| 摘要 |
Object: To provide a working environment in which, when programming work of a moving program is executed, work of drawing a movement path diagram, etc. and the programming work can be performed in parallel and, in addition, height information can be visually confirmed. Solving Means: A first aspect of the invention resides in a program for preparing a moving program of a working robot which performs desired work by moving a holder holding a working apparatus and a workpiece relatively to each other, the program comprising a step of displaying a text entry screen on which movement information of the working apparatus can be input on the character basis, a step of displaying a figure entry screen on which movement information of the working apparatus can be input as a path on a two-dimensional plane in correlation with height information, a step of outputting in real time the movement information of the working apparatus, which has been input on the text entry screen, as the path on the two-dimensional plane and the height information thereof on the figure entry screen, a step of outputting in real time the movement information of the working apparatus, which has been input on the figure entry screen, to the text entry screen on the character basis, a step of displaying a 3D-display screen for outputting the movement information of the working apparatus, as a path on a three-dimensional space, on the basis of the movement information of the working apparatus which has been input on the text entry screen and/or the figure entry screen, and a step of automatically generating the input moving program for the working apparatus. |
