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186638-1CD
186638-1CD
Appendix A
A.1 Glossary
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Safety Monitored Stop
Collaborative feature designed to allow safe human-robot interaction.
Only when robot motion ceases can the human safety enter the
collaborative workspace. Servos can remain energized in accordance with
a category 2 stop in accordance with ISO 10218-1:2011, 5.4. A risk
assessment shall be used to determine if any additional safeguarding is
necessary to mitigate risks within the robot system.
SCARA Robot
A cylindrical robot, having two parallel rotary joints (horizontally
articulated) and provides compliance in one selected plane. (ISO 8373)
Second Home Position
Apart from the “home position” of the manipulator, the second home
position can be set up as a check point for absolute data. The initial value
of the second home position is the home position (where all axes are at
pulse 0). The second home position can be changed.
Security Mode
Levels of operator modes on YASKAWA YRC1000micro Controller,
include: Operation Mode, Edit Mode, Management Mode, Safety Mode
and One Time Management mode.
Sensor
Instruments used as input devices for robots, which enable it to determine
aspects regarding the robot's environment, as well as the robot's own
positioning. Sensors respond to physical stimuli (such as heat, light,
sound, pressure, magnetism and motion), and they transmit the resulting
signal or data for providing a measurement, operating a control or both.
(R15.06)
Sensory Feedback
Variable data measured by sensors and relayed to the YRC1000micro
Controller in a Closed-loop System. If the YRC1000micro Controller
receives feedback that lies outside an acceptable range, then an error has
occurred. The YRC1000micro Controller sends an error signal to the
robot. The robot makes the necessary adjustments in accordance with the
error signal.
Servo Control
The process by which the control system of the robot checks if the
attained pose of the robot corresponds to the pose specified by the motion
planning with required performance and safety criteria. (ISO 8373)
Servo Motor
An electrical power mechanism used to effect motion or maintains position
of the robot (for example, a motor which converts electrical energy to
effect motion of the robot) (R15.07). The motor responds to a signal
received from the control system and often incorporates an encoder to
provide feedback to the control loop.
NOTICE
SCARA derives from Selectively Compliant Arm for Robotic Assembly
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