Patent ID: 7613545

Claim:
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.