Control system for controlling an industrial robot

A control system for controlling an industrial robot including a manipulator, the control system comprising:

• a main computer module adapted to execute movement instructions from a robot program and generate reference signals to the drive module based on said movement instructions
• a drive module adapted to generate analog control signals to motors driving movements of the manipulator in response to said reference signals generated by the main computer module
• a human machine interface module adapted to teach and program the robot,
• a local area network having a first part adapted for normal communication and a second part, distinct from the first, said second part adapted for time critical communication and configured to provide predictable timing for data transfer, and
• wherein each of said modules is arranged as a node in the local area network and comprises a communication module configured to communicate with the other nodes in the local area network, and said main computer module is arranged as a node in both the first and second parts of the local area network, said human machine interface module is arranged as a node in the first part of the local area network, and said drive module is arranged as a node in the second part of the local area network, and
• wherein the control system is adapted to communicate with one or more external devices via an external network, said external network being distinct from said local area network.