JP2023140592A - Teaching device and a teaching program - Google Patents

Abstract

To provide a teaching device and a teaching program capable of displaying an operation screen suited for a skill level.SOLUTION: Provided is a teaching device for teaching a robot that has a first teaching mode and a second teaching mode, wherein a first robot operation screen is displayed on a display part in the first teaching mode, and a second robot operation screen different from the first robot operation screen is displayed on the display part in the second teaching mode, the number of options of commands provided on the second robot operation screen being smaller than that provided on the first robot operation screen. The options include a first speed option for operating the robot at a first speed and a second speed option for operating the robot at a second speed higher than the first speed, or a first distance option for moving the robot by a first distance in one step and a second distance option for moving the robot by a second distance longer than the first distance.SELECTED DRAWING: Figure 3

Description

The present invention relates to a teaching device and a teaching program.

In order to have a robot perform a predetermined task, it is necessary to first teach the robot. The teaching task requires a high level of skill, and may be difficult for some users. In view of this, Patent Document 1 discloses a teaching device that performs teaching operations in an interactive manner and analyzes the operation contents to change operation guidance messages and menu contents according to the user's skill level. has been done.

Japanese Patent Application Publication No. 3-242705

However, in the teaching device of Patent Document 1, the display contents of the operation screen for actually operating the robot are the same regardless of the skill level of the user. Therefore, especially for users with low skill level, it is difficult to operate the robot with appropriate parameters (operation speed, operation distance, etc.).

The teaching device of the present invention is a teaching device for teaching a robot, and includes:
It has a first teaching mode and a second teaching mode,
In the first teaching mode, a first robot operation screen is displayed on the display unit as a screen for operating the robot;
In the second teaching mode, a second robot operation screen different from the first robot operation screen is displayed on the display unit as a screen for operating the robot;
The command options provided on the second robot operation screen are smaller than the command options provided on the first robot operation screen,
The command is a parameter command regarding the operating speed or moving distance of the robot,
The options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or The robot has a first distance option that causes the robot to move a first distance in a step, and a second distance option that causes the robot to move a second distance that is longer than the first distance in one step.

The teaching program of the present invention is a teaching program for teaching a robot, and includes:
It has a first teaching mode and a second teaching mode,
In the first teaching mode, a first robot operation screen is displayed on the display unit as a screen for operating the robot;
In the second teaching mode, a second robot operation screen different from the first robot operation screen is displayed on the display unit as a screen for operating the robot;
The command options provided on the second robot operation screen are smaller than the command options provided on the first robot operation screen,
The command is a parameter command regarding the operating speed or moving distance of the robot,
The options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or The robot has a first distance option that causes the robot to move a first distance in a step, and a second distance option that causes the robot to move a second distance that is longer than the first distance in one step.

1 is a perspective view showing the overall configuration of a robot system according to a preferred embodiment. FIG. 3 is a diagram showing an example of a robot operation screen. FIG. 3 is a diagram showing an example of a robot operation screen. FIG. 3 is a diagram showing an example of a robot operation screen. FIG. 3 is a diagram showing an example of a robot operation screen. It is a figure showing an example of an input screen. It is a figure which shows an example of a robot operation screen. It is a figure which shows an example of a 2nd robot operation screen. It is a figure which shows an example of a teaching point display screen. It is a figure which shows an example of a 2nd robot operation screen.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A teaching device and a teaching program of the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

FIG. 1 is a perspective view showing the overall configuration of a robot system according to a preferred embodiment. 2 to 5 are diagrams each showing an example of a robot operation screen. FIG. 6 is a diagram showing an example of an input screen. FIG. 7 is a diagram showing an example of a robot operation screen. FIG. 8 is a diagram showing an example of the second robot operation screen. FIG. 9 is a diagram showing an example of a teaching point display screen. FIG. 10 is a diagram showing an example of the second robot operation screen.

The robot system 1 shown in FIG. 1 includes a robot 2, a robot control device 3 that controls driving of the robot 2, and a teaching device 4 that displays the robot 2.

≪Robot 2≫
The robot 2 is a six-axis robot having six drive axes. The robot 2 has a base 21 and a robot arm 22 rotatably connected to the base 21, and an end effector 23 is attached to the tip of the robot arm 22.

The robot arm 22 is a robotic arm in which a plurality of arms 221, 222, 223, 224, 225, and 226 are rotatably connected, and includes six joints J1 to J6. Among these, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Further, a motor M and an encoder E are installed at the joints J1, J2, J3, J4, J5, and J6, respectively.

Further, the end effector 23 is connected to the arm 226. The end effector 23 is removably attached to the arm 226, and an end effector suitable for the work to be performed by the robot 2 can be selected and attached.

Although the robot 2 has been described above, the configuration of the robot 2 is not particularly limited. For example, the robot 2 may be a SCARA robot (horizontal articulated robot), a dual-arm robot, or the like. Further, the robot 2 may be fixed to a floor or the like and cannot be moved, or may be fixed to a moving device such as an automatic guided vehicle (AGV) and may be movable.

≪Robot control device 3≫
The robot control device 3 controls the driving of the robot 2. The robot control device 3 is composed of, for example, a computer, and includes a processor that processes information, a memory that is communicably connected to the processor, and an external interface that connects to external devices. The memory stores various programs executable by the processor, and the processor can read and execute the various programs stored in the memory.

≪Teaching device 4≫
The teaching device 4 is a device that performs teaching work for the robot 2. The teaching device 4 is electrically connected to the robot control device 3, and performs teaching work for the robot 2 by jogging the robot 2 via the robot control device 3 and registering necessary teaching points. Note that teaching refers to generating an operation program and storing it in the storage section of the teaching device 4 or the storage section of the robot control device 3. The teaching device 4 is composed of, for example, a computer or a teaching pendant, and includes a processor that processes information, a memory that is communicably connected to the processor, and an external interface that connects to external devices. A teaching program Pt executable by the processor is stored in the memory, and the processor can read and execute this teaching program Pt.

As shown in FIG. 1, the teaching device 4 is connected to a monitor 51 including a display section 511 and an input device 52 such as a keyboard and a mouse. For example, an icon for the teaching program Pt is displayed on the display unit 511, and when this icon is selected by the input device 52, the teaching program Pt is activated. However, the method of starting the teaching program Pt is not particularly limited.

The teaching device 4 has a first teaching mode for experienced people with high robot usage skills such as developers, and a second teaching mode for inexperienced people with low robot usage skills such as operators at production sites. ing. In both the first teaching mode and the second teaching mode, the robot operation screen 9 is displayed on the display unit 511 according to the user's request, but in the first teaching mode, the first robot operation screen for experts is displayed. 9m1 is displayed on the display section 511, and in the second teaching mode, a second robot operation screen 9m2 for inexperienced users, which is different from the first robot operation screen 9m1, is displayed on the display section 511. Further, the command options provided on the second robot operation screen 9m2 are smaller than the command options provided on the first robot operation screen 9m1.

For example, at a production site, it is necessary to readjust the position of the robot 2 each time due to lot variations in the workpieces to be handled. However, operators at production sites often do not have the same robot usage skills as developers, and if the operators are made to operate the robot 2 using the same robot operation screen as the developer, they may not be able to use the robot 2 properly. There is a high possibility that the operator may make a mistake in the operation or fail to perform the teaching task properly. Further, in most cases, the readjustment requires only a slight change in the position and orientation of the robot 2, so there is no need to provide many options for robot operation commands.

Therefore, in the teaching device 4, the robot operation screen 9 is made different between the first teaching mode for experts and the second teaching mode for unskilled users, and the commands that can be selected on the first robot operation screen 9m1 in the first teaching mode The number of command options that can be selected on the second robot operation screen 9m2 in the second teaching mode is smaller than the options in . According to such a configuration, an experienced person can operate the robot 2 through the first robot operation screen 9m1, which has many command options, and an unskilled person can operate the robot 2, through the second robot operation screen 9m2, which has fewer command options. The robot 2 can be operated. Therefore, the teaching device 4 becomes easy to use for both experts and unskilled people. This will be explained in detail below.

In the teaching device 4, when the teaching program Pt is closed, the user can select whether to start it up in the first teaching mode or in the second teaching mode the next time it is started up. Therefore, when starting up, the teaching device 4 starts up the first teaching mode if the first teaching mode is selected, and starts up the second teaching mode if the second teaching mode is selected. However, the present invention is not limited to this, and for example, when the teaching program Pt is launched, the home screen is displayed, and the teaching work is performed in the first teaching mode from this home screen, or the teaching work is performed in the second teaching mode. The configuration may be such that the user is allowed to select one.

The overall configuration of the robot operation screen 9 displayed on the display unit 511 is common in the first teaching mode and the second teaching mode. As shown in FIG. 2, the robot operation screen 9 is a screen that is displayed when jogging the robot 2, and includes a robot display area 91 that displays the virtual robot 2 and various parameters for the jog operation. It includes a parameter command display area 92 for displaying parameter commands, a mode selection area 93 for selecting a mode of jog operation, and an operation command display area 94 for displaying operation commands for jog operation. Note that the arrangement and size of each of these areas 91, 92, 93, and 94 on the robot operation screen 9 are not particularly limited.

The robot display area 91 is displayed on the upper left side of the robot operation screen 9. A virtual robot 2 is displayed in the robot display area 91, and this virtual robot 2 moves together with the real robot 2 according to the jog operation.

The parameter command display area 92 is displayed below the robot display area 91. The parameter command display area 92 also displays, as parameter commands PC, a motion speed setting command PC1 that sets the motion speed of the robot 2, and a motion distance that is the distance the robot 2 moves per one jog operation, that is, one step. It includes an operating distance setting command PC2 to set, and an opening/closing setting command PC3 to set opening/closing of the end effector 23.

In this embodiment, two options are set for the operating speed setting command PC1: "low speed" and "high speed", and "small", "medium", "large" and "custom" are set for the operating distance setting command PC2. Four options are set, and two options, "grasp" and "release", are set for the opening/closing setting command PC3. By setting such options, a variety of robot operations are possible.

In addition, in such a configuration, "low speed" of the operating speed setting command PC1 corresponds to the first speed option, and "high speed" corresponds to the second speed option. Moreover, "small" of the operating distance setting command PC2 corresponds to the first distance option, and "medium" or "large" corresponds to the second distance option. However, the items of the parameter command PC displayed in the parameter command display area 92 and the type and number of options in each parameter command PC are not particularly limited, and can be set as appropriate according to the purpose.

The mode selection area 93 is arranged on the right side of the robot display area 91. In the mode selection area 93, four jog operation modes are set: "Easy," "Joint," "World," and "Tool." However, the jog operation mode to be set is not particularly limited, and can be set as appropriate depending on the purpose. The user can select an appropriate mode from these four jog operation modes depending on the purpose and perform the jog operation while switching between one mode or a plurality of modes.

The Easy mode is a mode in which most teaching tasks can be completed without switching the jog operation mode. Further, the joint mode is a mode in which the rotation angle of each joint J1 to J6 can be set. Furthermore, the World mode is a mode in which the robot 2 is moved using the base 21 as the reference position of the coordinate system. Further, the Tool mode is a mode in which the robot 2 is moved using the tool center point, which is a control point, as the reference position of the coordinate system. Note that the tool center point is a reference point set on the end effector 23, and can be set arbitrarily by the user. Furthermore, hereinafter, for convenience of explanation, the coordinate system in the World mode is also referred to as the world coordinate system, and the coordinate system in the Tool mode is also referred to as the tool coordinate system.

The operation command display area 94 is arranged below the mode selection area 93. The operation command display area 94 differs depending on the selected jog operation mode. For example, the operation command display area 94 in Easy mode includes a coarse adjustment command area 941 and a fine adjustment command area 942, as shown in FIG.

The coarse adjustment command area 941 is switched between a mode with operation commands that move the three joints J1, J2, and J3 on the base side, and a mode that has operation commands that move the three joints J4, J5, and J6 on the tip side. Is displayed. Further, in the coarse adjustment command area 941, a scroll bar SB is displayed as an operation command, and by moving this scroll bar SB left and right, each joint J1 to J6 can be operated independently.

The fine adjustment command area 942 includes operation commands for moving the end effector 23 in the X-axis direction, Y-axis direction, and Z-axis direction in the world coordinate system, operation commands for moving the end effector 23 forward or backward, and operation commands for moving the end effector 23 into joints. An operation command for forward or reverse rotation is displayed around J6. In this way, most teaching tasks can be completed using the Easy mode in which the angles of the joints J1 to J6 and the position of the end effector 23 can be adjusted.

Further, the operation command display area 94 in the joint mode includes commands for setting the rotation angle of each joint J1 to J6, as shown in FIG. Furthermore, as shown in FIG. 4, the operation command display area 94 in World mode includes a position adjustment area 943 having operation commands for moving the tool center point in the X-axis direction, Y-axis direction, and Z-axis direction in the world coordinate system. , and an attitude adjustment area 944 having operation commands for rotating the end effector 23 around the X-axis, Y-axis, and Z-axis with the tool center point fixed.

Furthermore, as shown in FIG. 5, the operation command display area 94 in the Tool mode includes operation commands for rotating the end effector 23 around the X-axis and around the Y-axis with the tool center point fixed in the tool coordinate system. Posture adjustment area 945, operation commands to move the end effector 23 in the X-axis direction and Y-axis direction, operation commands to move the end effector 23 forward or backward, and operation commands to rotate the end effector 23 forward or backward around the joint J6. and a position adjustment area 946.

In any of the four jog operation modes described above, a teaching point registration button (not shown) is displayed in the operation command display area 94, and when the teaching point registration button is selected with the robot 2 in the desired position and orientation, the teaching point registration button (not shown) is displayed in the operation command display area 94. The position and orientation are registered as teaching points. This allows the robot 2 to perform teaching work.

The robot operation screen 9 has been described above. Next, the first robot operation screen 9m1 displayed on the display unit 511 when started in the first teaching mode, and the second robot operation screen 9m2 displayed on the display unit 511 when started in the second teaching mode. , the difference between them will be explained.

When the teaching device 4 starts up in the first teaching mode, it displays the input screen 8 (graphic user interface) shown in FIG. 6 on the display unit 511. The input screen 8 includes an action block display area 81 that displays action blocks AB related to the actions of the robot 2, and an action block arrangement area 82 that allows visual programming to be performed using the action blocks AB.

In the action block display area 81, a plurality of action blocks AB are displayed. In the illustrated example, the action block AB is roughly divided into two: "basic action" and "motor". The basic motion includes a total of four motion blocks AB: "move", "take", "place", and "loop", and "motor" includes "motor ON" and "motor OFF". A total of two operation blocks AB are included. However, the contents and number of motion blocks AB are not particularly limited, and can be set as appropriate depending on the configuration of the robot 2, the contents of the motion program to be created, and the like.

The user can perform visual programming by selecting any motion block AB from the motion block display area 81 and sequentially arranging the selected motion blocks AB in the motion block arrangement region 82. Selection of the action block AB and placement of the selected action block AB in the action block placement area 82 can be performed, for example, by dragging and dropping the mouse. In the illustrated example, "motor ON" is selected in step S1, "move" is selected in step S2, and "loop" is selected in step S3. Further, in "loop" in step S3, "take" is selected in step S31, and "take" is selected in step S32. "Place" is selected.

Such an input screen 8 further includes a robot operation screen transition button 83 for transitioning to the robot operation screen 9. When the user selects the robot operation screen transition button 83, the teaching device 4 switches the screen displayed on the display unit 511 from the input screen 8 to the first robot operation screen 9m1. The teaching device 4 displays the robot operation screen 9 (see FIG. 4) in which the jog operation mode is set to the World mode as the first robot operation screen 9m1, that is, the top screen of the robot operation screen 9. World mode is one of the most common robot operation methods, and is likely to be a mode that experts are accustomed to using. Therefore, by displaying the World mode as the first robot operation screen 9m1, the teaching device 4 becomes easy to use for most experts, as it saves them the trouble of selecting the jog operation mode.

Note that since the first teaching mode is a mode for experts, there is no limit to the parameter commands PC that can be selected in the parameter command display area 92. In other words, in the operating speed setting command PC1, you can select from "low speed" and "high speed", and in the operating distance setting command PC2, you can select from "small", "medium", "large", and "custom". can. Thereby, the teaching device 4 can provide a jog operation with a high degree of freedom to an expert.

Of course, the robot operation screen 9 with the jog operation mode set to World mode is displayed as the first robot operation screen 9m1, but the user can also switch to another jog operation mode.

On the other hand, when the teaching device 4 starts up in the second teaching mode, it displays the robot operation screen 7 (graphic user interface) shown in FIG. 7 on the display unit 511. The robot operation screen 7 includes a start button 71 that starts driving the robot 2 based on the operation program created by the teaching work, and a stop button 72 that stops driving the robot 2. Furthermore, the robot operation screen 7 includes a robot operation screen transition button 73 for transitioning to the robot operation screen 9, and a teaching point display button 74 for displaying the teaching points set in the operation program.

When the user selects the robot operation screen transition button 73, the teaching device 4 switches the screen displayed on the display unit 511 from the robot operation screen 7 to the second robot operation screen 9m2. The teaching device 4 displays the robot operation screen 9 in which the jog operation mode is set to the Easy mode, as shown in FIG. 8, as the second robot operation screen 9m2, that is, the top screen of the robot operation screen 9. As described above, the Easy mode is easier to handle than the other three jog operation modes (Joint, World, and Tool) because most teaching tasks can be performed only by jog operations within that mode. Further, since the scroll bar SB can be operated, even inexperienced users can perform intuitive operations. Therefore, by displaying the Easy mode as the second robot operation screen 9m2, the teaching device 4 becomes easy for most unskilled users to use, as it saves them the trouble of selecting the jog operation mode.

Note that since the second teaching mode is a mode for unskilled users, the parameter commands PC that can be selected in the parameter command display area 92 are limited. As shown in FIG. 8, in this embodiment, "high speed" cannot be selected in the operating speed setting command PC1, and is fixed at "low speed". Further, in the operating distance setting command PC2, "medium", "large", and "custom" cannot be selected, and it is fixed to "small". In this way, by reducing the number of options on the second robot operation screen 9m2 than on the first robot operation screen 9m1, the labor of setting is saved and the robot operation screen 9 becomes easier for unskilled users to use. In particular, by disabling the selection of high-rate parameters as in this embodiment, dangerous movements of the robot 2 are suppressed, and even inexperienced users can safely perform jog operations.

However, the method of limiting options is not particularly limited. For example, when three or more options are set as in the operating distance setting command PC2, it may be possible to select from a plurality of options such as "small" and "medium".

Further, when the teaching point display button 74 is selected by the user, the teaching device 4 switches the screen displayed on the display unit 511 from the robot operation screen 7 to the teaching point display screen 6 as shown in FIG. The teaching point display screen 6 displays a list of command contents and teaching points set for each command. Thereby, the user can easily confirm the operation contents set in the operation program. The teaching point display screen 6 also includes an edit button 61, allowing editing for each command. For example, No. When editing command No. 1, the user edits command No. 1 command and select the edit button 61.

When the user selects the edit button 61, the teaching device 4 switches the screen displayed on the display unit 511 from the teaching point display screen 6 to the second robot operation screen 9m2. The teaching device 4 displays the robot operation screen 9 in which the jog operation mode is set to the Tool mode, as shown in FIG. 10, as the second robot operation screen 9m2, that is, the top screen of the robot operation screen 9. As described above, in the Tool mode, the robot 2 is jogged using the tool coordinate system, so that the jog operation is more intuitive than the other three jog operation modes (Easy, Joint, World). Therefore, by displaying the Tool mode as the top screen of the robot operation screen 9, the teaching device 4 becomes easy to use for most inexperienced users, as it saves them the trouble of selecting the jog operation mode.

Note that since the second teaching mode is a mode for unskilled users, the parameter commands PC that can be selected in the parameter command display area 92 are limited. As shown in FIG. 10, in this embodiment, "high speed" cannot be selected in the operating speed setting command PC1, and is fixed at "low speed". Further, in the operating distance setting command PC2, "medium", "large", and "custom" cannot be selected, and it is fixed at "small". In this way, by reducing the number of options on the second robot operation screen 9m2 than on the first robot operation screen 9m1, the labor of setting is saved and the robot operation screen 9 becomes easier for unskilled users to use. In particular, by disabling the selection of high-rate parameters as in this embodiment, dangerous movements of the robot 2 are suppressed, and even inexperienced users can safely perform jog operations.

However, the method of limiting options is not particularly limited. For example, when three or more options are set as in the operating distance setting command PC2, it may be possible to select from a plurality of options such as "small" and "medium".

The teaching device 4 and the teaching program Pt have been described above. Such a teaching device 4 is a teaching device 4 that teaches the robot 2, and has a first teaching mode and a second teaching mode, and in the first teaching mode, the first teaching device 4 serves as a screen for operating the robot 2. A robot operation screen 9m1 is displayed on the display unit 511, and in the second teaching mode, a second robot operation screen 9m2 different from the first robot operation screen 9m1 is displayed on the display unit 511 as a screen for operating the robot 2. The command options provided on the robot operation screen 9m2 are smaller than the command options provided on the first robot operation screen 9m1. The command is a parameter command PC regarding the operating speed of the robot 2, and the options include "low speed" which is a first speed option that causes the robot 2 to operate at a first speed, and "low speed" which is a first speed option that causes the robot 2 to operate at a first speed. ``High Speed'' is a second speed option for operating at two speeds. Alternatively, the command is a parameter command PC related to the movement distance, which is the movement distance of the robot 2, and the options are "small", which is the first distance option that moves the robot 2 by a first distance in one step, and It has second distance options of "medium" and "large" for moving by a second distance longer than the first distance in one step.

According to this configuration, an experienced person can operate the robot 2 through the first robot operation screen 9m1, which has many command options and can perform a variety of operations, and an unskilled person can easily set the robot 2, which has few command options. The robot 2 can be operated via the second robot operation screen 9m2. Therefore, the teaching device 4 becomes easy to use for both experts and unskilled people.

Further, as described above, the second speed option "high speed" cannot be selected on the second robot operation screen 9m2. Thereby, even an inexperienced person can safely operate the robot 2.

Further, as described above, the second distance options "medium" and "large" cannot be selected on the second robot operation screen 9m2. Thereby, even an inexperienced person can safely operate the robot 2.

Further, as described above, the robot 2 includes a base 21 and a robot arm 22 connected to the base 21, and the first robot operation screen 9m1 displays the world coordinate system set for the robot 2. This is a screen for operating the robot 2 based on the coordinate system. This makes the teaching device 4 easy for experts to use.

Further, as described above, the robot 2 includes a base 21 and a robot arm 22 connected to the base 21, and the second robot operation screen 9m2 allows you to operate the robot arm 22 by operating the scroll bar SB. It's a screen. This makes the teaching device 4 easy for unskilled people to use.

Furthermore, as described above, when editing the teaching points of the robot 2 that have already been registered, the second robot operation screen 9m2 displays the tool coordinates, which is the coordinate system set in the end effector 23 connected to the robot 2. This is a screen for operating the robot 2 based on the system. This enables intuitive jog operations, making the teaching device 4 easy for unskilled users to use.

Further, as described above, the teaching program Pt is a teaching program for teaching the robot 2, and has a first teaching mode and a second teaching mode, and in the first teaching mode, a screen for operating the robot 2 is provided. In the second teaching mode, a second robot operation screen 9m2 different from the first robot operation screen 9m1 is displayed on the display section 511 as a screen for operating the robot 2. , the command options provided on the second robot operation screen 9m2 are smaller than the command options provided on the first robot operation screen 9m1. The command is a parameter command PC regarding the operating speed of the robot 2, and the options include "low speed" which is a first speed option that causes the robot 2 to operate at a first speed, and "low speed" which is a first speed option that causes the robot 2 to operate at a first speed. ``High Speed'' is a second speed option for operating at two speeds. Alternatively, the command is a parameter command PC related to the movement distance, which is the movement distance of the robot 2, and the options are "small", which is the first distance option that moves the robot 2 by a first distance in one step, and It has second distance options of "medium" and "large" for moving by a second distance longer than the first distance in one step.

According to this configuration, an experienced person can operate the robot 2 through the first robot operation screen 9m1, which has many command options and can perform a variety of operations, and an unskilled person can easily set the robot 2, which has few command options. The robot 2 can be operated via the second robot operation screen 9m2. Therefore, the teaching program Pt is easy to use for both experts and unskilled people.

Although the teaching device and teaching program of the present invention have been described above based on the illustrated embodiments, the present invention is not limited thereto, and the configuration of each part may be any configuration having similar functions. can be replaced with Moreover, other arbitrary components may be added to the present invention.

DESCRIPTION OF SYMBOLS 1...Robot system, 2...Robot, 21...Base, 22...Robot arm, 221...Arm, 222...Arm, 223...Arm, 224...Arm, 225...Arm, 226...Arm, 23...End effector, 3...Robot Control device, 4...Teaching device, 51...Monitor, 511...Display unit, 52...Input device, 6...Teaching point display screen, 61...Edit button, 7...Robot operation screen, 71...Start button, 72...Stop button, 73...Robot operation screen transition button, 74...Teaching point display button, 8...Input screen, 81...Movement block display area, 82...Movement block arrangement area, 83...Robot operation screen transition button, 9...Robot operation screen, 9m1... 1st robot operation screen, 9m2...2nd robot operation screen, 91...Robot display area, 92...Parameter command display area, 93...Mode selection area, 94...Operation command display area, 941...Rough adjustment command area, 942...Fine Adjustment command area, 943...Position adjustment area, 944...Posture adjustment area, 945...Posture adjustment area, 946...Position adjustment area, AB...Movement block, E...Encoder, J1...Joint, J2...Joint, J3...Joint, J4 ...Joint, J5...Joint, J6...Joint, M...Motor, PC...Parameter command, PC1...Movement speed setting command, PC2...Movement distance setting command, PC3...Open/close setting command, Pt...Teaching program, S1...Step, S2 ...step, S3...step, S31...step, S32...step, SB...scroll bar

Claims (7)

A teaching device for teaching a robot,
It has a first teaching mode and a second teaching mode,
In the first teaching mode, a first robot operation screen is displayed on the display unit as a screen for operating the robot;
In the second teaching mode, a second robot operation screen different from the first robot operation screen is displayed on the display unit as a screen for operating the robot;
The command options provided on the second robot operation screen are smaller than the command options provided on the first robot operation screen,
The command is a parameter command regarding the operating speed or moving distance of the robot,
The options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or A teaching device comprising: a first distance option that causes the robot to move by a first distance in steps; and a second distance option that causes the robot to move a second distance that is longer than the first distance in one step. The teaching device according to claim 1, wherein the second speed option cannot be selected on the second robot operation screen. The teaching device according to claim 1 or 2, wherein the second distance option cannot be selected on the second robot operation screen. The robot includes a base and a robot arm connected to the base,
4. The teaching device according to claim 1, wherein the first robot operation screen is a screen for operating the robot based on a coordinate system set for the robot. The robot includes a base and a robot arm connected to the base,
5. The teaching device according to claim 1, wherein the second robot operation screen is a screen for operating the robot arm by operating a scroll bar. When editing the teaching points of the robot that has already been registered,
6. The teaching device according to claim 1, wherein the second robot operation screen is a screen for operating the robot based on a coordinate system set in an end effector connected to the robot. A teaching program for teaching a robot,
It has a first teaching mode and a second teaching mode,
In the first teaching mode, a first robot operation screen is displayed on the display unit as a screen for operating the robot;
In the second teaching mode, a second robot operation screen different from the first robot operation screen is displayed on the display unit as a screen for operating the robot;
The command options provided on the second robot operation screen are smaller than the command options provided on the first robot operation screen,
The command is a parameter command regarding the operating speed or moving distance of the robot,
The options include a first speed option that causes the robot to operate at a first speed and a second speed option that causes the robot to operate at a second speed faster than the first speed, or A teaching program comprising: a first distance option for moving the robot by a first distance in one step; and a second distance option for moving the robot by a second distance longer than the first distance in one step.

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