B-24
183574-1CD
183574-1CD
Appendix B
B.1 Glossary
ArcWorld 50/50S/52/52S
Simulation
A graphical computer program that represents the robot and its
environment, which emulates the robot's behavior during a simulated run
of the robot. This is used to determine a robot's behavior in certain
situations, before actually commanding the robot to perform such tasks.
Simulation items to consider are: the 3D modeling of the environment,
kinematics emulation, path-planning emulation and simulation of sensors.
See
and
.
Singularity
A configuration where two joints of the robot arm become co-axial (aligned
along a common axis). In a singular configuration, smooth path following
is normally impossible and the robot may lose control. The term originates
from the behavior of the Jacobian matrix, which becomes singular (i.e.,
has no inverse) in these configurations.
SLURBT
SLURBT are terms that YASKAWA uses to describe each axis of the
robot for convenience. The definition of each value is as follows:
S – Swing or Swivel
L – Lower Arm
U – Upper Arm
R – Rotate
B – Bend
T – Twist
Softlimit Setting Function
The Softlimit Setting Function is a function to set the axis travel limit range
of the Robot motion in software.
Speed and Separation Monitoring
Collaborative feature that allows both the operator and robot to work in
proximity to one another by ensuring the robot will slow down and stop
before a contact situation occurs. In order for this feature to be safely
implemented, functional safety and additional detection hardware must be
used. A risk assessment shall be used to determine if any additional
safeguarding is necessary to mitigate risks within the robot system.
Spline
A smooth, continuous function used to approximate a set of functions that
are uniquely defined on a set of sub-intervals. The approximating function
and the set of functions being approximated intersect at a sufficient
number of points to insure a high degree of accuracy in the approximation.
The purpose for the smooth function is to allow a robot Robot to complete
a task without jerky motion.
Spline Motion Type
A calculated path that the robot executes-that may be parabolic in shape.
A spline motion may also accomplish a free form curve with mixtures of
circular and parabolic shapes.
Standstill Monitoring
Using the Axis Speed Monitor function will activate an E-STOP condition if
a motion occurs.
Stop Position Monitoring
See
121 of 126
