TW202422253A - Program generation device, method and program - Google Patents

Abstract

The present invention provides a program generation device, comprising: a processor, a storage device, a display, and an input device; wherein the processor performs the following steps: reading at least one action mark from the storage device and displaying it in the first area of the display, the action mark containing information about the action instructions of the robot pre-registered in the storage device; generating an action program by selecting one or more of the above-mentioned action marks from the action marks displayed in the first area, copying and arranging them in the second area of the display; generating a parameter-attached action mark by inputting a parameter through the input device, the parameter representing the function of any action mark selected from the action marks displayed in the first area or the second area; and registering the generated parameter-attached action mark as an action mark in the storage device.

Description

Program generation device, method and program

The present invention relates to a program generation device, method and program.

Conventionally, there is known a display device in which, when an image represented in a selection area of a display screen is dragged, an image identical to the dragged image is copied and moved to a creation area (for example, refer to Patent Document 1).

By listing multiple images in a creation area, a robot action program is generated. For the images copied to the creation area, the user can set the parameters of the function represented by the image in a corresponding status window set to the image. [Prior art literature] [Patent literature]

[Patent Document 1] International Publication No. 2020/012558

When using an image with the same function multiple times in an action program, it is necessary to use the set parameters multiple times. In this case, resetting the parameters for the entire image will cause the action to be complicated. Therefore, it is currently desired to be able to easily reuse the action mark of the image with the parameter setting.

One aspect of the present invention is a program generation device, comprising: at least one processor, at least one storage device, a display, and an input device; wherein the processor performs the following steps: reading at least one action mark from the storage device and displaying it on a first area of the display, the action mark containing information about an action instruction of a robot pre-registered in the storage device; and Select one or more of the aforementioned action marks, copy and arrange them in the second area of the aforementioned display to generate an action program; input parameters through the aforementioned input device to generate parameter-attached action marks, and the parameters represent the function of any of the aforementioned action marks selected and displayed in the aforementioned first area or the aforementioned second area; and register the generated parameter-attached action mark as an aforementioned action mark in the aforementioned storage device.

The program generation device 1, method and program of the first embodiment of the present invention are described below with reference to the drawings. The program generation device 1 of this embodiment, as shown in FIG. 1 , is applicable to a robot system 20 including a robot 10 and a control device 11 for controlling the robot 10.

The robot 10 is, for example, a vertical six-axis multi-joint robot, and is driven in response to a control signal output by the control device 11. The robot 10 is not limited to a vertical six-axis multi-joint robot, and may be a horizontal multi-joint robot, a linear motion robot, or any other robot.

The control device 11 reads out the action program stored in the storage device 3 described later, generates a control signal based on the read action program, and outputs it to the robot 10. The action program is a program for causing the robot 10 to perform an action, and includes a command program of one or more action commands.

The program generation device 1 of this embodiment is a device for generating an action program in response to a user's operation. Here, the generation of an action program includes generating a new action program and editing an existing action program. As shown in FIG2 , the program generation device 1 includes: at least one processor 2, at least one storage device 3, a display 4, and an input interface (input device) 5.

The processor 2 may be any processing device such as a CPU or an MPU. In addition, part of the processing performed by the processor 2 may also be implemented by a dedicated logic circuit or hardware.

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

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

The program generation device 1 of this embodiment stores at least one action mark, which contains information about the action instructions of the robot 10 pre-registered in the storage device 3. The action mark, for example, is various images I (hereinafter also referred to as images) representing various action instructions of the robot 10. The action instructions include: linear movement commands, arc movement commands, and action commands of tools installed at the front end of the robot 10.

The images I include images for which parameters representing the functions of the images I can be set, and images for which no parameters need to be set. The parameters include, for example, a target position, a path position, or a moving speed relative to a moving command.

As shown in FIG3 , the processor 2 reads out the image I stored in the storage device 3 from the storage device 3 and displays it in the selection area (first area) A of the display 4 for the user to select. The user can select any image I displayed in the selection area A using the input interface 5. The user can select the image I using a touch screen or a mouse, etc., in conjunction with a cursor displayed on the display 4.

The user uses the input interface 5 to select the image I displayed in the selection area A and drags (copy operation) it to the creation area (second area) B, whereby the processor 2 copies the dragged image I. Furthermore, when the user moves the dragged image I to the creation area B of the display 4 and places it, the processor 2 arranges the image I near the placement position in the creation area B.

The position of the image I in the production area B does not need to be too precise. When the image I is placed in any blank space in the production area B, for example, it will be aligned to the left of the production area B. In addition, when other images I are already arranged in the production area B, the arrangement of the new image I can be determined based on the relative position relationship of these images I. For example, when two images I are arranged in the production area B, the new image I will be arranged in the production area B near the middle of the existing image I, so that the new image I is arranged between the two existing images I.

The user can use the input interface 5 to select any image I displayed in the creation area B. If the user selects an image I displayed in the creation area B and can set parameters, the processor 2 will display the parameter setting area C on the display 4. The parameter setting area C can be, for example, a pop-up window displayed at any position on the display 4, or can be displayed instead of the selection area A as shown in FIG. 4. The user inputs parameters in the parameter setting area C through the input interface 5, so that the processor 2 stores the parameters corresponding to the image I selected in the creation area B in the storage device 3.

By repeatedly performing these operations, the processor 2 can arrange the plurality of images I in the creation area B, for example, arranging them left and right along a timeline set from left to right in the creation area B. Therefore, the processor 2 can generate an action program for arranging the images I in chronological order along the timeline by arranging the images I left and right.

In addition, the processor 2, as shown in FIG3, displays the image deletion mark a, the copy mark b, and the image registration mark c on the display 4 in a selectable manner. After the user selects any image I represented by the selection area A or the creation area B of the display 4 and presses the image registration mark c, the processor 2 will display the name setting area D for setting the name of the image I. The name setting area D, for example, is displayed in a pop-up window on the creation area B of the display 4 as shown in FIG4.

The name setting area D includes: an input area D1 for the user to input any text representing the name of the image I; a registration button D2 for confirming and registering the input name; and a cancel button D3 for interrupting the processing. The user inputs any text representing the name in the input area D1 and then presses the registration button D2, so that the processor 2 generates a new image I in the selection area A and is given the input name.

That is, the processor 2, as shown in Fig. 5, stores (registers) the new image I1 having the input name (eg, speed100) as an image I displayed in the selection area A in the storage device 3. The newly registered image I1, as shown in Fig. 6, can also be registered in the bookmark.

In this case, when the image I sets the parameters representing the function of the image I, the processor 2 will copy the parameter-attached image (parameter-attached action mark) with the set parameters. When the image I with settable or unset parameters is selected, as shown in FIG. 4 , the processor 2 will display the parameter setting area C on the display 4 for the user to input the parameters.

When registering a parametric image, the user can select the parametric image displayed in the selection area A, drag and drop it, and copy it to the creation area B just like other images I. When the parametric image is copied to the creation area B, the parameters set to the image I will remain the same.

The user selects an image group including a plurality of images I arranged in the creation area B of the display 4 and presses the copy mark b, thereby causing the processor 2 to generate an arbitrary copy image I2. In addition, when the user selects an unnecessary image I displayed in the selection area A and presses the image deletion mark a, the processor 2 deletes the arbitrary image I registered in the storage device 3.

Next, the program generation method of this embodiment is described below with reference to the diagram. As shown in FIG. 7 , the program generation method of this embodiment includes step S1, reading out at least one image I pre-registered in the storage device 3 from the storage device 3, and displaying it in the selection area A of the display 4. In addition, the program generation method includes step S3, selecting one or more images I from the images I displayed in the selection area A and copying them to the production area B, and arranging them in time sequence to generate an action program. In addition, the program generation method includes step S5, by inputting the parameters of any image I selected from the images I displayed in the selection area A or the production area B, thereby generating a parameterized image. Furthermore, the program generation method includes step S7, taking the generated parameter-attached image as an image I and logging it into the storage device 3.

In the example shown in FIG. 7 , when the image I is displayed in the selection area A (step S1), the user drags any image I (step S2), and the dragged image I is copied (step S3). Furthermore, by placing the copied image I in the creation area B, an action program is generated in the creation area B.

It is determined whether the image I placed in the creation area B is an image for which parameters can be set (step S4). If it is determined to be an image for which parameters can be set, the parameter setting area C is displayed. The user inputs parameters (step S5), and by pressing the image registration mark c (step S6), the name setting area D is displayed.

When the user inputs a name in the input area D1 and presses the registration button D2, a parameterized image is generated and registered in the storage device 3 as one of the images I (step S7). It is determined whether the program generation is completed (step S8). If it is not completed, the steps starting from step S2 are repeated.

In addition, in step S1, image I is displayed in the image I of the selection area A, and in step S2, when the user does not drag any image I, the process proceeds to step S8. In addition, in step S5, when image I inputs parameters, in step S6, when it is determined that the image registration mark c is not pressed, the process proceeds to step S8.

Furthermore, when the image I copied in step S3 is determined to be an image I for which no parameters need to be set in step S4, the process proceeds to step S8. By registering the image with parameters in the storage device 3, the image I represented by the selection area A in step S1 includes the newly registered image with parameters.

Thus, according to the present embodiment, a device that generates an action program by arranging more than one image I in the creation area B of the display 4 can register a parameter-attached image as an optional image I. Thus, when the same parameter-attached image is used multiple times in the action program, it is not necessary to re-set the parameters of the image I. Therefore, even in this case, the user does not need to perform complicated operations such as re-setting the parameters, and has the advantage of being able to simply reuse the image I.

In addition, when copying the parametric image represented by area B, the parametric image including the parameters can be copied to the selected area A.

In the program generation device 1 and the program generation method of the present embodiment, the case where a single parameter image is copied from a single parameter image to the selection area A is exemplified. Instead, a plurality of parameter images may be copied from a single parameter image to the selection area A.

At this time, by selecting any image I displayed in the selection area A and pressing the image registration mark c, a different name can be input in the display name setting area D. By selecting a parameter-attached image displayed in the selection area A, pressing the image registration mark c, and inputting a name, a plurality of parameter-attached images of the same image I can be copied.

In addition, as shown in FIG8 , the display 4 shows the edit mark d. When the user presses the edit mark d, the processor 2 will display the name setting area D and the parameter setting area C, and the name and the parameter can also be edited. In addition, the image I displayed in the selection area A but without registered parameters can be selected, and the newly registered parameters are created as the parameter-attached image.

In addition, when the parametric image is copied and registered, the processor 2 will display the parameters stored in the corresponding image I, and the user can also edit the parameters. By editing the parameters during registration, the procedures required for registering the same parametric image with different parameters can be saved.

In addition, when copying a parameter-attached image with multiple parameters, the processor 2 will display the name setting area D and the parameter setting area C together, and the user can also select the parameters to be copied. For example, as shown in FIG. 9, the selection of parameters can also be performed by the user checking the confirmation box of the parameters to be copied.

For example, when registering position information, speed information, and path information as parameters, the user may also, for example, just check the speed information and path information and then press the registration button D2. At this time, the processor 2 will not reference the position information set in the parametric image of the copy source, but only register the parametric image that references the speed information and path information to the storage device 3. The position information of the copied parametric image can be set without setting the default position information.

In addition, the parameters to be copied can be selected when registering the parameter image. Instead of this, the parameters to be copied can be selected when copying the parameter image displayed in the selection area A to the creation area B. In this case, when the user drags and copies the parameter image displayed in the selection area A to the creation area B, he only needs to check the confirmation box of the parameter to be copied. In addition, by unchecking the confirmation box of the parameter, it is also possible to select the parameter not to be referenced.

In this embodiment, the program generation device 1 and the program generation method are described, but the invention is not limited thereto. As described above, it may be a dedicated teaching device having the above-mentioned structure, or it may be a general-purpose computer or tablet terminal etc. installed with a program generation program. In this case, the program generation program only needs to implement each step of the above-mentioned program generation method by a general-purpose computer or tablet computer etc. In addition, although the image of the action mark is used as an example, other arbitrary action marks may be used instead.

Next, the program generation device 1, method and program of the second embodiment of the present invention are described below with reference to the drawings. The first embodiment is for the case of copying and using a single parameterized image. The difference between this embodiment and the first embodiment is that multiple images I are copied and used.

This embodiment copies and arranges the image I displayed in the selection area A in the creation area B, sets parameters for a part of the image I, and processes in a state where at least a part of the action program is generated. As shown in FIG. 10 , the creation area B displays an action program in which a plurality of images I are arranged or a part of them.

When the user selects an image group including a plurality of images I arranged in the creation area B and drags it to the selection area A, as shown in FIG11 , the processor 2 generates a copy image (copy mark) I2 representing the image group. Alternatively, after the user selects the image group, he presses the image registration mark c displayed on the display 4, so that the processor 2 generates the copy image I2. The copy image I2 represents a single image I of the selected image group. Furthermore, the processor 2 registers the generated copy image I2 as an image I in the storage device 3.

When the copy image I2 is generated, the processor 2 displays a name setting area E for setting the name of the copy image I2. The name setting area E can be displayed as a pop-up window at any position on the display 4 as shown in FIG.

The name setting area E includes: an input area E1 for the user to input any text to represent the name of the copy image I2; and a registration button E2 and a cancel button E3 for confirming and registering the input name. The user inputs any text representing the name in the input area E1 and presses the registration button E2, so that the processor 2 generates the copy image I2 given the input name in the selection area A. That is, the processor 2 stores (registers) the copy image I2 having the input name as an image I displayed in the selection area A in the storage device 3.

In this case, when at least one image I constituting the image group is set with parameters, the processor 2 generates the copy image I2 while maintaining the parameters. When registering the copy image I2, the user selects the copy image I2 displayed in the selection area A, drags and arranges it, and can copy it to the creation area B, just like other images I.

Furthermore, when the copy image I2 is copied to the creation area B, the image group constituting the copy image I2 is copied in an expanded form. The parameters set for at least one image I constituting the image group are maintained as they are.

The program generation method of this embodiment, in addition to the program generation method of the first embodiment, further includes the following steps. That is, when the image group displayed in the creation area B is selected and the copy mark b is pressed or dragged to the selection area A, the copy image I2 is generated. And the generated copy image I2 is registered as an image I in the storage device 3.

Thus, according to this embodiment, it is possible to register an image group including a plurality of images I arranged in the creation area B as the selectable copy-use image I2. Therefore, when the action program uses the same image group multiple times, it can directly copy and paste them all at once.

In particular, when at least one image I constituting the image group is set with parameters, it is not necessary to re-set parameters for the image I in the copied image group. Therefore, even in this case, the user does not need to perform complicated operations such as re-setting parameters, and has the advantage of being able to simply reuse the image I.

In this embodiment, when the image group including the plurality of images I is copied to the selection area A, a single copy image I2 is generated in which the image group is combined. From the appearance and name of the copy image I2 displayed in the selection area A, it cannot be confirmed that the content is an image group.

13, when the copy image I2 displayed in the selection area A is selected, the image group representing the content of the copy image I2 may be displayed on the display 4. For example, when the copy image I2 is selected, the image group representing the content of the copy image I2 may be displayed in the content display area F displayed in the pop-up window.

In addition, as shown in FIG. 14, when the copy image I2 including the image I with set parameters is copied to the creation area B, a confirmation area G may be displayed to confirm whether the set parameters are maintained and copied. When the parameters are maintained, the image I is copied with the set parameters maintained. When the parameters are not maintained, the parameter settings can be canceled or set to the default parameters.

In addition, the above-mentioned embodiments are exemplified by the case where the image I or image group with parameters is used multiple times when generating the same action program. Instead, it can also be used to generate different action programs using the image with parameters stored in the storage device 3 or the copy image I2.

In addition, the above-mentioned embodiments are exemplified by the situation that the image I or image group with parameters is used multiple times when generating the same action program. Instead of this, as a reference example, it can also be applied to the situation that the image group composed of multiple images I without parameters is used multiple times to generate the action program.

That is, a plurality of images I for which no parameters are set can be selected in the creation area B, and a copy image I2 can be generated by dragging or pressing the image registration mark c, and registered in the storage device 3. Even in the case where no parameters are set, by registering the copy image I2 as one image I, the operability can be greatly improved as described above.

In addition, the above also uses the case where the copy image I2 is generated by the copy operation as an example, but instead of this, the copy image I2 can also be generated by the cut operation. For example, after the image group that creates the area B is cut, when the area A is selected for the paste operation, the copy image I2 can also be generated in the selected area A.

Thus, when the positions of the selected multiple images I in the action program are to be changed, the images I can be easily inserted into any position on the action program from the selection area A.

In addition, in the above-mentioned embodiment, the motion instructions are illustrated as linear movement commands, arc movement commands, and motion commands of tools installed on the front end of the robot 10, but are not limited to these. For example, any motion commands required by the motion program such as conditional branching commands, registration values, and other I/O operation commands may also be included.

The above detailed description of the various embodiments of the present invention is not intended to limit the present invention. These embodiments can be added, replaced, modified, or partially deleted without departing from the subject matter of the present invention, or without departing from the content described in the scope of the patent application and the idea and subject matter of the present invention derived from its equivalents. For example, in the above embodiments, the order of each operation or the order of each processing is only illustrated as an example, but is not limited thereto.

The above-mentioned embodiments and variations are further described in the following notes. (Note 1) A program generation device comprises: at least one processor, at least one storage device, a display, and an input device; wherein the processor performs the following steps: reading at least one action mark from the storage device and displaying it on a first area of the display, the action mark including information about an action instruction of a robot pre-registered in the storage device; selecting an action mark from the action marks displayed in the first area; The aforementioned action mark is copied and arranged in the second area of the aforementioned display to generate an action program; a parameter is input through the aforementioned input device to generate an action mark with parameters, the parameter represents the function of any of the aforementioned action marks selected and displayed in the aforementioned first area or the aforementioned second area; and the generated action mark with parameters is recorded as an aforementioned action mark in the aforementioned storage device.

(Supplementary Note 2) The program generation device as described in Supplementary Note 1, wherein the processor registers the parameter-attached action symbol to the storage device, and inputs the name corresponding to the parameter-attached action symbol through the input device.

(Note 3) A program generation device as described in Note 1 or Note 2, wherein the processor edits the parameters input to the parameter-attached action symbol via the input device in response to the selection of the parameter-attached action symbol.

(Note 4) A program generation device as described in any one of Notes 1 to 3, wherein the processor generates a single copy token representing the selected action token group, and the action token group includes a plurality of the action tokens arranged in the second area; and the generated copy token is recorded as one of the action tokens in the storage device.

(Supplementary Note 5) The program generation device as described in Supplementary Note 4, wherein the processor displays the aforementioned action symbol group constituting the copying symbol on the display in response to the selection of the aforementioned copying symbol.

(Note 6) A program generation device as described in Note 4 or Note 5, wherein the processor can select the copy mark displayed in the first area when creating different action programs.

(Note 7) A program generation device as described in any one of Notes 4 to 6, wherein the processor, when registering the copy mark to the storage device, inputs information on whether to maintain the parameters through the input device, and the parameters are set to the parameters of each of the action marks constituting the copy mark. If not maintained, the parameters are reset and the copy mark is registered to the storage device.

(Note 8) A program generation method, comprising: reading at least one action mark from a storage device and displaying it in a first area of a display, wherein the action mark includes information about an action instruction of a robot pre-registered in the storage device; selecting one or more action marks from the action marks displayed in the first area, copying and arranging them in a second area of the display to generate an action program; generating a parameter-attached action mark by inputting a parameter, wherein the parameter represents the function of any of the selected action marks displayed in the first area or the second area; and registering the generated parameter-attached action mark as an action mark in the storage device

(Supplementary Note 9) A program generation program is implemented by using a computer, the program generation program comprising: reading at least one action mark from a storage device and displaying it on a first area of a display, the action mark including information about an action instruction of a robot pre-registered in the aforementioned storage device; selecting one or more of the aforementioned action marks from the aforementioned action marks displayed in the first area, copying and arranging them in a second area of the aforementioned display to generate an action program, generating a parameter-attached action mark by inputting a parameter, the parameter representing the function of any of the aforementioned action marks selected and displayed in the aforementioned first area or the aforementioned second area; and registering the generated parameter-attached action mark as an aforementioned action mark in the aforementioned storage device.

(Note 10) A program generation device comprises: at least one processor, at least one storage device, a display, and an input device; wherein the processor performs the following steps: reading at least one action mark from the storage device and displaying it on a first area of the display, the action mark containing information about an action instruction of a robot pre-registered in the storage device; and Select one or more of the aforementioned action marks from the aforementioned action marks, copy and arrange them in time sequence in the second area of the aforementioned display to generate an action program; select an action mark group including a plurality of the aforementioned action marks arranged in the aforementioned second area, generate a single copy mark representing the aforementioned action mark group corresponding to the copy operation, and register the generated aforementioned copy mark as one of the aforementioned action marks in the aforementioned storage device.

1: Program generation device 2: Processor 3: Storage device 4: Display 5: Input interface (input device) 10: Robot 11: Control device 20: Robot system A: Selection area B: Creation area C: Parameter setting area D: Name setting area D1: Input area D2: Login button D3: Cancel button E: Name setting area E1: Input area E2: Login button E3: Cancel button G: Confirmation area a: Image deletion mark b: Copy mark c: Image registration mark I: Image I1: New image I2: Image for copying S1~S8: Steps

[FIG. 1] is a schematic diagram showing an example of a robot system to which the program generation device of the first embodiment of the present invention is applied. [FIG. 2] is a block diagram showing the program generation device of FIG. 1. [FIG. 3] is a schematic diagram showing an example of a display in the program generation device of FIG. 2. [FIG. 4] is a schematic diagram showing an example of a parameter setting area and a name setting area shown on the display in the program generation device of FIG. 2. [FIG. 5] is a schematic diagram showing an example of a parameter-attached image copied to a selection area in the program generation device of FIG. 2. [FIG. 6] is a schematic diagram showing a state in which a parameter-attached image is copied to a bookmark in the program generation device of FIG. 2. [FIG. 7] is a flow chart showing a program generation method of the first embodiment of the present invention. [FIG. 8] is a schematic diagram showing a variation of a display in the program generation device of FIG. 2. [FIG. 9] is a diagram showing a confirmation column added for selecting parameters to be registered in the parameter setting area of FIG. 4. [FIG. 10] is a schematic diagram showing an example of a display of a program generation device according to the second embodiment of the present invention. [FIG. 11] is a schematic diagram showing a state in which a plurality of images are copied to a selection area in the creation area of FIG. 10 and a copy image is generated. [FIG. 12] is a schematic diagram showing an example of a name input area for inputting a name for the copy image of FIG. 10. [FIG. 13] is a schematic diagram showing an example of confirming the content of the copy image of FIG. 10. [FIG. 14] is a schematic diagram showing an example of confirming whether to maintain parameters when the copy image of FIG. 10 is copied to the creation area.

1: Program generation device

2: Processor

3: Storage device

4: Display

5: Input interface (input device)

Claims (9)

A program generation device, comprising: at least one processor, at least one storage device, a display, and an input device; wherein the processor performs the following steps: reading at least one action mark from the storage device and displaying it in the first area of the display, the action mark containing information about the action instructions of the robot pre-registered in the storage device; generating an action program by selecting one or more action marks from the action marks displayed in the first area and copying and arranging them in the second area of the display; generating a parameterized action mark by inputting a parameter through the input device, the parameter representing the function of any of the action marks selected and displayed in the first area or the second area; and The generated action token with parameters is recorded as an action token in the storage device. A program generation device as described in claim 1, wherein the processor registers the parameter-attached action token to the storage device in response to inputting a name corresponding to the parameter-attached action token through the input device. A program generation device as described in claim 1 or 2, wherein the processor edits the parameters input to the parameter-attached action token via the input device in response to the selection of the parameter-attached action token. A program generation device as described in claim 1 or 2, wherein the processor generates a single copy token representing the selected action token group, and the action token group includes a plurality of the action tokens arranged in the second area; and The generated copy token is used as one of the action tokens and is registered in the storage device. A program generation device as described in claim 4, wherein the processor, in response to the selection of the copy mark, displays the action mark group constituting the copy mark on the display. A program generation device as described in claim 4, wherein the processor, when creating different action programs, is capable of selecting the copy mark displayed in the first area. A program generation device as described in claim 4, wherein the processor, when logging the copy mark to the storage device, inputs information on whether the parameter is maintained through the input device, and the parameter is set to the parameter of each action mark constituting the copy mark. If it is not maintained, the parameter is reset and the copy mark is logged to the storage device. A program generation method, comprising: reading at least one action mark from a storage device and displaying it in a first area of a display, wherein the action mark contains information about an action instruction of a robot pre-registered in the storage device; selecting one or more action marks from the action marks displayed in the first area, and copying and arranging them in a second area of the display to generate an action program; generating a parameter-attached action mark by inputting a parameter, wherein the parameter represents the function of any of the selected action marks displayed in the first area or the second area; and registering the generated parameter-attached action mark as an action mark in the storage device. A program generation program is implemented using a computer, and the program generation program includes: Reading at least one action mark from a storage device and displaying it in a first area of a display, the action mark containing information about the action instructions of a robot pre-registered in the storage device; Selecting one or more action marks from the action marks displayed in the first area and copying and arranging them in a second area of the display to generate an action program; Generating a parameter-attached action mark by inputting a parameter, the parameter representing the function of any of the selected action marks displayed in the first area or the second area; and Registering the generated parameter-attached action mark as an action mark in the storage device.

Images