A-24
186638-1CD
186638-1CD
Appendix A
A.1 Glossary
S
GP8 EduCart
Servo Pack
An alternating, current electrical power mechanism that is controlled
through logic to convert electrical supply power that is in a sine wave form
to a Pulse Width Modulated (PWM) square form, delivered to the motors
for motor control: speed, direction, acceleration, deceleration and braking
control.
Servo-controlled Robot
The control of a robot through the use of a Closed-loop Servo-system, in
which the position of the robot axis is measured by feedback devices and
is stored in the YRC1000micro Controller's memory. See
and S
Servo-system
A system in which the YRC1000micro Controller issues commands to the
motors, the motors drive the arm, and an encoder sensor measures the
motor rotary motions and signals the amount of the motion back to the
YRC1000micro Controller. This process is continued many times per
second until the arm is repositioned to the point requested. See
Shipping Brackets
A collection of parts used as a back-up safety assembly to the motor
brake. Locks the Manipulator in place during transport.
Shipping Skid
A custom-made platform used to ship the manipulator and the
YRC1000micro Controller. It is included with the shipping assembly. It can
be returned to YASKAWA for a rebate.
Shock Detection Function
Shock detection is a function supported by the YASKAWA YRC1000micro
Controller that reduces the impact of a robot collision by stopping the
manipulator without any external sensor when the tool or the manipulator
collide with a peripheral device.
Shoulder
The first or second axis of a robot is sometimes referred to as a shoulder
axis as it somewhat resembles a human shoulder. This is often used in
describing humanoid or dual-arm systems such as the YASKAWA
Motoman® SDA10D.
SIL
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.
,
82 of 88