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186638-1CD
Appendix A
A.1 Glossary
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Functional Safety Unit (FSU)
The Functional Safety Unit (FSU) is a component of the YASKAWA robot
controller that provides programmable safety functions that enable
collaborative operation of the robot. As these safety functions are
programmable, the FSU allows the minimization of nearby overall
equipment footprint, as well as human accessible areas. The FSU
consists of two parallel Central Processing Units (CPUs) run concurrently,
thereby providing dual channel checking. In addition, the FSU acquires
robot position from its encoders independently from the motion control
system of the robot. Based on this feedback, the FSU monitors the
manipulator and tool’s position, speed and posture.
G
Gantry
An adjustable hoisting machine that slides along a fixed platform or track,
either raised or at ground level along the X, Y, Z axes.
Gantry Robot
A robot which has three degrees of freedom along the X, Y and Z
coordinate system. Usually consists of a spooling system (used as a
crane), which when reeled or unreeled provides the up and down motion
along the Z axis. The spool can slide from left to right along a shaft which
provides movement along the Z axis. The spool and shaft can move
forward and back along tracks which provide movement along the Y axis.
Usually used to position its end effector over a desired object and pick it
up.
Gravity Loading
The force exerted downward, due to the weight of the robot arm and/or the
load at the end of the arm. The force creates an error with respect to
position accuracy of the end effector. A compensating force can be
computed and applied bringing the arm back to the desired position.
Gripper
An end effector that is designed for seizing and holding (ISO 8373) and
“grips” or grabs an object. It is attached to the last link of the arm. It may
hold an object using several different methods, such as: applying pressure
between its “fingers”, or may use magnetization or vacuum to hold the
.
H
Hand
A clamp or gripper used as an end-effector to grasp objects. See
, and
Hand Guiding
Collaborative feature that allows an operator to hand guide the robot to a
desired position. This task can be achieved by utilizing additional external
hardware mounted directly to the robot or by a robot specifically designed
to support this feature. Both solutions will require elements of functional
safety to be utilized. A risk assessment shall be used to determine if any
additional safeguarding is necessary to mitigate risks within the robot
system.
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