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186638-1CD
186638-1CD
Appendix A
A.1 Glossary
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Performance Level e (PLe)
ISO Performance Level (PL) “e” means that the average probability of
dangerous failure per hour of the safety related parts of the control system
falls within = 10-8 to < 10-7. Additionally, other factors such as proper
installation, maintenance and protection against environmental factors
also apply.
Pick and Place Cycle
The amount of time it takes for a manipulator to pick up an object and
place it in a desired location, then return to its rest position. This includes
time during the acceleration and deceleration phases of a particular task.
The robot movement is controlled from one point location in space to
another in a Point-to-Point (PTP) motion system. Each point is
programmed into the robot's control memory and then played back during
the work cycle.
Pick-and-Place Task
A repetitive part transfer task composed of a picking action followed by a
placing action.
Pinch Points
A pinch point is any point at which it is possible for a person or part of a
person’s body to be caught between moving parts of a machine, or
between the moving and stationary parts of a machine, or between
material and any part of the machine. A pinch point does not have to
cause injury to a limb or body part, although it might cause injury – it only
has to trap or pinch the person to prevent them from escaping or removing
the trapped part from the pinch point.
Pitch
Rotation of the end-effector in a vertical plane around the end of the robot
and
.
Play Mode
After a robot is programmed in Teach Mode, the YRC1000micro
Controller can be switched to Play Mode to execute the robot program. In
Play Mode, the robot program is played back. This is the mode in which
robots are used in production.
Playback Operation
Playback is the operation by which the taught job is played back. This
function is used to decide where to resume the playback on the start
operation after suspending the playback and moving the cursor or
selecting other jobs. 0: Starts operation where the cursor is located in the
job displayed at the moment. 1: The playback continuation window
appears. Select “YES” and the playback resumes where the cursor has
been located when the playback suspended. If “NO” is selected, the
playback resumes where the cursor is located in the job displayed at the
moment. Modes Switch on the programming pendant: PLAY – job is
started up by [START] on the programming pendant and REMOTE job is
started by a peripheral device (external start input).
Point-to-Point
Robot motion in which a limited number of points along a projected path of
motion is specified. The manipulator moves from point to point rather than
a continuous smooth path.
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