Method and control system for controlling an industrial robot

A method of controlling a work process carried out on an object with the aid of an industrial robot during relative movement between the object and the robot, robot instructions being stored both with regard to positioning by means of the robot of process equipment relative to the object, and with regard to the process to be carried out, the work process being carried out by the robot executing the stored instructions, comprising the steps of:

• storing process instructions in the form of process stage instructions including
• (a) a process start stage, during which the process is initiated and relative movement between the object and the robot can be started,
• (b) a process main stage, during which the work process is carried out, and
• (c) a process terminal stage, during which the process is terminated and relative movement between object and robot can be stopped;
• storing for the respective process stages permanent instructions relating to the implementation of the process stage in the form of parameters which are to be brought into action and in which order the activation is to take place, and also storing for the respective process stages instructions or sets relating to specific data of at least some of said process parameters;
• and
• modifying at least one instruction or set relating to specific data or levels of at least some of the process parameters, said modifying step utilizing an analog multifunction operating means having motion in at least two dimensions, wherein each dimension is assigned a particular one of said process parameters, the value of the stored instruction being modified for the associated process parameter in response to operation of said operating means.