To spread robotics middleware for more efficient development processes, a web-based visual programming tool for beginners is developed in this study. Firstly, we compared the existing visual programming tools for the programming education and/or the robot control. Consequently, the following requirements are suggested: (1) To understand characteristics and usage of the robotics middleware. (2) To combine variables and commands to operate objects. (3) To refer both objects in visual programming and source code. Finally, our programming tool for the learning of RT-Middleware is shown. We used HTML5 and JavaScript to implement the web-based GUI that automatically generates the RT-Component's source code. The code is transferred through XML-RPC process, and launched in the server machine.