| 主权项 |
1. A display device for displaying a change in position of a specific portion of a control target on a screen as a trajectory, the control target being driven based on a series of command values output by execution of a motion program, the display device comprising a processor configured to execute a program to control the display device to operate as:
a first position acquiring unit configured to acquire a series of command positions, which are positions of the specific portion, based on the series of command values when mass and friction of the control target are ignored; a second position acquiring unit configured to acquire a series of response positions corresponding to the series of command positions, the series of response positions being at least one of a series of positions of the specific portion based on the series of command values when a simulation taking into consideration at least one of the mass and the friction of the control target is performed and a series of positions of the specific portion measured when the control target has been driven based on the series of command values; an error calculating section configured to calculate a difference in position of the command position and the response position corresponding to the command position; a determination section configured to determine whether or not the calculated difference is greater than or equal to a predefined threshold value to indicate that an error has occurred; a first display data creating section configured to create data for displaying on the screen at least one of a spatial trajectory formed by the series of command positions and a spatial trajectory formed by the series of response positions, and for displaying on the screen a first mark indicating the error has occurred in a portion of the spatial trajectory in which the calculated difference is greater than or equal to the predefined threshold value and configuring the first mark to surround the portion of the displayed spatial trajectory; an accepting unit configured to accept a selecting operation of the first mark; a second display data creating section configured to create data for displaying each spatial trajectory on the screen in a mode where a portion of a spatial trajectory of the command position corresponding to the selected first mark and a portion of a spatial trajectory of the response position corresponding to the portion of the spatial trajectory of the command position are enlarged at a same magnification, the mode being such that the enlarged portions of the spatial trajectories are overlapping each other; and a display control unit configured to display on the screen data created by the first display data creating section and data created by the second display data creating section; wherein: the second display data creating section is further configured to create data for displaying, on the screen, a second mark indicating the command position at a specified time and a third mark indicating the response position at the specified time; and the display control unit is further configured to: display the second mark and the third mark when displaying the data created by the second display data creating section on the screen; and display positions of the second mark and the third mark which are changed according to the change of the specified time when the specified time is changed. |
