A work cell is defined on the simulation apparatus and a robot mounting an
image capturing device, a workpiece, etc. are arranged in it; a
separately set visual volume model is introduced into it, a tool
coordinate system (tool tip point) is defined at a view point, and a
detection reference point (detection reference coordinate system) is set
relating to the workpiece; a graphic jog is performed to make the robot
move so that the tool coordinate system matches with the detection
reference coordinate system; and a simulated correction amount by the
visual sensor is designated and the display of the visual volume model is
switched on and off in accordance with output/nonoutput of the image
capturing command at the time of simulation of the operation program.
