JP2014010501A - Teaching data editing system and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce labor required for editing teaching data and prevent rewriting of call command from being omitted.SOLUTION: A teaching data editing system comprises: a list generation unit 42 for generating a list of identification information for files included in teaching data; a command receiving unit 43 for receiving an alteration command for altering the identification information for the files included in the list generated by the list generation unit 42; an identification information alteration unit 44 for, in accordance with the alteration command, specifying a target file that is a target of altering the identification information and altering the identification information for the specified target file; a retrieval unit 45 for retrieving a calling file that becomes a source of call, as a file having a call command for calling the target file out of the files included in the teaching data; and a command rewriting unit 46 for rewriting the identification information for the target file in the call command of the target file described in the retrieved calling file.

Description

  The present invention relates to an editing system and program for editing teaching data of an industrial robot.

  Industrial robots such as welding robots that perform welding operate to perform work set by the teaching data by providing the teaching data (see, for example, Patent Documents 1 and 2). The teaching data is configured, for example, as a set of a program file describing an operation to be executed by the robot and a data file describing data such as various conditions. Then, by combining these files, the robot is caused to execute a desired work. Here, a program file and a data file (hereinafter referred to as a program or the like) can be called and used.

  When adding work by the robot, the teaching data is edited, and a combination (set) of a new program or the like is registered in the teaching data. At this time, a new program or the like may be added to the teaching data. Further, when the work based on already existing teaching data is changed or corrected, the contents of individual programs or the like are changed, or new programs or the like are added to the teaching data.

JP 2005-135095 A JP 2008-250706 A

  When teaching data is edited, identification information (file number, file name, etc.) such as a program may be changed. Here, if there is another program that calls the program whose identification information has been changed, the call instruction in the calling program is rewritten, and the identification information such as the called program described in the call instruction is changed. Need to change.

  The present invention reduces the trouble of rewriting a call instruction at a caller that calls a program or the like when the identification information of the program or the like is changed in teaching data editing, and prevents the occurrence of a rewrite of the call instruction. With the goal.

The present invention that achieves the above object is realized as the following editing system. This editing system is an editing system for editing robot teaching data, including teaching data holding means for acquiring and holding teaching data including a plurality of files, and teaching data held in the teaching data holding means. Creating means for creating a list of file identification information, command accepting means for accepting a change command for changing the identification information of a file included in the list created by the list creating means, and accepting by the command accepting means In accordance with the change instruction, an identification information changing means for specifying the target file whose identification information is to be changed, and changing the identification information of the specified target file, and a call instruction for calling the target file among the files included in the teaching data Caller file that is the source of the call as a file Searching means for searching, and instruction rewriting means for rewriting the identification information of the target file in the calling instruction of the target file described in the calling source file searched by the searching means to the identification information after being changed by the change instruction It is characterized by.
With such a configuration, by specifying a specific file and instructing to change the identification information, the identification information of the specified file is changed, and a call instruction in another file that calls the specified file Can be rewritten automatically.

Here, when the target file is a table file, the instruction rewriting means saves the call instruction argument before rewriting the identification information of the target file in the call instruction of the target file described in the caller file, After rewriting the file identification information, the call command argument is returned to the saved value.
With such a configuration, the file identification information in the call instruction can be rewritten in the caller file that calls the table file without changing the conditions for calling the table file.

The present invention is also realized as the following editing system. This editing system is an editing system that edits teaching data of a welding robot, and includes at least a program file that describes a robot work procedure and a data bank file that describes information related to robot work conditions. , Acquiring and holding teaching data, which may include a parameter switching table file to be referred to for switching parameters set for the robot work, and an arrowhead bank file describing a robot operation pattern in welding work The identification data is changed in accordance with the teaching data holding means, the instruction receiving means for receiving a change instruction for changing the identification information of the file included in the teaching data held in the teaching data holding means, and the change instruction received by the instruction receiving means. Pairs that are subject to An identification information changing means for identifying the file and changing the identification information of the identified target file, and a call source file as a call source as a file having a call instruction for calling the target file among the files included in the teaching data Search means for searching, and instruction rewriting means for rewriting the call instruction of the target file described in the call source file searched by the search means. Then, when the target file is a program file, a parameter switching table file, or an arrowhead bank file, the instruction rewriting means changes the identification information of the target file in the call instruction described in the caller file to the identification information after being changed by the change instruction. When the target file is a data bank file, save the call instruction argument described in the caller file, rewrite the identification information in the call instruction to the identification information changed by the change instruction, and rewrite the identification information. It is characterized in that the argument of the call instruction is returned to the saved value.
With such a configuration, in editing the teaching data of the welding robot, the identification information of the designated file is changed and designated by designating a specific file and instructing the change of the identification information. Call commands in other files that call a file can be automatically rewritten.

  Furthermore, the present invention is also realized as a program that controls a computer to realize each function of the editing system described above. This program can be provided by being stored and distributed in a magnetic disk, an optical disk, a semiconductor memory, or other recording media, or distributed via a network.

  According to the present invention, by designating a specific file and instructing to change the identification information, the identification information of the designated file is changed, and a call instruction in another file that calls the designated file is automatically issued. Therefore, it is possible to reduce the time and effort required for editing the teaching data and to prevent the occurrence of rewriting of the call instruction.

It is a figure which shows schematic structure of the edit system and welding robot system which concern on this Embodiment. It is a figure which shows the hardware structural example of the teaching data editing apparatus of this Embodiment. It is a figure which shows the function structural example of the teaching data editing apparatus of this Embodiment. It is a flowchart which shows the flow of the change process of the identification information of the file by this Embodiment. It is a flowchart which shows the flow of the change process of the identification information of the file by this Embodiment. It is a flowchart which shows the flow of the change process of the identification information of the file by this Embodiment. It is a flowchart which shows the flow of the change process of the identification information of the file by this Embodiment. It is a flowchart which shows the flow of the change process of the identification information of the file by this Embodiment.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
In this embodiment, a teaching data editing system in a welding robot system will be described as an example.
〔System configuration〕
FIG. 1 is a diagram showing a schematic configuration of an editing system and a welding robot system according to the present embodiment.
As shown in FIG. 1, the welding robot system includes a robot (manipulator) 10, a control device (controller) 20 for controlling the robot, and a teaching device 30 for inputting teaching data. The editing system is constituted by a teaching data editing device 40 realized by, for example, a computer system.

  The robot 10 includes arms having a plurality of joints, and performs various operations based on teaching data. In the case of a welding robot system, a welding torch 11 for performing a welding operation of an object is provided at the tip of the arm. The control device 20 includes a storage device (memory) that stores teaching data and a processing device (CPU) that reads the teaching data and controls the operation of the robot 10. The teaching device 30 is used when an operator inputs a welding path, welding work conditions, and the like during teaching work of the robot 10. The teaching device 30 includes a display screen 31 constituted by a liquid crystal display or the like and an input button 32.

  The control device 20 has an interface for the robot 10 and an interface for the teaching device 30, and is connected to the robot 10 and the teaching device 30 via these. In addition, the control device 20 includes an interface for reading and writing data from and to a removable storage medium 50 such as a memory card, for example, writing teaching data to the storage medium 50 or teaching data written to the storage medium 50. Can be read and stored in a storage device.

[Hardware configuration of teaching data editing device]
FIG. 2 is a diagram illustrating a hardware configuration example of the teaching data editing device 40.
As shown in FIG. 2, the teaching data editing apparatus 40 includes a CPU (Central Processing Unit) 101 that is a calculation unit and a memory 102 that is a main storage unit. Further, as external devices, an image display mechanism (video card or the like) 103 and a display device 104, a magnetic disk device (HDD: Hard Disk Drive) 105, an input device 106 such as a keyboard or a mouse, and the like are provided. In addition, a driver 107 for reading / writing data from / to the storage medium 50 is provided. Thereby, the teaching data editing device 40 can read teaching data from the storage medium 50. 2 merely illustrates a hardware configuration when the teaching data editing apparatus 40 is realized by a computer system, and the teaching data editing apparatus 40 is not limited to the illustrated configuration.

[Functional structure of teaching data editing device]
FIG. 3 is a diagram illustrating a functional configuration example of the teaching data editing device 40.
As shown in FIG. 3, the teaching data editing device 40 includes a teaching data holding unit 41, a list creating unit 42, a command receiving unit 43, an identification information changing unit 44, a searching unit 45, and a calling command rewriting unit 46. With. The teaching data holding unit 41 is realized by, for example, a storage unit such as the memory 102 or the magnetic disk device 105 in the hardware configuration illustrated in FIG. The teaching data holding unit 41, the list creating unit 42, the command receiving unit 43, the identification information changing unit 44, the searching unit 45, and the calling command rewriting unit 46 are realized by the CPU 101 in the hardware configuration shown in FIG. 2, for example. More specifically, a program that realizes the function of the teaching data editing device 40 according to the present embodiment on a computer is stored in the magnetic disk device 105, this program is expanded in the memory 102, and executed by the CPU 101. The functions of the teaching data holding unit 41, the list creating unit 42, the command receiving unit 43, the identification information changing unit 44, the searching unit 45, and the calling command rewriting unit 46 are realized.

  The teaching data holding unit 41 holds teaching data read from the storage medium 50 via the driver 107. The teaching data held in the teaching data holding unit 41 is subjected to editing processing by the teaching data editing device 40. Therefore, after the editing process is performed, the edited teaching data is held in the teaching data holding unit 41. Here, the teaching data is configured as a set of program files and data files. In this embodiment, since the welding robot system is taken as an example, it is assumed that it is constituted by four types of files: a program file, a data bank file, a parameter switching table file, and an arrowhead bank file. Details of each file will be described later.

  The list creating unit 42 creates a list of identification information of files included in the teaching data based on the teaching data held in the teaching data holding unit 41. This identification information is used to specify a call destination file (file to be called) when calling another file from a certain file. As the file identification information, a file number or a file name can be used. Hereinafter, in the present embodiment, a case where a file number is used as identification information recorded in a list will be described as an example. The list of identification information (file number list) created by the list creation unit 42 is displayed on the display device 104, for example, under the control of the image display mechanism 103 shown in FIG.

  In this embodiment, when creating a file number list, information related to the tree structure of the program and the table structure of the data bank included in the teaching data is extracted and developed on the work memory. Further, as the data structure of the file number list, a structure reflecting a tree structure between program files and a table structure of a data bank file may be adopted. In this case, it is possible to determine whether a certain program file or data bank file calls another file by referring to the information or file number list developed on the working memory.

  The command receiving unit 43 receives a command (change command) for changing a file number, which is file identification information. When changing the file number, when the file number list created by the list creation unit 42 is displayed on the display device 104, the operator refers to the file number list displayed on the display device 104 and selects the desired file. Specify a number and enter a change order. The file number change command is input, for example, when the operator operates the input device 106 shown in FIG.

  Based on the change command received by the command receiving unit 43, the identification information changing unit 44 reads a file having the designated file number from among the teaching data files held in the teaching data holding unit 41, and the file according to the change command. Change the number. Then, the file whose file number has been changed is stored in the teaching data holding unit 41. When the file number of any file of the teaching data is changed, the list creation unit 42 updates the file number list by reflecting the change of the file number.

  The search unit 45 searches for a calling source file (hereinafter called a calling source file) that calls a file whose file number is changed by the identification information changing unit 44. In other words, the file to be searched is a file having a call instruction for calling another file, and the file to be called (hereinafter called a call destination file) is a file whose file number is changed by the identification information changing unit 44. It is a certain file. Of the above four types of files, only the program file and the data bank file can be called as a caller file having a call instruction for calling another file. Details of the search method will be described later.

  The call command rewriting unit 46 rewrites the file number of the call destination file described in the call command of the call source file searched by the search unit 45 based on the change command received by the command receiving unit 43. That is, in accordance with the change of the file number of the call destination file itself by the identification information changing unit 44, the file number of the call destination in the call instruction is rewritten.

  In the present embodiment, the teaching data editing device 40 acquires teaching data from the control device 20 of the welding robot system via the storage medium 50. However, the control device 20 and teaching data via a network or the like are used. The teaching data editing device 40 may acquire teaching data by connecting the editing device 40 and exchanging data.

[Type and contents of files to be processed]
Here, the types and contents of files constituting the teaching data to be processed in the present embodiment will be described. As described above, the teaching data of the welding robot system according to the present embodiment is composed of four types of files: a program file, a data bank file, a parameter switching table file, and an arrowhead bank file. The program file is an essential file, but other files may not exist depending on teaching data.

The program file is a file describing the work position and posture of the robot 10, work procedures, and the like.
The data bank file is a table in which various work conditions referred to by the program file are registered. In the welding robot system, welding conditions (parameters related to welding work) are mainly registered.

The parameter switching table file is set for each specification when it is desired to realize specifications for the work of the robot 10 (for example, in the case of welding work, the type of welding wire, the protruding length of the wire, etc.) with a plurality of settings. This table is used for switching parameters.
The arrowhead bank file is a table in which patterns of weaving operations of the robot 10 in welding work are registered.

  As described above, among these four types of files, the program file and the data bank file may have a call instruction for calling another file. That is, it may be a caller file for another file. On the other hand, the parameter switching table file and the arrowhead bank file are not caller files that call other files.

[Contents of identification information change processing]
4 to 8 are flowcharts showing the flow of file identification information change processing according to this embodiment.
As an initial state, it is assumed that teaching data to be processed is acquired in advance and held in the teaching data holding unit 41, and a file number list is created by the list creating unit 42 and displayed on the display device 104. It is assumed that the operator operates the input device 106 and designates a file number and inputs a change command.

  First, the command receiving unit 43 specifies a file specified by the change command included in the teaching data based on the file number list (FIG. 4, step 401). Then, it is determined whether or not the file number can be changed (step 402) and whether or not the changed number can be used as a file number (step 403). If the file specified by the change command is any one of a program file, a data bank file, a parameter switching table file, and an arrowhead bank file, Yes in step 402. If the changed file number given by the change command is a number that can be used as the specification of the teaching data, Yes in step 403. Also, for example, when the number that can be used as the file number is 1 to 999 but 1000 is designated as the number after the change, the number is unusable, so No in step 403. If No in step 402 or 403, the change instruction cannot be executed, and the process is terminated.

If both are Yes in steps 402 and 403, then the search unit 45 takes out one file (hereinafter referred to as the first target file) from the teaching data held in the teaching data holding unit 41 (step 404). ). Then, it is determined whether or not the extracted first target file is a program file (step 405).
If the first target file is a program file, the search unit 45 then calls the program file, the data bank file, the parameter switching table file, or the arrowhead bank file (calling source file). Whether or not (step 406).

When the first target file is a file that calls one of these files, the search unit 45 then specifies the call destination file (hereinafter, the second target file) by the change command (that is, changes the number). It is determined whether the file is a file (step 407).
When the second target file is a file specified by the change command, the search unit 45 next determines whether or not the second target file to be called exists in the teaching data (step 408). Here, for example, when the file number specified by the change command is wrong or when the call destination file is deleted by mistake, No is obtained in step 408.

If the second target file exists in the teaching data, the search unit 45 then registers the first target file in the program call number change list (step 409). This program call number change list is stored, for example, in a storage unit such as the memory 102 or the magnetic disk device 105 in the hardware configuration shown in FIG.
If No in any of Steps 405 to 408, the first target file is not registered in the program call number change list.

Next, the search unit 45 determines whether or not the first target file extracted from the teaching data in step 404 is a data bank file (FIG. 5, step 410). If the first target file is a program file (Yes in Step 405), No in Step 410. Also, if the first target file is a parameter switching table file or an arrowhead bank file, the result in step 410 is No.
If the first target file is a data bank file, the search unit 45 next determines whether the data bank is a file (calling source file) that calls a parameter switching table file or an arrowhead bank file (step 411). ).

When the first target file is a file that calls one of these files, the search unit 45 next determines whether the second target file that is the call destination is a file that is designated by the change command (that is, the file whose number is to be changed). It is determined whether or not (step 412).
If the second target file is a file specified by the change command, the search unit 45 next determines whether or not the second target file to be called exists in the teaching data (step 413).

If the second target file exists in the teaching data, the search unit 45 then registers the first target file in the data bank call number change list (step 414). The data bank call number change list is stored in, for example, a storage unit such as the memory 102 or the magnetic disk device 105 in the hardware configuration shown in FIG.
If No in any of Steps 410 to 413, the first target file is not registered in the data bank call number change list.
Thereafter, all the files included in the teaching data are sequentially acquired as processing targets (first target files), and each processing from step 404 to step 414 is executed (step 415).
In the above operation, any of the series of processing from Step 405 to Step 409 and the series of processing from Step 410 to Step 414 may be performed first.

  Next, the search unit 45 extracts one program file (first target file) from the program call number change list created in step 409 (FIG. 6, step 416). Then, a file call command described in the extracted first target file is extracted and registered in the command list (step 417). Here, the instruction list is stored in, for example, a storage unit such as the memory 102 or the magnetic disk device 105 in the hardware configuration shown in FIG.

  Next, the search unit 45 extracts one instruction from the instruction list (step 418). Then, it is determined whether or not the fetched instruction is a program call instruction for calling a program file (step 419). If it is a program call instruction, the search unit 45 next determines whether the call destination file to be called by the program call instruction is a file designated by the change instruction (that is, the file whose number is to be changed). (Step 420).

When the call destination file of the program call instruction is a file specified by the change instruction, the call instruction rewriting unit 46 rewrites the file number of the call destination file described in the program call instruction based on the change instruction (step 421).
If No in either step 419 or step 420, the program call instruction is not rewritten.

  Next, the search unit 45 determines whether or not the instruction extracted in step 418 is a data bank call instruction for calling a data bank file (step 422). If it is a data bank call instruction, the search unit 45 next determines whether or not the call destination file to be called by the data bank call instruction is a file designated by the change instruction (step 423).

When the call destination file of the data bank call instruction is a file specified by the change instruction, the call instruction rewriting unit 46 temporarily stores the argument of the data bank call instruction in the buffer memory (step 424), and the data bank The file number of the call destination file described in the call command is rewritten based on the change command (step 425). Then, except for the rewritten file number, the other arguments are returned to the values stored in step 424 (step 426).
If No in either step 422 or step 423, the data bank call instruction is not rewritten.

  Next, the search unit 45 determines whether or not the instruction extracted in step 418 is a parameter switching table calling instruction for calling the parameter switching table file (step 427 in FIG. 7). If the command is a parameter switching table call command, the search unit 45 next determines whether or not the call destination file that is the call target of the parameter switching table call command is a file specified by the change command (step 428). .

When the call destination file of the parameter switching table call instruction is a file specified by the change instruction, the call instruction rewriting unit 46 sets the file number of the call destination file described in the parameter change table call instruction based on the change instruction. (Step 429).
If the answer is No in either step 427 or step 428, the parameter switching table calling instruction is not rewritten.

  Next, the search unit 45 determines whether or not the instruction extracted in step 418 is an arrowhead bank call instruction for calling an arrowhead bank file (step 430). If it is an arrowhead bank call instruction, the search unit 45 next determines whether the call destination file that is the call target of the arrowhead bank call instruction is a file specified by the change instruction (step 431).

When the call destination file of the arrowhead bank call instruction is a file specified by the change instruction, the call instruction rewriting unit 46 rewrites the file number of the callee file described in the arrowhead bank call instruction based on the change instruction. (Step 432).
If the answer is No in either step 430 or step 431, the arrowhead bank call instruction is not rewritten.

Thereafter, all the instructions registered in the instruction list in step 417 are sequentially acquired, and the processes in steps 418 to 432 are executed (step 433).
Then, all the first target files registered in the program call number change list are sequentially acquired, and the process related to the rewriting of the call instruction is performed (step 434).
Note that in the above operation, a series of processing from Step 419 to Step 421, a series of processing from Step 422 to Step 426, a series of processing from Step 427 to Step 429, and a series of processing from Step 430 to Step 432, May be executed in any order.

  Next, the search unit 45 extracts one data bank file (first target file) from the data bank call number change list created in step 414 (step 435 in FIG. 8). Then, the contents of the extracted first target file are read (step 436).

  Next, the search unit 45 determines whether or not there is a parameter switching table calling instruction for calling the parameter switching table file in the read first target file (step 437). If there is a parameter switching table call instruction, the search unit 45 next determines whether the call destination file that is the call target of the parameter switching table call instruction is the file specified by the change instruction (that is, the file whose number is to be changed). It is determined whether or not (step 438).

When the call destination file of the parameter switching table call instruction is a file specified by the change instruction, the call instruction rewriting unit 46 sets the file number of the call destination file described in the parameter change table call instruction based on the change instruction. (Step 439).
If No in either step 437 or step 438, the parameter switching table calling instruction is not rewritten.

  Next, the search unit 45 determines whether or not an arrowhead bank call instruction for calling an arrowhead bank file exists in the read first target file (step 440). If there is an arrowhead bank call instruction, the search unit 45 next determines whether the call destination file that is the call target of the arrowhead bank call instruction is a file specified by the change instruction (that is, the file whose number is to be changed). Is determined (step 441).

When the call destination file of the arrowhead bank call instruction is a file specified by the change instruction, the call instruction rewriting unit 46 rewrites the file number of the callee file described in the arrowhead bank call instruction based on the change instruction. (Step 442).
If the answer is No in either step 440 or step 441, the parameter switching table calling instruction is not rewritten.

As described above, the processing from step 435 to step 442 is performed on all the first target files registered in the data bank call number change list (step 443).
In the above operation, any of the series of processing from Step 437 to Step 439 and the series of processing from Step 440 to Step 442 may be performed first.

  As described above, for a file having a call instruction (caller file) that calls a file specified by a change instruction, the file number of the callee file in the call instruction (file number changed by the change instruction) is rewritten. After that, the identification information changing unit 44 changes the file number of the file itself specified by the change command according to the change command (step 444).

  In the present embodiment, as described above, first, based on the information obtained when creating the file number list, the call relationship between files included in the teaching data is checked, and the file whose file number is to be changed is called. The caller file is specified (see steps 404 to 414), and then the specified file is analyzed to rewrite the instructions included in the file. By taking such a procedure, it is possible to narrow down the files to be analyzed in advance, compared with the case of sequentially analyzing all the files included in the teaching data and detecting the call instruction of the file whose file number is to be changed. Therefore, the processing efficiency can be improved.

[Other configuration examples of this embodiment]
In the above description, the teaching data editing device 40 implemented by a computer acquires teaching data of the welding robot system and performs editing processing for changing identification information (here, a file number) of a desired file. On the other hand, the function of the teaching data editing device 40 according to the present embodiment can be realized by the control device 20 and the teaching device 30 of the welding robot system shown in FIG.

  In this case, the control device 20 includes the CPU 101, the memory 102, and the magnetic disk device 105 in the hardware configuration example shown in FIG. In addition, the image display mechanism 103 and the display device 104 are realized by the display screen 31 of the teaching device 30 and its driving mechanism, and the input device 106 is realized by the input button 32 of the teaching device 30. In this case, the file number list created by the list creation unit 42 is displayed on the display screen 31 of the teaching device 30. Then, the operator operates the input button 32 of the teaching device 30 to input a command for changing the file number of a desired file. The control device 20 accepts an input operation by the teaching device 30, rewrites the call command of the caller file that calls the file specified by the change command, and changes the file number of the file itself specified by the change command.

DESCRIPTION OF SYMBOLS 40 ... Teaching data editing apparatus, 41 ... Teaching data holding part, 42 ... List preparation part, 43 ... Instruction reception part, 44 ... Identification information change part, 45 ... Search part, 46 ... Call instruction rewriting part

Claims (5)

An editing system for editing robot teaching data,
Teaching data holding means for acquiring and holding the teaching data including a plurality of files;
List creating means for creating a list of identification information of the file included in the teaching data held in the teaching data holding means;
Command receiving means for receiving a change command for changing the identification information of the file included in the list created by the list creating means;
In accordance with the change command received by the command receiving unit, the target file that is the target for changing the identification information is identified, and the identification information changing unit that changes the identification information of the specified target file;
Search means for searching a call source file as a call source as a file having a call command for calling the target file among the files included in the teaching data;
Instruction rewriting means for rewriting identification information of the target file in the call instruction of the target file described in the call source file searched by the search means to identification information after change by the change instruction;
A teaching data editing system comprising:   The instruction rewriting means, when the target file is a table file, saves the argument of the call instruction before rewriting the identification information of the target file in the call instruction of the target file described in the call source file 2. The teaching data editing system according to claim 1, wherein after the identification information of the target file is rewritten, the argument of the call instruction is returned to the stored value. A program for causing a computer to function as an editing system for editing robot teaching data,
A function of reading identification information of the file included in the teaching data including a plurality of files stored in a storage device, and creating a list of the identification information;
A function of accepting a change command for changing the identification information of the file included in the created list;
According to the received change instruction, a function for specifying a target file that is a target for changing the identification information, and a function for changing the identification information of the specified target file;
A function of searching for a caller file that is a file having a call command for calling the target file among the files included in the teaching data;
A function of rewriting the identification information of the target file in the call instruction of the target file described in the retrieved caller file to the identification information after the change by the change instruction;
Is realized by the computer.   In the function of rewriting the call instruction described in the call source file, when the target file is a table file, the identification information of the target file in the call instruction of the target file described in the call source file 5. The program according to claim 4, wherein an argument of the call instruction is saved before rewriting, and the argument of the call instruction is restored to the saved value after rewriting the identification information of the target file. An editing system for editing teaching data of a welding robot,
A parameter switching table that includes at least a program file that describes the robot work procedure and a data bank file that describes information related to the robot work conditions, and is referred to for switching parameters set for the robot work A teaching data holding means for acquiring and holding the teaching data, which may include a file and an arrowhead bank file describing a pattern of movement of the robot in the welding operation;
Command accepting means for accepting a change command for changing the identification information of the file included in the teaching data held in the teaching data holding means;
In accordance with the change command received by the command receiving unit, the target file that is the target for changing the identification information is identified, and the identification information changing unit that changes the identification information of the specified target file;
Search means for searching a call source file as a call source as a file having a call command for calling the target file among the files included in the teaching data;
Command rewriting means for rewriting the call instruction of the target file described in the call source file searched by the search means,
The command rewriting means is
When the target file is a program file, a parameter switching table file, or an arrowhead bank file, the identification information of the target file in the call instruction described in the caller file is rewritten with the identification information changed by the change instruction ,
When the target file is a data bank file, the argument of the call instruction described in the caller file is saved, and the identification information in the call instruction is rewritten with the identification information changed by the change instruction, and the identification A teaching data editing system, wherein an argument of a call instruction in which information is rewritten is returned to a stored value.

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