Origin resetting device

The present invention provides an origin point resetting device capable of simply performing beforehand preparation for efficiently resetting a robot to an origin point. In the origin reset device, a movement position extraction unit extracts a plurality of movement positions from a robot program. The origin setting unit sets any one of the plurality of movement positions as an origin. The reset trajectory tree setting unit sets a reset trajectory tree. The reset trajectory tree includes a plurality of nodes. A plurality of moving positions are assigned to the plurality of nodes, respectively. The reset trajectory tree includes a branch connecting the child node and a parent node of the child node to each other. Movement conditions are set in the branches. And distributing an original point to the root node. The corresponding node determination unit determines a corresponding node to which a movement position corresponding to the current position of the robot is assigned. The origin point reset movement unit