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Robotics

Teach Pendant

ActivePublished: 21 October 2026Updated: 21 October 2026Published
Key innovation
Gave operators a physical, handheld interface to directly move a robot arm and program it by teaching (teach-in) without writing code โ€” by manually jogging to positions and recording them.
Category
Robotics
Abstraction level
System
Operation level
Robot controlApplication
Use cases
Programming industrial robot trajectoriesJogging and positioning the armTeaching points and paths via teach-inLead-through (guided) teachingTesting and commissioning programs at reduced speedRobot diagnostics and operation on the shop floor

How it works

The operator holds the pendant and switches the robot to manual mode. While holding the 3-position enabling switch in its middle position, they use jog keys or a joystick to move the robot in a chosen coordinate frame (joint, base, tool). Once the desired pose is reached, it is recorded as a program point; a sequence of such points together with motion parameters and I/O signals forms the program. Alternatively, lead-through (lead-by-the-nose) teaching is used: the robot is de-energized (goes limp) and the operator manually guides the arm along the desired path, which is sampled and stored. The program can then be tested from the pendant at reduced speed before switching to automatic mode. Releasing or fully pressing the enabling switch, or pressing the e-stop, stops the robot immediately.

Problem solved

Before the teach pendant became common, setting up and programming the trajectory of an industrial robot required specialist programming skills and was time-consuming. The pendant lets an operator with no coding skills manually drive the robot to the desired positions and record them, while providing safe operation (e-stop, enabling switch) when working near a moving arm.

Components

Display / HMIUser interface

Screen (physical keys or touchscreen) showing robot state, positions and the program editor; in modern pendants often a tablet-style touchscreen.

Jog controlsManual motion control

Keys or a joystick for manually moving axes or the TCP in a chosen coordinate frame, with speed adjustment.

Emergency stop button (e-stop)Safety

Large red button that immediately stops the robot in an emergency.

3-position enabling switchSafety (deadman)

In manual mode allows robot motion only in the middle position (partially pressed); fully pressing or releasing it stops the robot.

Mode selectorManual/automatic mode selection

Switches between manual mode (programming, reduced speed) and automatic mode.

Implementation

Implementation pitfalls
Defeating or bypassing the enabling switchCritical

Taping or jamming the 3-position switch in its middle position removes its safety function and is a serious hazard to the operator.

Fix:Operator training, controlled access to manual mode and LOTO procedures; never modify the enabling device.
Pendant-only programming does not scale to complex pathsMedium

Manual point-by-point teaching is labor-intensive and imprecise for complex trajectories; offline programming and simulation are preferred for such tasks.

Fix:Combine on-pendant teaching with offline programming / simulation and fine-tuning.

Evolution

1961
Unimate โ€” first industrial robot programmed by teach-in
Inflection point

The first industrial robot (installed at General Motors) programmed by manual teaching and playback of motion sequences.

2011
ISO 10218-1:2011 โ€” safety requirements for pendants

The standard codified, among others, the 3-position enabling device and emergency stop for handheld programming panels of industrial robots.

Hyperparameters (configurable axes)

Jog coordinate frameHigh

Frame in which the robot moves while jogging: joint, base/world, or tool.

Speed overrideHigh

Scaling of motion speed; in manual mode limited to a safe, reduced value.

Interface typeMedium

Physical keys versus touchscreen / tablet.