YASKAWA Motoman GP8 EduCart, Системное руководство

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Appendix A
A.1 Glossary P
GP8 EduCart
Pose
Alternative term for robot configuration, which describes the linear and
angular position. The linear position includes the azimuth, elevation and
range of the object. The angular position includes the roll, pitch and yaw of
the object. See
"Roll"
,
"Pitch"
and
"Yaw"
.
Position
The definition of an object's location in 3D space, usually defined by a 3D
coordinate system using X, Y and Z coordinates.
Position Level
The position level is the degree of approximation of the manipulator to a
taught position. The position level can be added to move instructions
MOVJ (joint interpolation) and MOVL (linear interpolation). If the position
level is not set, the precision depends on the operation speed. Setting an
appropriate level moves the manipulator in a path suitable to
circumferential conditions and the workpiece.
Position Variables
Position Variables are used in a robot program (JOB) to define a location
in 3D space, usually defined by a 3D coordinate system using X, Y and Z
coordinates. As it is a variable, the value can change depending on
conditions or on information passed to the JOB.
Power and Force Limiting (PFL)
Collaborative feature that allows both the operator and robot to work in
proximity to one another by ensuring the robot will slow down and stop
before a contact situation occurs. In order for this feature to be safely
implemented, functional safety and additional detection hardware must be
used. A risk assessment shall be used determine if any additional
safeguarding is necessary to mitigate risks within the robot system.
Presence-sensing Safeguarding Device
A device designed, constructed and installed to create a sensing field to
detect an intrusion into such field by people, robots or objects. See
"Sensor"
.
Programmable Logical Controller (PLC)
A solid-state control system, which has a user programmable memory for
storage of instructions to implement specific functions such as: I/O control
logic, timing, counting arithmetic and data manipulation. A PLC consists of
a central processor, input/output interface, memory and programming
device, which typically uses relay equivalent symbols. The PLC is
purposely designed as an industrial control system, which may perform
functions equivalent to a relay panel or a wired solid-state logic control
system, and may be integrated into the robot control system.
Programmable Robot
A feature that allows a robot to be instructed to perform a sequence of
steps and then to perform this sequence in a repetitive manner. It can then
be reprogrammed to perform a different sequence of steps if desired.
Programming Pendant
A hand-held control box, which is used by an operator to remotely guide a
robot through the motions of its tasks. The motions are recorded by the
robot control system for future playback. Modern industrial robots come
with programming pendants, which not only allow robot teaching, but also
support full feature robot programming and safety user interface.
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