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Appendix A
A.1 Glossary
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Teach
To program a manipulator arm by manually guiding it through a series of
motions and recording the position in the YRC1000micro Controller
memory for playback.
Teach Lock
While the Teach Lock is set, the mode of operation is tied to the Teach
Mode and the machines cannot be played back using either [START] or
external input. For safety purposes, always set the mode switch to
“TEACH” before beginning to teach.
Teach Mode
A Robot controller mode in which a robot is programmed by manually
guiding it through a series of motions and recording the position in the
Robot controller memory for playback. Industrial Robots that do not have
an active Power and Force Limiting Function require the use of a Three
Position Enabling Device in Teach Mode.
Teach Pendant
Teaching Window
Teaching Window is a user interface screen on the programming pendant.
This window contains the JOB CONTENT window and teaching is
conducted within this window. The JOB CONTENT window contains the
following items: line numbers, cursor, instructions, additional items,
comments, etc.
Through-beam
An object detection system used within a robot's imaging sensor system.
A finely focused beam of light is mounted at one end and a detector at the
other. When the beam of light is broken, an object is sensed.
Time Measuring Function
Time measuring function measures the execution time for the specified
section in the job or the signal output time of the specified signal.
Tool
A term used loosely to define a working apparatus mounted to the end of
the robot arm, such as a hand, gripper, welding torch, screw driver, etc.
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Tool & Arm Interference
In a system with one controller and multiple manipulators, the Tool & Arm
Interference Check Function can be used to detect possible interference
to avoid collision during operation. The following three patterns can be
checked:
• Arm against arm
• Arm against tool
• Tool against tool
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