A-17
186638-1CD
186638-1CD
Appendix A
A.1 Glossary
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Palletizing
The process of stacking packages (i.e., boxes, bags, containers, etc.) in
an organized fashion on a pallet.
PAM Function – Position Adjustment by Manual
Position Adjustment by Manual allows position adjustment by simple
operations while observing the motion of the manipulator, and without
stopping the manipulator. Positions can be adjusted in both teach mode
and play mode.
Parallel Shift Function
Parallel Shift refers to the shifting of an object from a fixed position in such
a way that all points within the object move an equal distance. In the
model for Parallel Shift shown in the following, the shift value can be
defined as the distance L (three dimensional coordinate displacement).
The Parallel Shift Function is relevant to the actual operation of the
manipulator because it can be used to reduce the amount of work
involved in teaching by shifting a taught path (or position). In the example
in the figure below, the taught position A is shifted in increments of the
distance L (this is actually a three dimensional XYZ displacement that can
be recognized by the robot).
Path
The continuous locus of positions (or points in three dimensional space)
traversed by the tool center point and described in a specified coordinate
system. (R15.05-2)
Payload - Maximum
The maximum mass that the robot can manipulate at a specified speed,
acceleration/deceleration, center of gravity location (offset), and
repeatability under continuous operation over a specified working space.
Maximum payload is specified in kilograms. (R15.05-2)
Pendant [Programming Pendant]
A hand-held input device, linked to the control system with which a robot
can be programmed or moved. (ISO 8373) This enables the human
operator to stand in the most favorable position to observe, control and
record the desired movements in the robot's memory.
Pendant Teaching
The mapping and recording of the position and orientation of a robot and/
or manipulator system as the robot is manually moved in increments from
an initial state along a path to a final goal state. The position and
orientation of each critical point (joints, robot base, etc.) is recorded and
stored in a database for each taught position the robot passes through on
its path toward its final goal. The robot may now repeat the path on its own
by following the path stored in the database.
Performance Level d (PLd)
ISO Performance Level (PL) “d” means that the average probability of
dangerous failure per hour of the safety related parts of the control system
falls within = 10-7 to < 10-6. Additionally, other factors such as proper
installation, maintenance and protection against environmental factors
also apply. This is the minimum performance level specified in ISO 10218-
2 section 5.2.2, unless a risk assessment would allow a lower value to be
used.
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