A method and apparatus for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning. The method including: calculating a nominal posture of a work object relative to the industrial robot by a nominal posture calculating module; and selecting an initial point according to the nominal posture by an initial point selecting module. The method and apparatus can automatically select the initial point so as to further increase automation of the commissioning process and reduce workloads.

A teach apparatus (2) includes a tablet (3) and a safety operation device (4) which are attachable to and detachable from each other. The safety operation device (4) includes at least one of an emergency stop switch (41a), a dead-man switch (41b), and a mode switch (41c). The tablet (3) is configured to monitor the ON/OFF state of at least one of the first to third switches (41a) to (41c) of the safety operation device (4).

A method and apparatus for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning. The method including: calculating a nominal posture of a work object relative to the industrial robot by a nominal posture calculating module; and selecting an initial point according to the nominal posture by an initial point selecting module. The method and apparatus can automatically select the initial point so as to further increase automation of the commissioning process and reduce workloads.

A virtual manual handle is displayed on a screen of a display device of a numerical controller to simultaneously specify an operation amount and set a magnification of an axial movement amount with respect to this operation amount based on an operator's operation on the displayed manual handle.

A teach apparatus (2) includes a tablet (3) and a safety operation device (4) which are attachable to and detachable from each other. The safety operation device (4) includes at least one of an emergency stop switch (41a), a dead-man switch (41b), and a mode switch (41c). The tablet (3) is configured to monitor the ON/OFF state of at least one of the first to third switches (41a) to (41c) of the safety operation device (4).

A virtual manual handle is displayed on a screen of a display device of a numerical controller to simultaneously specify an operation amount and set a magnification of an axial movement amount with respect to this operation amount based on an operator's operation on the displayed manual handle.