B-6
183574-1CD
183574-1CD
Appendix B
B.1 Glossary
ArcWorld 50/50S/52/52S
Control Device
Any piece of control hardware providing a means for human intervention
in the control of a robot or robot system, such as an EMERGENCY STOP,
a start button, or a selector switch. (R15.06)
Control Mode
The means by which instructions are communicated to the robot.
Controllability
The property of a system by which an input signal can take the system
from an initial state to a desired state along a predictable path within a
predetermined period of time.
Controller
An information processing device whose inputs are both the desired and
measured position, velocity or other pertinent variables in a process and
whose outputs are drive signals to a controlling motor or actuator.
(R15.02)
Controller System
The robot control mechanism is usually a computer of some type, which is
used to store data (both robot and work environment), and store and
execute programs, which operate the robot. The Controller contains the
programs, data, algorithms; logic analysis, and various other processing
activities, which enable it to perform. See
.
Coordinate System or Frame
A Coordinate System (or Frame) defines a reference position and
orientation from which a robot position can be measured. All robot
positions are defined with reference to a Coordinate System. YASKAWA
robots utilize the following Coordinate Systems:
•
•
•
•
Central Processing Unit (CPU)
The Central Processing Unit (CPU) is the main circuit board and
processor of the Controller.
Cubic Interference Area
This area is a rectangular parallelepiped, which is parallel to the base
coordinate, robot coordinate or user coordinate. The Controller judges
whether the current position of the Robot’s TCP is inside or outside this
area, and outputs this status as a signal.
Cycle
A single execution of a complete set of moves and functions contained
within a robot program. (R15.05-2)
Cyclic Coordinate System
A coordinate system that defines the position of any point in terms of an
angular dimension, a radial dimension and a height from a reference
plane. These three dimensions specify a point on a cylinder.
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