CONTROL SYSTEM OF AN INDUSTRIAL ROBOT

摘要

A control system for an industrial robot, wherein the control system comprises: a program storage (69 for storage of a user program comprising one or more program routines including a series of robot program instructions written in a robot language, a program executer (7) adapted, when running the user program, to execute the stored robot program instructions, and a cleanup executer (8) for cleaning up after partially executed or aborted routines. The cleanup executer is adapted to upon activation, determine whether the partially executed or aborted routine comprises a cleanup handler having a series of robot program instructions for cleaning up and/or resetting resources allocated by the routine, and if the routine comprises a cleanup handler to execute the robot program instructions of the cleanup handler.