein the tool controller is controlled by a control signal from the robot controller.

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