YASKAWA Motoman GP8 EduCart, Системное руководство

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A-6
186638-1CD
186638-1CD
Appendix A
A.1 Glossary C
GP8 EduCart
Control Command
An instruction fed to the robot by means of the human-to-machine input
device. See Pendant (Teaching). This command is received by the robot's
controller system and is interpreted. Then, the proper instruction is fed to
the robot's actuators, which enable it to react to the initial command. Many
times, the command must be interpreted with the use of logic units and
specific algorithms. See
"Input Devices"
and
"Instruction Cycle"
.
Control Device
Any piece of control hardware providing a means for human intervention
in the control of a robot or robot system, such as an emergency-stop
button, a start button, or a selector switch. (R15.06)
Control Mode
The means by which instructions are communicated to the robot.
Controllability
The property of a system by which an input signal can take the system
from an initial state to a desired state along a predictable path within a
predetermined period of time.
Controller
An information processing device whose inputs are both the desired and
measured position, velocity or other pertinent variables in a process and
whose outputs are drive signals to a controlling motor or actuator.
(R15.02)
Controller Operator Handle
Power switch on the controller. Turns on the controller and provides power
to the robot.
Controller System
The robot control mechanism is usually a computer of some type, which is
used to store data (both robot and work environment), and store and
execute programs, which operate the robot. The Controller System
contains the programs, data, algorithms; logic analysis, and various other
processing activities, which enable it to perform. See
"Robot"
.
Coordinate System or Frame
A Coordinate System (or Frame) defines a reference position and
orientation from which a robot position can be measured. All robot
positions are defined with reference to a Coordinate System. YASKAWA
robots utilize the following Coordinate Systems:
• "Base Coordinate System"
• "Robot Coordinate System"
•
"User Coordinate System"
• "Cartesian Coordinates"
Central Processing Unit (CPU)
The Central Processing Unit (CPU) is the main circuit board and
processor of the Controller System.
Cubic Interference Area
This area is a rectangular parallelepiped, which is parallel to the base
coordinate, robot coordinate or user coordinate. The controller judges
whether the current position of the manipulator’s TCP is inside or outside
this area, and outputs this status as a signal.
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