CRS F3, User Manual

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Glossary 107
99-05-31
devices. The PLC is outside the controller and the computer. Communication
with a PLC can be through the controller’s GPIO or a serial port of the
controller or a computer.
payload
The amount of weight carried by the arm and/or the amount of force the
arm can exert on an object.
maximum payload
The amount of weight carried by the robot at reduced speed while
maintaining rated precision. This rating is highly dependent on the size
and shape of the payload.
nominal payload
The amount of weight carried by the robot at maximum speed while
maintaining rated precision. This rating is highly dependent on the size
and shape of the payload.
process
Within CROS, a process is a program (your robot application program, the
robot server, the system shell, or the application shell) when it is executing
on the system.
programmable logic controller
See: PLC.
programmer
The person who programs or re-programs the robot to do tasks.
See also: operator, system integrator.
RAPL (robot automation programming language)
The language used to program CRS robots. RAPL-3 has a completely
different architecture from RAPL-II.
RAPL-3
A high-level, block-structured, compiled language, similar to C,
introduced in 1997.
See also: CROS.
RAPL-II
A line-structured, interpreted language, similar to BASIC, introduced in
1993.
range of motion
The extent of travel of a link or of an arm. This is dependent on the limits of
rotational motion of the joints and the lengths of the links.
rc file (robot configuration file)
A file that is automatically executed when CROS starts up, similar to an
autoexec.bat file in DOS. The rc file starts a number of processes that run on
CROS.
A robot application program can be started up by adding a line to the rc file.
See also: CROS.