Index Manuals FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual (MARRC75KR07091E Rev D)
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MARRC75KR07091E Rev D
Glossary
robot
A reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized
devices, through variable programmed motions for the performance of a variety of tasks.
Robot Model.
Used in Interference Checking, the Robot Model is the set of virtual model elements (sphere and
cylinders) that are used to represent the location and shape of the robot arm with respect to the robot’s
base. Generally, the structure of a six axes robot can be accurately modeled as a series of cylinders
and spheres. Each model element represents a link or part of the robot arm.
ROM
See Read Only Memory.
routine
1. A list of coded instructions in a program. 2. A series of computer instructions that performs a
specific task and can be executed as often as needed during program execution.
S
saving data.
Storing program data in Flash ROM, to a floppy disk (not supported on version 7.10 and later),
or memory card.
scfm
Standard cubic feet per minute.
scratch start
Allows you to enable and disable the automatic recovery function.
sensor
A device that responds to physical stimuli, such as heat, light, sound pressure, magnetism, or motion,
and transmits the resulting signal or data for providing a measurement, operating a control or both.
Also a device that is used to measure or adjust differences in voltage in order to control sophisticated
machinery dynamically.
serial communication
A method of data transfer within a PLC whereby the bits are handled sequentially rather than
simultaneously as in parallel transmission.
serial interface
A method of data transmission that permits transmitting a single bit at a time through a single line.
Used where high speed input is not necessary.
Server Side Include (SSI)
A method of calling or "including" code into a web page.
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Glossary
MARRC75KR07091E Rev D
servomotor
An electric motor that is controlled to produce precision motion. Also called a "smart" motor.
SI
System input.
signal
The event, phenomenon, or electrical quantity that conveys information from one point to another.
significant bit
A bit that contributes to the precision of a number. These are counted starting with the bit that
contributes the most value, of "most significant bit", and ending with the bit that contributes the
least value, or "least significant bit".
singulating
Separating parts into a single layer.
slip sheet
A sheet of material placed between certain layers of a unit load. Also known as tier sheet.
SO
System output.
specific gravity
The ratio of a mass of solid or liquid to the mass of an equal volume of water at 45C. You must know
the specific gravity of the dispensing material to perform volume signal calibration. The specific
gravity of a dispensing material is listed on the MSDS for that material.
SRAM
A read/write memory in which the basic memory cell is a transistor. SRAM (or S-RAM) tends to have
a lower density than DRAM. A battery can be used to retain the content upon loss of power.
slpm
Standard liters per minute.
Standard Operator Panel (SOP).
A panel that is made up of buttons, keyswitches, and connector ports.
state
The on or off condition of current to and from and input or output device.
statement
See instruction.
storage device
Any device that can accept, retain, and read back one or more times. The available storage devices
are SRAM, Flash ROM (FROM or F-ROM), floppy disks (not available on version 7.10 and later),
memory cards, or a USB memory stick.
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Glossary
system variable
An element that stores data used by the controller to indicate such things as robot specifications,
application requirements, and the current status of the system.
T
Tare
The difference between the gross weight of an object and its contents, and the object itself. The
weight of an object without its contents.
TCP
See tool center point.
teaching
Generating and storing a series of positional data points effected by moving the robot arm through
a path of intended motions.
teach mode
1. The mode of operation in which a robot is instructed in its motions, usually by guiding it through
these motions using a teach pendant. 2. The generation and storage of positional data. Positional data
can be taught using the teach pendant to move the robot through a series of positions and recording
those positions for use by an application program.
teach pendant
1. A hand-held device used to instruct a robot, specifying the character and types of motions it is to
undertake. Also known as teach box, teach gun. 2. A portable device, consisting of an LCD display
and a keypad, that serves as a user interface to the KAREL system and attaches to the operator box or
operator panel via a cable. The teach pendant is used for robot operations such as jogging the robot,
teaching and recording positions, and testing and debugging programs.
telemetry
The method of transmission of measurements made by an instrument or a sensor to a remote location.
termination type
Feature that controls the blending of robot motion between segments.
tool
A term used loosely to define something mounted on the end of the robot arm, for example, a hand,
gripper, or an arc welding torch.
tool center point
1. The location on the end-effector or tool of a robot hand whose position and orientation define the
coordinates of the controlled object. 2. Reference point for position control, that is, the point on the
tool that is used to teach positions. Abbreviated TCP.
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TOOL Frame
The Cartesian coordinate system that has the position of the TCP as its origin to stet. The z-axis of the
tool frame indicates the approach vector for the tool.
TP.
See teach pendant.
transducer
A device for converting energy from one form to another.
U
UOP
See user operator panel.
URL
Universal Resource Locator. A standard addressing scheme used to locate or reference files on
web servers.
USB memory stick
The controller USB memory stick interface supports a USB 1.1 interface. The USB Organization
specifies standards for USB 1.1 and 2.0. Most memory stick devices conform to the USB 2.0
specification for operation and electrical standards. USB 2.0 devices as defined by the USB
Specification must be backward compatible with USB 1.1 devices. However, FANUC Robotics does
not support any security or encryption features on USB memory sticks. The controller supports most
widely-available USB Flash memory sticks from 32MB up to 1GB in size.
USER Frame
The Cartesian coordinate system that you can define for a specific application. The default value of
the User Frame is the World Frame. All positional data is recorded relative to User Frame.
User Operator Panel
User-supplied control device used in place of or in parallel with the operator panel or operator box
supplied with the controller. Abbreviated UOP .
V
variable
A quantity that can assume any of a given set of values.
variance
The difference between the expected (or planned) and the actual, also statistics definitions.
vision system
A device that collects data and forms an image that can be interpreted by a robot computer to
determine the position or to “see” an object.
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Glossary
volatile memory
Memory that will lose the information stored in it if power is removed from the memory circuit device.
W
web server
An application that allows you to access files on the robot using a standard web browser.
warning device
An audible or visible device used to alert personnel to potential safety hazards.
work envelope
The volume of space that encloses the maximum designed reach of the robot manipulator including
the end effector, the workpiece, and the robot itself. The work envelope can be reduced or restricted
by limiting devices. The maximum distance the robot can travel after the limit device is actuated is
considered the basis for defining the restricted work envelope.
write
To deliver data to a medium such as storage.
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Index
D
P
DOSFILE_INF
personal computer, 9-2
built-in procedure, A-127
DRAM, 1-8
R
R545
E
order number, 9-12
Ethernet Device, 9-7, 9-11
R632
order number, 1-2
R648
F
order number, 11-2
F-ROM Disk, 9-2
RAM Disk, 9-2
file system,
9-2
RAM Disk (RD), 9-7, 9-10
filtered memory device, 9-7
flash file storage disk,
1-9
S
Flash File Storage disk (FR), 9-7, 9-9
Flash Rom (F-ROM), 1-8
semaphore, 15-9
FMD device, see filtered memory device
socket messaging
configuring, 11-3
KAREL, 11-9
I
network performance, 11-10
iRVision, A-345, A-347 to A-348, A-350 to
overview, 11-2
A-351, A-353 to A-354, A-362 to A-363
programming examples, 11-11
system requirements, 11-2
J
SRAM, 1-8 to 1-9
storage
J957 option, 9-9
file system,
9-2
storage devices
M
overview, 9-7
memory, 1-8
memory card, 9-2
U
memory card (MC), 9-7
USB memory stick, 9-3
memory device, 9-7, 9-11
USB Memory Stick Device (UD1),
9-7
to
9-8
filtered,
9-7
USB Memory Stick Device (UT1),
9-7
memory device backup, 9-11
memory device binary, 9-7
memory stick
V
USB, 9-3
V_CAM_CALIB
Index-1
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