Programming assistance apparatus, robot system, and method for generating program

A robot system comprising:

• at least one robot;
• circuitry configured to:
• generate a first display data to be displayed in a first input area, the first input area being configured to receive an input, for each of a plurality of task groups, where each of the plurality of task groups includes a plurality of tasks and a first condition under which the at least one robot executes the plurality of tasks;
• generate a second display data to be displayed in a second input area, the second input area being configured to receive an input for a second condition which is an execution order in which the plurality of task groups are executed;
• wherein the first input area and second input area are located adjacent to each other on a single display screen;
• set the first condition based on the input into the first input area;
• set the second condition based on the input into the second input area;
• generate, based on the first condition and the second condition, a motion program for causing the at least one robot to execute the plurality of task groups;
• and
• a controller configured to control the at least one robot based on the motion program generated by the circuitry,
• wherein the first condition is a start condition and the start condition is a condition to be satisfied before execution of subsidiary task is started.

A method for generating a robot program, the method comprising:

• generating a first display data to be displayed in a first input area, the first input area being configured to receive an input, for each of a plurality of task groups, where each of the plurality of task groups includes a plurality of tasks and a first condition under which at least one robot executes the plurality of tasks;
• generating second display data to be displayed in a second input area, the second input area being configured to receive an input for a second condition which is an execution order in which the plurality of task groups are executed;
• wherein the first input area and second input area are located adjacent to each other on a single display screen;
• setting the first condition based on the input into the first input area;
• setting the second condition based on the input into the second input area;
• and generating, based on the first condition and the second condition, a motion program for causing the at least one robot to execute the plurality of task groups,
• wherein the first condition is a start condition and the start condition is a condition to be satisfied before execution of subsidiary task is started.

A robot programming assistance apparatus comprising:

• circuitry configured to:
• generate a first display data to be displayed in a first input area, the first input area being configured to receive an input, for each of a plurality of task groups, where each of the plurality of task groups includes a plurality of tasks and a first condition under which at least one robot executes the plurality of tasks;
• generate a second display data to be displayed in a second input area, the second input area being configured to receive an input for a second condition which is an execution order in which the plurality of task groups are executed;
• wherein the first input area and second input area are located adjacent to each other on a single display screen;
• set the first condition based on the input into the first input area;
• set the second condition based on the input into the second input area;
• generate, based on the first condition and the second condition, a motion program for causing the at least one robot to execute the plurality of task groups,
• wherein the first condition is a start condition and the start condition is a condition to be satisfied before execution of subsidiary task is started
• wherein when the at least one robot to execute the plurality of tasks is specified in the first input area, the circuitry is configured to set the first condition to cause the at least one robot to execute the plurality of tasks,
• wherein when the at least one robot to execute the plurality of tasks is not specified in the first input area, the circuitry is configured to set the first condition to indicate that the at least one robot to execute the plurality of tasks is undetermined,
• wherein when the at least one robot to execute the plurality of tasks is undetermined in the first condition, the circuitry is configured to set the at least one robot to execute the plurality of tasks, wherein when an execution of the plurality of task groups is specified with the execution order determined in the second input area, the circuitry is configured to set the second condition to maintain the execution order,
• wherein when the execution of the plurality of task groups is specified with the execution order undetermined in the second input area, the circuitry is configured to set the second condition to indicate that the execution order of the plurality of task groups is undetermined,
• wherein when the execution order of the plurality of task groups is undetermined in the second condition, the circuitry is configured to set the execution order of the plurality of task groups, wherein when icons of the plurality of task groups are aligned in a first direction in the second input area, the circuitry is configured to set the second condition to maintain the execution order as an order in which the icons of the plurality of task groups are aligned, and wherein when the icons of the plurality of task groups are aligned in a second direction generally perpendicular to the first direction in the second input area, the circuitry is configured to set the second condition to indicate that the execution order of the plurality of task groups is undetermined.