Robot controller and robot control method

A robot controller, comprising:

• an operation command interpretation unit that interprets an operation command program describing a teaching operation and a teaching position for a robot, and that generates an operation command;
• a logic command interpretation unit that interprets a logic command program describing a plurality of logic commands instructing a machining process to be performed by the robot and an execution position for each of the logic commands, independently from the teaching operation and the teaching position, and that generates the logic commands that each include a corresponding one of the execution positions;
• and
• a command execution unit that (i) starts, upon start of a teaching program, a task process to be performed by the operation command interpretation unit and a task process to be performed by the logic command interpretation unit, (ii) executes the operation command generated by the operation command interpretation unit, and (iii) executes, at a timing when the robot passes through each of the execution positions for the logic commands, each of the logic commands generated by the logic command interpretation unit,
• wherein the execution of the operation command is performed independently from the execution of the plurality of logic commands such that a timing and position at which each of the logic commands is executed is independent of the teaching position.