Editing Industrial robot (section)

===Robot programming and interfaces===
[[Image:Offline teaching welding 001.png|thumb|Offline programming]]
[[File:Staubli Teach pendant.jpg|thumb|A typical well-used teach pendant with optional [[Mouse (computing)|mouse]]]]

The setup or [[Computer programming|programming]] of motions and sequences for an industrial robot is typically taught by linking the robot controller to a [[laptop]], desktop [[computer]] or (internal or Internet) [[computer network|network]].

A robot and a collection of machines or peripherals is referred to as a [[workcell]], or cell. A typical cell might contain a parts feeder, a [[injection molding machine|molding machine]] and a robot. The various machines are 'integrated' and controlled by a single computer or [[Programmable logic controller|PLC]]. How the robot interacts with other machines in the cell must be programmed, both with regard to their positions in the cell and synchronizing with them.

''Software:'' The computer is installed with corresponding [[Interface (computer science)|interface]] software. The use of a computer greatly simplifies the programming process. Specialized [[robot software]] is run either in the robot controller or in the computer or both depending on the system design.

There are two basic entities that need to be taught (or programmed): positional data and procedure. For example, in a task to move a screw from a feeder to a hole the positions of the feeder and the hole must first be taught or programmed. Secondly the procedure to get the screw from the feeder to the hole must be programmed along with any I/O involved, for example a signal to indicate when the screw is in the feeder ready to be picked up. The purpose of the robot software is to facilitate both these programming tasks.

Teaching the robot positions may be achieved a number of ways:

''Positional commands'' The robot can be directed to the required position using a [[GUI]] or text based commands in which the required X-Y-Z position may be specified and edited.

''Teach pendant:'' Robot positions can be taught via a teach pendant. This is a handheld control and programming unit. The common features of such units are the ability to manually send the robot to a desired position, or "inch" or "jog" to adjust a position. They also have a means to change the speed since a low speed is usually required for careful positioning, or while test-running through a new or modified routine. A large [[emergency stop]] button is usually included as well. Typically once the robot has been programmed there is no more use for the teach pendant. All teach pendants are equipped with a 3-position [[Dead man's switch|deadman switch]]. In the manual mode, it allows the robot to move only when it is in the middle position (partially pressed). If it is fully pressed in or completely released, the robot stops. This principle of operation allows natural reflexes to be used to increase safety.

''Lead-by-the-nose:'' this is a technique offered by many robot manufacturers. In this method, one user holds the robot's manipulator, while another person enters a command which de-energizes the robot causing it to go into limp. The user then moves the robot by hand to the required positions and/or along a required path while the software logs these positions into memory. The program can later run the robot to these positions or along the taught path. This technique is popular for tasks such as [[spray painting|paint spraying]].

''Offline programming'' is where the entire cell, the robot and all the machines or instruments in the workspace are mapped graphically. The robot can then be moved on screen and the process simulated. A robotics simulator is used to create embedded applications for a robot, without depending on the physical operation of the robot arm and end effector. The advantages of robotics simulation is that it saves time in the design of robotics applications. It can also increase the level of safety associated with robotic equipment since various "what if" scenarios can be tried and tested before the system is activated.[8] Robot simulation software provides a platform to teach, test, run, and debug programs that have been written in a variety of programming languages. 

''Robot simulation'' tools allow for robotics programs to be conveniently written and debugged off-line with the final version of the program tested on an actual robot. The ability to preview the behavior of a robotic system in a virtual world allows for a variety of mechanisms, devices, configurations and controllers to be tried and tested before being applied to a "real world" system. Robotics simulators have the ability to provide real-time computing of the simulated motion of an industrial robot using both geometric modeling and kinematics modeling.

''Manufacturing independent robot programming tools'' are a relatively new but flexible way to program robot applications. Using a [[visual programming language]], the programming is done via drag and drop of predefined template/building blocks. They often feature the execution of simulations to evaluate the feasibility and [[Off-line programming (robotics)|offline programming]] in combination. If the system is able to compile and upload native robot code to the robot controller, the user no longer has to learn each manufacturer's [[Robot software|proprietary language]]. Therefore, this approach can be an important step to [[Robot software#Examples of programming languages for industrial robots|standardize programming methods.]]

''Others'' in addition, machine operators often use [[user interface]] devices, typically [[touchscreen]] units, which serve as the operator control panel. The operator can switch from program to program, make adjustments within a program and also operate a host of [[peripheral]] devices that may be integrated within the same robotic system. These include [[Industrial robot end effector|end effector]]s, feeders that supply components to the robot, [[conveyor belt]]s, emergency stop controls, machine vision systems, safety [[interlock (engineering)|interlock]] systems, [[barcode]] printers and an almost infinite array of other industrial devices which are accessed and controlled via the operator control panel.

The teach pendant or PC is usually disconnected after programming and the robot then runs on the program that has been installed in its [[Microcontroller|controller]]. However a computer is often used to 'supervise' the robot and any peripherals, or to provide additional storage for access to numerous complex paths and routines.