Robot instructing apparatus, teaching pendant, and method of instructing a robot

A teaching pendant for a robot having an end effector, the teaching pendant comprising:

• an orientation sensor configured to output an orientation of the teaching pendant based on an angular position of the teaching pendant about a vertical axis;
• and
• circuitry configured to generate movement instructions to move the robot during one or more teaching operations,
• wherein the circuitry is configured to generate the movement instructions in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.

A method of instructing a robot having an end effector, said method comprising:

• determining an orientation of a teaching pendant based on an angular position of the teaching pendant about a vertical axis;
• and
• generating movement instructions to move the robot during one or more teaching operations,
• wherein the movement instructions are generated in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.