| 摘要 |
PURPOSE:To check a robot program by interpreting a robot operating code which has been sent from a program development device, and displaying the same operation as an actual robot on a graphic display. CONSTITUTION:A debug device 10 receives an operating instruction code from a program development device 201-n, and operates a robot on a graphic display 13 instead of an actual robot. The robot simulates the same operation as the actual robot, monitors an angle of each joint, an angular velocity, and each acceleration, and detects an error. The operating code from the program development device 201-n is stored on a memory 12, and a program for interpreting the operating code and displaying the operation is stored in advance in the memory 12, or used by loading it on the memory 12 from an external storage means. As for the graphic display 13, that of high resolution used for a CAD device is not required, and it can be realized that its data structure is simplified remarkably, a program is made small in size, and an executing speed is increased. |
