FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual

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E. SYNTAX DIAGRAMS

Figure E-21.

condition handler action

HOLD

UNHOLD

(integer)

RESUME

GROUP

[

]

contstant

STOP

CANCEL

NOABORT

NOPAUSE

UNPAUSE

NOMESSAGE

RESTORE

ENABLE

condition handler number

CONDITION

[

(integer)

]

expression

DISABLE

event/semaphore number

SIGNAL

EVENT

[

]

(integer)

expression

SEMAPHORE

port

index

time spec (ms)

[

(integer)

]

(integer)

PULSE

DOUT

FOR

expression

RDO

procedure name

identifier

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abort

Abnormal termination of a computer program caused by hardware or software malfunction or

operator cancellation.

absolute pulse code system

A positional information system for servomotors that relies on battery-backed RAM to store encoder

pulse counts when the robot is turned off. This system is calibrated when it is turned on.

A/D value

An analog to digital-value. Converts a multilevel analog electrical system pattern into a digital bit.

Analog input.

Analog output.

alarm

The difference in value between actual response and desired response in the performance of a

controlled machine, system or process. Alarm=Error.

algorithm

A fixed step-by-step procedure for accomplishing a given result.

alphanumeric

Data that are both alphabetical and numeric.

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AMPS

Amperage amount.

analog

The representation of numerical quantities by measurable quantities such as length, voltage or

resistance. Also refers to analog type I/O blocks and distinguishes them from discrete I/O blocks.

Numerical data that can vary continuously, for example, voltage levels that can vary within the

range of -10 to +10 volts.

AND

An operation that places two contacts or groups of contacts in series. All contacts in series control the

resulting status and also mathematical operator.

ANSI

American National Standard Institute, the U.S. government organization with responsibility for the

development and announcement of technical data standards.

APC

See absolute pulse code system.

APC motor

See servomotor.

application program

The set of instructions that defines the specific intended tasks of robots and robot systems to make

them reprogrammable and multifunctional. You can initiate and change these programs.

arm

A robot component consisting of an interconnecting set of links and powered joints that move and

support the wrist socket and end effector.

articulated arm

A robot arm constructed to simulate the human arm, consisting of a series of rotary motions and

joints, each powered by a motor.

ASCII

Abbreviation for American Standard Code for Information Interchange. An 8-level code (7 bits plus

parity bit) commonly used for the exchange of data.

automatic mode

The robot state in which automatic operation can be initiated.

automatic operation

The time during which robots are performing programmed tasks through unattended program

execution.

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axis

1. A straight line about which a robot joint rotates or moves. 2. One of the reference lines or a

coordinate system. 3. A single joint on the robot arm.

backplane

A group of connectors mounted at the back of a controller rack to which printed circuit boards are

mated.

BAR

A unit of pressure equal to 100,000 pascals.

barrier

A means of physically separating persons from the restricted work envelope; any physical boundary

to a hazard or electrical device/component.

battery low alarm

A programmable value (in engineering units) against which the analog input signal automatically

is compared on Genius I/O blocks. A fault is indicated if the input value is equal to or less than

the low alarm value.

baud

A unit of transmission speed equal to the number of code elements (bits) per second.

big-endian

The adjectives big-endian and little-endian refer to which bytes are most significant in multi-byte data

types and describe the order in which a sequence of bytes is stored in a computer’s memory. In a

big-endian system, the most significant value in the sequence is stored at the lowest storage address

(i.e., first). In a little-endian system, the least significant value in the sequence is stored first.

binary

A numbering system that uses only 0 and 1.

bit

Contraction of binary digit. 1. The smallest unit of information in the binary numbering system,

represented by a 0 or 1. 2. The smallest division of a programmable controller word.

bps

Bits per second.

buffer

A storage area in the computer where data is held temporarily until the computer can process it.

bus

A channel along which data can be sent.

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bus controller

A Genius bus interface board for a programmable controller.

bus scan

One complete communications cycle on the serial bus.

Bus Switching Module

A device that switches a block cluster to one bus or the other of a dual bus.

byte

A sequence of binary digits that can be used to store a value from 0 to 255 and usually operated upon

as a unit. Consists of eight bits used to store two numeric or one alpha character.

calibration

The process whereby the joint angle of each axis is calculated from a known reference point.

Cartesian coordinate system

A coordinate system whose axes (x, y, and z) are three intersecting perpendicular straight lines. The

origin is the intersection of the axes.

Cartesian coordinates

A set of three numbers that defines the location of a point within a rectilinear coordinate system and

consisting of three perpendicular axes (x, y, z).

cathode ray tube

A device, like a television set, for displaying information.

central processing unit

The main computer component that is made up of a control section and an arithmetic-logic section.

The other basic units of a computer system are input/output units and primary storage.

channel

The device along which data flow between the input/output units of a computer and primary storage.

character

One of a set of elements that can be arranged in ordered groups to express information. Each character

has two forms: 1. a man-intelligible form, the graphic, including the decimal digits 0-9, the letters

A-Z, punctuation marks, and other formatting and control symbols; 2. a computer intelligible form,

the code, consisting of a group of binary digits (bits).

circular

A MOTYPE option in which the robot tool center point moves in an arc defined by three points.

These points can be positions or path nodes.

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clear

To replace information in a storage unit by zero (or blank, in some machines).

closed loop

A control system that uses feedback. An open loop control system does not use feedback.

C-MOS RAM

Complementary metal-oxide semiconductor random-access memory. A read/write memory in

which the basic memory cell is a pair of MOS (metal-oxide semiconductor) transistors. It is an

implementation of S-RAM that has very low power consumption, but might be less dense than

other S-RAM implementations.

coaxial cable

A transmission line in which one conductor is centered inside and insulated from an outer metal tube

that serves as the second conductor. Also known as coax, coaxial line, coaxial transmission line,

concentric cable, concentric line, concentric transmission line.

component

An inclusive term used to identify a raw material, ingredient, part or subassembly that goes into a

higher level of assembly, compound or other item.

computer

A device capable of accepting information, applying prescribed processes to the information, and

supplying the results of these processes.

configuration

The joint positions of a robot and turn number of wrist that describe the robot at a specified position.

Configuration is designated by a STRING value and is included in positional data.

continuous path

A trajectory control system that enables the robot arm to move at a constant tip velocity through a

series of predefined locations. A rounding effect of the path is required as the tip tries to pass through

these locations.

continuous process control

The use of transducers (sensors) to monitor a process and make automatic changes in operations

through the design of appropriate feedback control loops. While such devices historically have been

mechanical or electromechanical, microcomputers and centralized control is now used, as well.

continuous production

A production system in which the productive equipment is organized and sequenced according to the

steps involved to produce the product. Denotes that material flow is continuous during the production

process. The routing of the jobs is fixed and set-ups are seldom changed.

controlled stop

A controlled stop controls robot deceleration until it stops. When a safety stop input such as a safety

fence signal is opened, the robot decelerates in a controlled manner and then stops. After the robot

stops, the Motor Control Contactor opens and drive power is removed.

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controller

A hardware unit that contains the power supply, operator controls, control circuitry, and memory

that directs the operation and motion of the robot and communications with external devices. See

control unit.

controller memory

A medium in which data are retained. Primary storage refers to the internal area where the data and

program instructions are stored for active use, as opposed to auxiliary or external storage (magnetic

tape, disk, diskette, and so forth.)

control, open-loop

An operation where the computer applies control directly to the process without manual intervention.

control unit

The portion of a computer that directs the automatic operation of the computer, interprets computer

instructions, and initiates the proper signals to the other computer circuits to execute instructions.

coordinate system

See Cartesian coordinate system.

CPU

See central processing unit.

CRT

See cathode ray tube.

cps (viscosity)

Centipoises per second.

CRT/KB

Cathode ray tube/keyboard. An optional interface device for the robot system. The CRT/KB is used

for some robot operations and for entering programs. It can be a remote device that attaches to

the robot via a cable.

cycle

1. A sequence of operations that is repeated regularly. The time it takes for one such sequence to

occur. 2. The interval of time during which a system or process, such as seasonal demand or a

manufacturing operation, periodically returns to similar initial conditions. 3. The interval of time

during which an event or set of events is completed. In production control, a cycle is the length of

time between the release of a manufacturing order and shipment to the customer or inventory.

cycle time

1. In industrial engineering, the time between completion of two discrete units of production. 2. In

materials management, the length of time from when material enters a production facility until it

exits. See throughput.

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cursor

An indicator on a teach pendant or CRT display screen at which command entry or editing occurs.

The indicator can be a highlighted field or an arrow (> or ^).

cylindrical

Type of work envelope that has two linear major axes and one rotational major axis. Robotic device

that has a predominantly cylindrical work envelope due to its design. Typically has fewer than 6 joints

and typically has only 1 linear axis.

D/A converter

A digital-to-analog converter. A device that transforms digital data into analog data.

D/A value

A digital-to-analog value. Converts a digital bit pattern into a multilevel analog electrical system.

daisy chain

A means of connecting devices (readers, printers, etc.) to a central processor by party-line input/output

buses that join these devices by male and female connectors. The last female connector is shorted by

a suitable line termination.

daisy chain configuration

A communications link formed by daisy chain connection of twisted pair wire.

data

A collection of facts, numeric and alphabetical characters, or any representation of information that

is suitable for communication and processing.

data base

A data file philosophy designed to establish the independence of computer program from data files.

Redundancy is minimized and data elements can be added to, or deleted from, the file designs without

changing the existing computer programs.

Abbreviation for direct current.

DEADMAN switch

A control switch on the teach pendant that is used to enable servo power. Pressing the DEADMAN

switch while the teach pendant is on activates servo power and releases the robot brakes; releasing

the switch deactivates servo power and applies the robot brakes.

debugging

The process of detecting, locating and removing mistakes from a computer program, or manufacturing

control system. See diagnostic routine.

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deceleration tolerance

The specification of the percentage of deceleration that must be completed before a motion is

considered finished and another motion can begin.

default

The value, display, function or program automatically selected if you have not specified a choice.

deviation

Usually, the absolute difference between a number and the mean of a set of numbers, or between

a forecast value and the actual data.

device

Any type of control hardware, such as an emergency-stop button, selector switch, control pendant,

relay, solenoid valve, or sensor.

diagnostic routine

A test program used to detect and identify hardware/software malfunctions in the controller and

its associated I/O equipment. See debugging.

diagnostics

Information that permits the identification and evaluation of robot and peripheral device conditions.

digital

A description of any data that is expressed in numerical format. Also, having the states On and Off

only.

digital control

The use of a digital computer to perform processing and control tasks in a manner that is more

accurate and less expensive than an analog control system.

digital signal

A single point control signal sent to or from the controller. The signal represents one of two states:

ON (TRUE, 1. or OFF (FALSE, 0).

directory

A listing of the files stored on a device.

discrete

Consisting of individual, distinct entities such as bits, characters, circuits, or circuit components. Also

refers to ON/OFF type I/O blocks.

disk

A secondary memory device in which information is stored on a magnetically sensitive, rotating disk.

disk memory

A non-programmable, bulk-storage, random-access memory consisting of a magnetized coating on

one or both sides of a rotating thin circular plate.

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drive power

The energy source or sources for the robot servomotors that produce motion.

DRAM

Dynamic Random Access Memory. A read/write memory in which the basic memory cell is a

capacitor. DRAM (or D-RAM) tends to have a higher density than SRAM (or S-RAM). Due to the

support circuitry required, and power consumption needs, it is generally impractical to use. A battery

can be used to retain the content upon loss of power.

edit

1. A software mode that allows creation or alteration of a program. 2. To modify the form or format

of data, for example, to insert or delete characters.

emergency stop

The operation of a circuit using hardware-based components that overrides all other robot controls,

removes drive power from the actuators, and causes all moving parts of to stop. The operator panel

and teach pendant are each equipped with EMERGENCY STOP buttons.

enabling device

A manually operated device that, when continuously activated, permits motion. Releasing the device

stops the motion of the robot and associated equipment that might present a hazard.

encoder

1. A device within the robot that sends the controller information about where the robot is. 2. A

transducer used to convert position data into electrical signals. The robot system uses an incremental

optical encoder to provide position feedback for each joint. Velocity data is computed from the

encoder signals and used as an additional feedback signal to assure servo stability.

end effector

An accessory device or tool specifically designed for attachment to the robot wrist or tool mounting

plate to enable the robot to perform its intended tasks. Examples include gripper, spot weld gun,

arc weld gun, spray paint gun, etc.

end-of-arm tooling

Any of a number of tools, such as welding guns, torches, bells, paint spraying devices, attached to the

faceplate of the robot wrist. Also called end effector or EOAT.

engineering units

Units of measure as applied to a process variable, for example, psi, Degrees F., etc.

envelope, maximum

The volume of space encompassing the maximum designed movements of all robot parts including

the end effector, workpiece, and attachments.

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EOAT

See end of arm tooling, tool.

EPROM

Erasable Programmable Read Only Memory. Semiconductor memory that can be erased and

reprogrammed. A non-volatile storage memory.

error

The difference in value between actual response and desired response in the performance of a

controlled machine, system or process. Alarm=Error.

error message

A numbered message, displayed on the CRT/KB and teach pendant, that indicates a system problem

or warns of a potential problem.

Ethernet

A Local Area Network (LAN) bus-oriented, hardware technology that is used to connect computers,

printers, terminal concentrators (servers), and many other devices together. It consists of a master

cable and connection devices at each machine on the cable that allow the various devices to "talk" to

each other. Software that can access the Ethernet and cooperate with machines connected to the cable

is necessary. Ethernets come in varieties such as baseband and broadband and can run on different

media, such as coax, twisted pair and fiber. Ethernet is a trademark of Xerox Corporation.

execute

To perform a specific operation, such as one that would be accomplished through processing one

statement or command, a series of statements or commands, or a complete program or command

procedure.

extended axis

An optional, servo-controlled axis that provides extended reach capability for a robot, including

in-booth rail, single- or double-link arm, also used to control motion of positioning devices.

faceplate

The tool mounting plate of the robot.

feedback

1. The signal or data fed back to a commanding unit from a controlled machine or process to

denote its response to the command signal. The signal representing the difference between actual

response and desired response that is used by the commanding unit to improve performance of the

controlled machine or process. 2. The flow of information back into the control system so that actual

performance can be compared with planned performance, for instance in a servo system.

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field

A specified area of a record used for a particular category of data. 2. A group of related items that

occupy the same space on a CRT/KB screen or teach pendant LCD screen. Field name is the name of

the field; field items are the members of the group.

field devices

User-supplied devices that provide information to the PLC (inputs: push buttons, limit switches, relay

contacts, an so forth) or perform PLC tasks (outputs: motor starters, solenoids, indicator lights, and

so forth.)

file

1. An organized collection of records that can be stored or retrieved by name. 2. The storage device

on which these records are kept, such as bubble memory or disk.

filter

A device to suppress interference that would appear as noise.

Flash File Storage

A portion of FROM memory that functions as a separate storage device. Any file can be stored on

the FROM disk.

Flash ROM

Flash Read Only Memory. Flash ROM is not battery-backed memory but it is non-volatile. All data in

Flash ROM is saved even after you turn off and turn on the robot.

flow chart

A systems analysis tool to graphically show a procedure in which symbols are used to represent

operations, data, flow, and equipment. See block diagram, process chart.

flow control

A specific production control system that is based primarily on setting production rates and feeding

work into production to meet the planned rates, then following it through production to make sure that

it is moving. This concept is most successful in repetitive production.

format

To set up or prepare a memory card or floppy disk (not supported with version 7.20 and later) so it

can be used to store data in a specific system.

See Flash ROM.

F-ROM

See Flash ROM.

FROM disk

See Flash ROM.

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general override stat

A percentage value that governs the maximum robot jog speed and program run speed.

Genius I/O bus

The serial bus that provides communications between blocks, controllers, and other devices in the

system especially with respect to GE FANUC Genius I/O.

gripper

The "hand" of a robot that picks up, holds and releases the part or object being handled. Sometimes

referred to as a manipulator. See EOAT, tool.

group signal

An input/output signal that has a variable number of digital signals, recognized and taken as a group.

gun

See applicator.

Hand Model.

Used in Interference Checking, the Hand Model is the set of virtual model elements (spheres and

cylinders) that are used to represent the location and shape of the end of arm tooling with respect to

the robot’s faceplate.

hardware

1. In data processing, the mechanical, magnetic, electrical and electronic devices of which a computer,

controller, robot, or panel is built. 2. In manufacturing, relatively standard items such as nuts, bolts,

washers, clips, and so forth.

hard-wire

To connect electric components with solid metallic wires.

hard-wired

1. Having a fixed wired program or control system built in by the manufacturer and not subject to

change by programming. 2. Interconnection of electrical and electronic devices directly through

physical wiring.

hazardous motion

Unintended or unexpected robot motion that can cause injury.

hexadecimal

A numbering system having 16 as the base and represented by the digits 0 through 9, and A through F.

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hold

A smoothly decelerated stopping of all robot movement and a pause of program execution. Power is

maintained on the robot and program execution generally can be resumed from a hold.

HTML.

Hypertext Markup Language. A markup language that is used to create hypertext and hypermedia

documents incorporating text, graphics, sound, video, and hyperlinks.

http.

Hypertext transfer protocol. The protocol used to transfer HTML files between web servers.

impedance

A measure of the total opposition to current flow in an electrical circuit.

incremental encoder system

A positional information system for servomotors that requires calibrating the robot by moving it to a

known reference position (indicated by limit switches) each time the robot is turned on or calibration

is lost due to an error condition.

index

An integer used to specify the location of information within a table or program.

index register

A memory device containing an index.

industrial robot

A reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized

devices through variable programmed motions in order to perform a variety of tasks.

industrial robot system

A system that includes industrial robots, end effectors, any equipment devices and sensors required

for the robot to perform its tasks, as well as communication interfaces for interlocking, sequencing, or

monitoring the robot.

information

The meaning derived from data that have been arranged and displayed in a way that they relate to that

which is already known. See data.

initialize

1. Setting all variable areas of a computer program or routine to their desired initial status, generally

done the first time the code is executed during each run. 2. A program or hardware circuit that returns

a program a system, or hardware device to an original state. See startup, initial.

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input

The data supplied from an external device to a computer for processing. The device used to

accomplish this transfer of data.

input device

A device such as a terminal keyboard that, through mechanical or electrical action, converts data from

the form in which it has been received into electronic signals that can be interpreted by the CPU or

programmable controller. Examples are limit switches, push buttons, pressure switches, digital

encoders, and analog devices.

input processing time

The time required for input data to reach the microprocessor.

input/output

Information or signals transferred between devices, discreet electrical signals for external control.

input/output control

A technique for controlling capacity where the actual output from a work center is compared with the

planned output developed by CRP. The input is also monitored to see if it corresponds with plans so

that work centers will not be expected to generate output when jobs are not available to work on.

integrated circuit

A solid-state micro-circuit contained entirely within a chip of semiconductor material, generally

silicon. Also called chip.

interactive

Refers to applications where you communicate with a computer program via a terminal by entering

data and receiving responses from the computer.

interface

1. A concept that involves the specifications of the inter-connection between two equipments having

different functions. 2. To connects a PLC with the application device, communications channel, and

peripherals through various modules and cables. 3. The method or equipment used to communicate

between devices.

interference zone

An area that falls within the work envelope of a robot, in which there is the potential for the robot

motion to coincide with the motion of another robot or machine, and for a collision to occur.

interlock

An arrangement whereby the operation of one control or mechanism brings about, or prevents, the

operations of another.

interrupt

A break in the normal flow of a system or program that occurs in a way that the flow can be resumed

from that point at a later time. Interrupts are initiated by two types of signals: 1. signals originating

within the computer system to synchronize the operation of the computer system with the outside

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Glossary

world; 2. signals originating exterior to the computer system to synchronize the operation of the

computer system with the outside world.

I/O

Abbreviation for input/output or input/output control.

I/O block

A microprocessor-based, configurable, rugged solid state device to which field I/O devices are

attached.

I/O electrical isolation

A method of separating field wiring from logic level circuitry. This is typically done through optical

isolation devices.

I/O module

A printed circuit assembly that is the interface between user devices and the Series Six PLC.

I/O scan

A method by which the CPU monitors all inputs and controls all outputs within a prescribed time. A

period during which each device on the bus is given a turn to send information and listen to all of the

broadcast data on the bus.

ISO

The International Standards Organization that establishes the ISO interface standards.

isolation

1. The ability of a logic circuit having more than one inputs to ensure that each input signal is not

affected by any of the others. 2. A method of separating field wiring circuitry from logic level

circuitry, typically done optically.

item

1. A category displayed on the teach pendant on a menu. 2. A set of adjacent digits, bits, or characters

that is treated as a unit and conveys a single unit of information. 3. Any unique manufactured or

purchased part or assembly: end product, assembly, subassembly, component, or raw material.

jog coordinate systems

Coordinate systems that help you to move the robot more effectively for a specific application. These

systems include JOINT, WORLD, TOOL, and USER.

JOG FRAME

A jog coordinate system you define to make the robot jog the best way possible for a specific

application. This can be different from world coordinate frame.

jogging

Pressing special keys on the teach pendant to move the robot.

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jog speed

Is a percentage of the maximum speed at which you can jog the robot.

joint

1. A single axis of rotation. There are up to six joints in a robot arm (P-155 swing arm has 8). 2.

A jog coordinate system in which one axis is moved at a time.

JOINT

A motion type in which the robot moves the appropriate combination of axes independently to reach a

point most efficiently. (Point to point, non-linear motion).

joint interpolated motion

A method of coordinating the movement of the joints so all joints arrive at the desired location at the

same time. This method of servo control produces a predictable path regardless of speed and results in

the fastest cycle time for a particular move. Also called joint motion.

Abbreviation for kilo, or exactly 1024 in computer jargon. Related to 1024 words of memory.

KAREL

The programming language developed for robots by the FANUC Robotics America, Inc.

label

An ordered set of characters used to symbolically identify an instruction, a program, a quantity, or a

data area.

LCD

See liquid crystal display.

lead time

The span of time needed to perform an activity. In the production and inventory control context, this

activity is normally the procurement of materials and/or products either from an outside supplier or

from one’s own manufacturing facility. Components of lead time can include order preparation time,

queue time, move or transportation time, receiving and inspection time.

LED

See Light Emitting Diode.

LED display

An alphanumeric display that consists of an array of LEDs.

Light Emitting Diode

A solid-state device that lights to indicate a signal on electronic equipment.

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limiting device

A device that restricts the work envelope by stopping or causing to stop all robot motion and that is

independent of the control program and the application programs.

limit switch

A switch that is actuated by some part or motion of a machine or equipment to alter the electrical

circuit associated with it. It can be used for position detection.

linear

A motion type in which the appropriate combination of axes move in order to move the robot TCP

in a straight line while maintaining tool center point orientation.

liquid crystal display

A digital display on the teach pendant that consists of two sheets of glass separated by a sealed-in,

normally transparent, liquid crystal material. Abbreviated LCD.

little-endian

The adjectives big-endian and little-endian refer to which bytes are most significant in multi-byte data

types and describe the order in which a sequence of bytes is stored in a computer’s memory. In a

big-endian system, the most significant value in the sequence is stored at the lowest storage address

(i.e., first). In a little-endian system, the least significant value in the sequence is stored first.

load

1. The weight (force) applied to the end of the robot arm. 2. A device intentionally placed in a circuit

or connected to a machine or apparatus to absorb power and convert it into the desired useful form. 3.

To copy programs or data into memory storage.

location

1. A storage position in memory uniquely specified by an address. 2. The coordinates of an object

used in describing its x, y, and z position in a Cartesian coordinate system.

lockout/tagout

The placement of a lock and/or tag on the energy isolating device (power disconnecting device) in the

off or open position. This indicates that the energy isolating device or the equipment being controlled

will not be operated until the lock/tag is removed.

log

A record of values and/or action for a given function.

logic

A fixed set of responses (outputs) to various external conditions (inputs). Also referred to as the

program.

loop

The repeated execution of a series of instructions for a fixed number of times, or until interrupted

by the operator.

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See milliampere.

machine language

A language written in a series of bits that are understandable by, and therefore instruct, a computer.

This is a "first level" computer language, as compared to a "second level" assembly language, or a

"third level" compiler language.

machine lock

A test run option that allows the operator to run a program without having the robot move.

macro

A source language instruction from which many machine-language instructions can be generated.

magnetic disk

A metal or plastic floppy disk (not supported on version 7.10 and later) that looks like a phonograph

record whose surface can store data in the form of magnetized spots.

magnetic disk storage

A storage device or system consisting of magnetically coated metal disks.

magnetic tape

Plastic tape, like that used in tape recorder, on which data is stored in the form of magnetized spots.

maintenance

Keeping the robots and system in their proper operating condition.

See memory card.

mechanical unit

The robot arm, including auxiliary axis, and hood/deck and door openers.

medium

plural media . The physical substance upon which data is recorded, such as a memory card (or floppy

disk which is not supported on version 7.10 and later).

memory

A device or media used to store information in a form that can be retrieved and is understood

by the computer or controller hardware. Memory on the controller includes C-MOS RAM, Flash

ROM and D-RAM.

memory card

A C-MOS RAM memory card or a flash disk-based PC card.

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A list of options displayed on the teach pendant screen.

message

A group of words, variable in length, transporting an item of information.

microprocessor

A single integrated circuit that contains the arithmetic, logic, register, control and memory elements of

a computer.

microsecond

One millionth (0.000001) of a second

milliampere

One one-thousandth of an ampere. Abbreviated mA.

millisecond

One thousandth of a second. Abbreviated msec.

module

A distinct and identifiable unit of computer program for such purposes as compiling, loading, and

linkage editing. It is eventually combined with other units to form a complete program.

motion type

A feature that allows you to select how you want the robot to move from one point to the next.

MOTYPES include joint, linear, and circular.

mode

1. One of several alternative conditions or methods of operation of a device. 2. The most common or

frequent value in a group of values.

network

1. The interconnection of a number of devices by data communication facilities. "Local networking"

is the communications network internal to a robot."Global networking" is the ability to provide

communications connections outside of the robot’s internal system. 2. Connection of geographically

separated computers and/or terminals over communications lines. The control of transmission

is managed by a standard protocol.

non-volatile memory

Memory capable of retaining its stored information when power is turned off.

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Obstacle Model.

Used in Interference Checking, the Obstacle Model is the set of virtual model elements (spheres,

cylinders, and planes) that are used to represent the shape and the location of a given obstacle in space.

off-line

Equipment or devices that are not directly connected to a communications line.

off-line operations

Data processing operations that are handled outside of the regular computer program. For example,

the computer might generate a report off-line while the computer was doing another job.

off-line programming

The development of programs on a computer system that is independent of the "on-board" control of

the robot. The resulting programs can be copied into the robot controller memory.

offset

The count value output from a A/D converter resulting from a zero input analog voltage. Used to

correct subsequent non-zero measurements also incremental position or frame adjustment value.

on-line

A term to describe equipment or devices that are connected to the communications line.

on-line processing

A data processing approach where transactions are entered into the computer directly, as they occur.

operating system

Lowest level system monitor program.

operating work envelope

The portion of the restricted work envelope that is actually used by the robot while it is performing its

programmed motion. This includes the maximum the end-effector, the workpiece, and the robot itself.

operator

A person designated to start, monitor, and stop the intended productive operation of a robot or robot

system.

operator box

A control panel that is separate from the robot and is designed as part of the robot system. It consists

of the buttons, switches, and indicator lights needed to operate the system.

operator panel

A control panel designed as part of the robot system and consisting of the buttons, switches, and

indicator lights needed to operate the system.

optional features

Additional capabilities available at a cost above the base price.

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An operation that places two contacts or groups of contacts in parallel. Any of the contacts can control

the resultant status, also a mathematical operation.

orientation

The attitude of an object in space. Commonly described by three angles: rotation about x (w), rotation

about y (p), and rotation about z (r).

origin

The point in a Cartesian coordinate system where axes intersect; the reference point that defines

the location of a frame.

See overtravel.

output

Information that is transferred from the CPU for control of external devices or processes.

output device

A device, such as starter motors, solenoids, that receive data from the programmable controller.

output module

An I/O module that converts logic levels within the CPU to a usable output signal for controlling a

machine or process .

outputs

Signals, typically on or off, that controls external devices based upon commands from the CPU.

override

See general override.

overtravel

A condition that occurs when the motion of a robot axis exceeds its prescribed limits.

overwrite

To replace the contents of one file with the contents of another file when copying.

parity

The anticipated state, odd or even, of a set of binary digits.

parity bit

A binary digit added to an array of bits to make the sum of all bits always odd or always even.

parity check

A check that tests whether the number of ones (or zeros) in an array of binary digits is odd or even.

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parity error

A condition that occurs when a computed parity check does not agree with the parity bit.

part

A material item that is used as a component and is not an assembly or subassembly.

pascal

A unit of pressure in the meter-kilogram-second system equivalent to one newton per square meter.

path

1. A variable type available in the KAREL system that consists of a list of positions. Each node

includes positional information and associated data. 2. The trajectory followed by the TCP in a move.

PCB

See printed circuit board.

PC Interface

The PC Interface software uses Ethernet connections to provide file transfer protocol (FTP) functions,

PC send macros, telnet interface, TCP/IP interface web server functions, and host communications.

pendant

See teach pendant.

PLC

See programmable logic controller or cell controller.

PMC

The programmable machine controller (PMC) functions provide a ladder logic programming

environment to create PMC functions. This provides the capability to use the robot I/O system to run

PLC programs in the background of normal robot operations. This function can be used to control

bulk supply systems, fixed automation that is part of the robot workcell, or other devices that would

normally require basic PLC controls.

printed circuit board

A flat board whose front contains slots for integrated circuit chips and connections for a variety of

electronic components, and whose back is printed with electrically conductive pathways between

the components.

production mode

See automatic mode.

program

1. A plan for the solution of a problem. A complete program includes plans for the transcription

of data, coding for the computer, and plans for the absorption of the results into the system. 2. A

sequence of instructions to be executed by the computer or controller to control a robot/robot system.

3. To furnish a computer with a code of instructions. 4. To teach a robot system a specific set of

movements and instructions to do a task.

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programmable controller

See programmable logic controller or cell controller.

programmable logic controller

A solid-state industrial control device that receives inputs from user-supplied control devices, such

as switches and sensors, implements them in a precise pattern determined by ladder diagram-based

programs stored in the user memory, and provides outputs for control of processes or user-supplied

devices such as relays and motor starters.

Program ToolBox

The Program ToolBox software provides programming utilities such as mirror image and flip wrist

editing capabilities.

protocol

A set of hardware and software interfaces in a terminal or computer that allows it to transmit over a

communications network, and that collectively forms a communications language.

psi

Pounds per square inch.

queue.

1. Waiting lines resulting from temporary delays in providing service. 2. The amount of time a job

waits at a work center before set-up or work is performed on the job. See also job queue.

RAM

See Random Access Memory.

random access

A term that describes files that do not have to be searched sequentially to find a particular record

but can be addressed directly.

Random Access Memory

1. Volatile, solid-state memory used for storage of programs and locations; battery backup is required.

2. The working memory of the controller. Programs and variable data must be loaded into RAM

before the program can execute or the data can be accessed by the program.

range

1. A characterization of a variable or function. All the values that a function can possess. 2. In

statistics, the spread in a series of observations. 3. A programmable voltage or current spectrum of

values to which input or output analog signals can be limited.

Robot input.

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Robot output.

read

To copy, usually from one form of storage to another, particularly from external or secondary storage

to internal storage. To sense the meaning of arrangements of hardware. To sense the presence of

information on a recording medium.

Read Only Memory

A digital memory containing a fixed pattern of bits that you cannot alter.

record

To store the current set or sets of information on a storage device.

recovery

The restoration of normal processing after a hardware or software malfunction through detailed

procedures for file backup, file restoration, and transaction logging.

1. A special section of primary storage in a computer where data is held while it is being worked on.

2. A memory device capable of containing one or more computer bits or words.

remote/local

A device connection to a given computer, with remote devices being attached over communications

lines and local devices attached directly to a computer channel; in a network, the computer can be a

remote device to the CPU controlling the network.

repair

To restore robots and robot systems to operating condition after damage, malfunction, or wear.

repeatability

The closeness of agreement among the number of consecutive movements made by the robot arm to

a specific point.

reset

To return a register or storage location to zero or to a specified initial condition.

restricted work envelope

That portion of the work envelope to which a robot is restricted by limiting devices that establish

limits that will not be exceeded in the event of any reasonably foreseeable failure of the robot or its

controls. The maximum distance the robot can travel after the limited device is actuated defines the

restricted work envelope of the robot.

RIA

Robotic Industries Association Subcommittee of the American National Standards Institute, Inc.

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