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Appendix A
A.1 Glossary
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Robot Coordinate System
The Robot Coordinate System is defined in the base axis of a Robot, and
points in the Robot Coordinate System will be relative to the base of the
robot. Note that by default the Base Coordinate System and Robot
Coordinate System are the same.
Robot Integrator
Robot Programming Language
An interface between a human user and a robot, which relates human
commands to the robot.
Robot Range Limit Monitoring
Monitors the manipulator arm or its tool to be in the designated safety area
Robot Simulation
A method for emulating and predicting the behavior and the operation of a
robotic system based on the model (i.e.,. computer graphics) of the
physical system. (R15.07)
Roll
Rotation of the robot end effector in a plane perpendicular to the end of
the manipulator arm. See
Rotary Joint
A joint which twists, swings or bends about an axis.
Rotary Vector Drive (RV)
A brand name for a speed reduction device that converts high speed low
torque to low speed high torque, usually used on the major (larger) axis.
Rotational Motion
A joint which twists, swings or bends about an axis. An example of this is
the elbow of a human arm.
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Safeguard
A barrier guard, device or safety procedure designed for the protection of
personnel. (R15.06)
Safety Integrity Level
Safety Integrity Level (SIL) is IEC’s method for determining the
performance level of a safety system. SIL 2 corresponds to ISO
Performance Level “d”, and SIL 3 corresponds to ISO Performance Level
“e”. ISO 10218 allows for the use of either.
Safety Logic Circuit
The safety logic circuit monitors safety critical external devices such as
the light curtains and FSU generated signals. The safety logic circuit is
programmed via an intuitive user interface that is supported on the
YASKAWA programming pendant. It enables to set up the logical
operations, such as stopping the manipulator or outputting a signal if the
servos are on.
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