This International Standard specifies the structure and the elements of a graphical user interface for programming and operation of robots (GUI-R). Figure 3 shows the relation to the robot system, to the programming and simulation system, and to the program editor. It is important that a graphic programming system can be used both off-line, working in a separate programming station, and on-line, working in direct connection with a robot system. The same kind of graphical user interface for off-line systems might then be used in combination with any existing robot and any existing textual language. The produced code might be stored on disk or other media for downloading to a robot system, or downloaded directly, e.g. via a serial link. An on-line system might be connected to a robot system via a high speed serial link or might be fully integrated into the robot control system.