Offline programming device

An offline programming device for making a welding program for carrying out welding of a workpiece, to be welded by using a robot, the offline programming device comprising:

• a display indicating three-dimensional models corresponding to a welding robot, a workpiece to be welded and a clamp jig fixing the workpiece;
• a memory for storing a path for preventing interference with the clamp jig associated with the three-dimensional model corresponding to the clamp jig;
• a path determining part for determining a welding path in relation to the three-dimensional model of the workpiece on the displaying part;
• a program making part for making a teaching program in which the robot carries out welding along the welding path determined by the path determining part;
• and
• an interference judging part simulating the teaching program made by the program making part and judging whether interference occurs between the robot and the clamp jig or not,
• wherein the program making part is capable of inserting a path, corresponding to the three-dimensional model of the clamp jig, for preventing interference with the clamp jig into the teaching program, based on the stored path for preventing interference associated with the three-dimensional model of the clamp jig, when the interference judging part judges that the robot will interfere with the clamp jig,
• wherein the program making part is capable of inserting a command for stopping welding at a first position on the path for preventing interference and a command for restarting welding at a second position on the path for preventing interference into the teaching program when the program making part inserts the path for preventing interference into the program, and
• wherein the three-dimensional positions of the first and the second positions on the path for preventing interference are the same.