According to the program input mode, industrial robots are divided into two types: programming input type and instruction input type. The programming input type is to send the programmed program file to the robot control cabinet through RS-232 serial port or Ethernet communication. There are two teaching methods of instruction input type: one is that the operator uses a manual controller (instruction control box) to transmit the instruction signal to the driving system, so that the actuator can rehearse the instruction according to the required action sequence and movement track; The other is directly led by the operator of the actuator, according to the required action sequence and movement track rehearse again. During the teaching process, the information of the working program is automatically stored in the program memory. When the robot works automatically, the control system checks out the corresponding information from the program memory and sends the command signal to the driving mechanism, so that the executive mechanism can reproduce the various actions of the teaching. The industrial robot with instruction input program is called instruction and representation type industrial robot.