CRS F3, User Manual

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Glossary
application
A collection of software and hardware that allows the robot to accomplish a
particular task or job.
Typically, a robot application consists of robot hardware, other hardware of
the workcell, and a robot program with its file of locations and other
variables. It can include other programs, files, hardware, and computers
running their own programs.
application shell (ash)
A utility available at the CROS command prompt that you can use to move
the robot arm, teach locations, and set values to other variables. You start it
by entering “ash” at the CROS command prompt ($).
arm
The mechanical, task-performing part of a robot, directed by the controller.
An arm consists of a sequentially connected set of links and joints having
one end, the base, attached to a platform, the other end outfitted with a tool
which performs work. The joints are powered and capable of moving the
links and the tool to various positions and orientations.
articulated robot
See: robot.
ash
See: application shell.
awareness signal
An audio or visual alarm device, such as a buzzer or a light, activated by a
sensing device, which makes aware the nearness of a person to the robot
arm work cell or workspace.
axis (X, Y, or Z)
A reference line of a coordinate system. In a Cartesian coordinate system,
the three axes (X, Y, Z) meet at right angles, with X and Y defining a
horizontal plane and Z defining the vertical dimension. Any point in the
arm’s workspace, i.e. any location of the gripper or tool, can be identified by
this system.
axis of motion
A line which passes through any of an arm’s joints about which a link or
similar section rotates.
base offset
A modification to the world frame of reference that places the origin of the
frame to be at a place other than the centre of the mounting surface of the
base. In other words, the geometry of the arm that defines the position of the