B-4
183574-1CD
183574-1CD
Appendix B
B.1 Glossary
ArcWorld 50/50S/52/52S
Category 3 (Cat3)
Category 3 (Cat 3) means that the safety related parts of the control
system will be designed so that:
• Single faults will not prevent the safety function from working
correctly.
• Single faults will be detected at or before the next demand of the
safety function.
• When a single fault does occur, a safe state shall be maintained until
the detected fault is corrected.
• All reasonably foreseeable faults are detected.
Caution
Indicates a hazardous situation, which if not avoided, could result in minor
or moderate injury.
Centrifugal Force
When a body rotates about an axis other than one at it's center of mass, it
exerts an outward radial force called centrifugal force upon the axis, which
restrains it from moving in a straight tangential line. To offset this force,
the robot must exert an opposing torque at the joint of rotation.
Circular Motion Type
A calculated path that the robot executes, and is circular in shape.
Clamp
An end-effector which serves as a pneumatic hand that controls the
grasping and releasing of an object. Tactile, and feed-back force sensors
are used to manage the applied force to the object by the clamp. See
.
Clamping
The maximum permissible force acting on a body region, resulting from a
robot collision where the period of contact results in a plastic deformation
of a person’s soft tissue.
Clamping Force
When contact can cause a body part(s) to be clamped.
Closed-loop
Control achieved by a Robot by means of feedback information. As a
Robot is in action, its sensors continually communicate information to the
Controller, which is used to further guide the Robot within the given task.
Many sensors are used to feed back information about the Robot's
placement, speed, torque, applied forces, as well as the placement of a
targeted moving object, etc. See
.
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