A teaching support method includes: acquiring a movement of a robot arm having at least one joint, and a movement start point where the movement starts; calculating a plurality of candidates for an attitude of the robot arm at the movement start point that is acquired; calculating a state of rotation of the joint as of when the robot arm is moved according to the movement from the movement start point, for each of the plurality of candidates that are calculated; and reporting a result of calculation.

To provide a robot controller and a robot control method that do not need a logic command to be associated with a teaching position for a robot, and that are thus capable of executing the logic command at a desired position and a desired timing. A robot controller includes: 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 logic command instructing a machining process to be performed by the robot and an execution position for the logic command, independently from the teaching operation and the teaching position, and that generates the logic command that includes the execution position; and a command execution unit that executes the operation command and the logic command.

To provide a robot controller and a robot control method that do not need a logic command to be associated with a teaching position for a robot, and that are thus capable of executing the logic command at a desired position and a desired timing. A robot controller includes: 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 logic command instructing a machining process to be performed by the robot and an execution position for the logic command, independently from the teaching operation and the teaching position, and that generates the logic command that includes the execution position; and a command execution unit that executes the operation command and the logic command.

The invention relates to a method for monitoring a robot system comprising a robot arm and a peripheral device, the method comprising the steps of: providing a communicative peripheral connection between the peripheral device and a robot controller; establishing an operation signal history in a digital storage wherein the operation signal history is based on operation representations; executing a robot operation process on the robot controller; establishing a peripheral signal associated with the peripheral connection; recording the peripheral signal to obtain a peripheral signal representation; updating the operation signal history by providing the peripheral signal representation as an operation representation of the operation representations; and tracking operation of the robot system based on the operation signal history. The invention further relates to a robot system.

The application relates to a method for an automatic movement of a working device that comprises a control and at least two components movable independently of one another by means of a respective one actuator controllable by the control. The control has a learning mode and a work through mode, wherein the working device is automatically traveled from a first position into a second position by a corresponding control of the actuators in the work through mode. In the learning mode, the control detects data relating to the individual movements of the components during a movement of the working device and stores them, with the control of the actuators taking place during the automatic movement on the basis of these data in the work through mode. A parameter of the automatic movement is settable by the operator. The application further relates to a working device carrying out of the method application.

A human machine interface (HMI) records a series of operations including one or more user operations performed on a device together with a procedure. The human machine interface causes the device to perform processing assigned to each of the one or more recorded user operations by following the recorded procedure.