Abstract: A method for cleaning the interior of a freight container of ISO type having an access opening for receiving goods, wherein the method comprises: providing a cleaning tool comprising a framework, a robot movably connected to the framework and having a nozzle for supplying a cleaning medium including dry ice, and an actuating unit arranged to move the robot relative to the framework; gripping the framework of the tool with a truck designed for gripping and carrying freight containers of ISO type; driving the truck carrying the tool to the container to be cleaned; moving the robot into an interior of the container by means of the actuating unit; and moving the nozzle by means of the robot along a programmed cleaning path while cleaning the interior of the container by means of dry ice blasting.

Abstract: A tool and method for cleaning the interior of a freight container of ISO type. The tool having a framework, a robot movably connected to the framework and provided with a nozzle for supplying dry ice. The robot and the nozzle are adapted to clean the interior of the container by means of dry ice blasting. An actuating unit is arranged to move the robot between the framework and the interior of the container. The tool is a portable unit and has a size and a design that allows a truck adapted for gripping and carrying freight containers of ISO type to grip and carry the tool in order to move the tool to and from the container to be cleaned.

Abstract: A tool and method for cleaning the interior of a freight container of ISO type. The tool having a framework, a robot movably connected to the framework and provided with a nozzle for supplying dry ice. The robot and the nozzle are adapted to clean the interior of the container by means of dry ice blasting. An actuating unit is arranged to move the robot between the framework and the interior of the container. The tool is a portable unit and has a size and a design that allows a truck adapted for gripping and carrying freight containers of ISO type to grip and carry the tool in order to move the tool to and from the container to be cleaned.

Abstract: A tool and method for cleaning the interior of a freight container of ISO type. The tool having a framework, a robot movably connected to the framework and provided with a nozzle for supplying dry ice. The robot and the nozzle are adapted to clean the interior of the container by means of dry ice blasting. An actuating unit is arranged to move the robot between the framework and the interior of the container. The tool is a portable unit and has a size and a design that allows a truck adapted for gripping and carrying freight containers of ISO type to grip and carry the tool in order to move the tool to and from the container to be cleaned.

Abstract: A robot system comprising an industrial robot with a control system including a main memory (5) with at least one robot program an external computer (4) connected to the control system, wherein the robot system is adapted such that the robot program is editable in the external computer. The robot system comprises means 816) for obtaining a reference to that part of the robot program which is to be edited and for creating a local reflection in the external computer of said part, means (14) for generating and sending an order to the control system to carry out a change directly in said part of the robot program in the main memory of the control system, and means for updating the reflection. A method for editing a robot program from an external computer, which is connected to the control system of the robot.

Abstract: The invention relates to a control system for an industrial robot adapted for storage of user programs which comprise a series of robot instructions. At least one of the robot instructions is arranged as a shell instruction, which constitutes a call to a shell routine (20). The shell routine is associated with a plurality of optional attributes (21a, 21b, 21c) and comprises- a forward list (22) comprising a first set of robot instructions; and- a backward list (23) comprising a second set of robot instructions.The control system comprises a program executor adapted, for forward running of a user program, to execute the shell instructions in accordance with the forward list and, for running the user program backwards, to execute the shell instructions in accordance with the backward list.The invention also relates to a method for controlling an industrial robot. The method comprises creating a plurality of shell routines and testing them in advance.