Offline programming device and offline programming method

An offline programming device, comprising:

• a receiver to receive input of a plurality of teaching points, each teaching point of the plurality of teaching points defining any of a movement point of a robot. a movement direction of the robot and an operation performed by the robot;
• creation circuitry configured to
• determine an intermediate point located between adjacent teaching points of the plurality of teaching points, and
• generate an operation program for the robot, the operation program including the plurality of teaching points and the intermediate point;
• simulation circuitry configured to simulate a movement trajectory of the robot when the operation program is executed;
• and
• a display to display a graphical user interface (GUI) screen representing the movement trajectory, wherein
• the GUI screen includes:
• a list display area including command symbols representing the plurality of teaching points in sequential order,
• a first display area including a pointer and command bar, the command bar corresponding to a time series sequence of the command symbols in the list display area, and
• a second display area including a time series sequence of a plurality of intermediate points located between adjacent teaching points represented by adjacent command symbols displayed in the first list display area and identified by the pointer, the second display area showing the time series sequence on a larger scale than the time series sequence in the list display area, and
• when an error is detected in the movement trajectory:
• the first display area displays a first error region corresponding to two particular command symbols in the time series sequence of the command symbols, the first error region representing a period of time between teaching points corresponding to the two particular command symbols during which the error occurs, and
• the second display area displays one or more intermediate points corresponding to the first error region, and displays a second error region corresponding to a point in time at which the error occurs.