Simulation equipment for multiple robots

摘要

A simulation device includes a simulation unit which executes, by simulation, a motion program containing a command velocity and a command acceleration of the drive shaft, and a motion waiting instruction, a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration at the line number associated with one another; an execution time calculation unit which calculates the execution time of the motion program for each of the line numbers stored in the storage unit based on a simulation resu and a waiting time calculation unit which calculates the motion waiting time in accordance with the motion waiting instruction based on the execution time calculated by the execution time calculation unit.