Program creation device
A program creation device provided with: a display unit for displaying a display screen that includes an operation trajectory of a machine, control commands for the machine, and parameter settings for the control commands; an input unit for inputting user operation information on the screen; and a program editing unit that, on the basis of the user operation information, links, on the same screen, an instruction regarding the operation trajectory and parameter settings for a corrected operation command based on sensor information, and edits an operation program for the machine.
1 . A program creation device, comprising:
a display part configured to display a screen including an operation trajectory of a machine, a control command of the machine, and a parameter setting of the control command;
an input part configured to input user operation information on the screen; and
a program editing unit configured to edit an operation program of the machine by linking teaching of the operation trajectory and parameter setting of a correction operation command based on sensor information on the same screen, based on the user operation information.
2 . The program creation device of claim 1 , wherein the program editing unit generates a view in which an icon representing a control command in a correction section to which a correction operation is applied in the operation trajectory is sandwiched by an icon representing a correction operation command based on the sensor information, and the display part displays the generated view on the screen.
3 . The program creation device of claim 1 , wherein the program editing unit generates a view that links a teaching point constituting the operation trajectory to an icon representing a correction operation command based on the sensor information, and a display part displays the generated view on the screen.
4 . The program creation device of claim 1 , wherein the program editing unit causes the machine to execute a tracing operation based on the sensor information, records a trajectory during the tracing operation, and generates a view including a tracing trajectory teaching function for automatically teaching the operation trajectory before correction based on the recorded trajectory, and the display part displays the generated view on the screen.
5 . The program creation device of claim 4 , wherein the program editing unit performs conversion into an icon representing the control command constituting the recorded trajectory and generates a view in which the converted icon representing the control command is sandwiched between icons representing a correction operation command based on the sensor information, and the display part displays the generated view on the screen.
6 . The program creation device of claim 1 , wherein the program editing unit causes the machine to execute a tracing operation based on the sensor information, records a trajectory during the tracing operation, and generates a view including a tracing trajectory modifying function for automatically modifying the original operation trajectory based on the recorded trajectory, and the display part displays the generated view on the screen.
7 . The program creation device of claim 6 , wherein the program editing unit performs conversion into an icon representing the control command constituting the recorded trajectory and generates a view in which an icon representing the control command constituting the original operation trajectory is replaced with the converted icon representing the control command, and the display part displays the generated view on the screen.
8 . The program creation device of claim 1 , wherein the program editing unit generates a view obtained by identifying a correction section to which a correction operation is applied in the operation trajectory and depicting the correction section in a virtual space where a shape model of the machine is arranged, and the display part displays the generated view.
9 . The program creation device of claim 2 , wherein the icon representing a correction operation command based on the sensor information includes an icon representing a start of the correction operation command and an icon representing an end of the correction operation command.