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166006-1CD
166006-1CD
Appendix C
V
RM2-755/1255SL
Positioner
User Coordinate Setting
User coordinates are defined by three points that have been taught to the
Manipulator through axis operations. These three defining points are
ORG, XX, and XY, as shown in the diagram below. These three points of
positional data are registered in a user coordinate file. ORG is the home
position, and XX is a point on the X-axis. XY is a point on the Y-axis side
of the user coordinates that has been taught, and the directions of Y- and
Z-axes are determined by point XY.
User Coordinate System
The User Coordinate System is any reference point that a user has
defined for their application. This is often attached to an object such as a
pallet and allows a user to teach points relative to this object. For
example, a set of position could be taught relative to a User Coordinate
System attached to a pallet and then easily transferred to a different User
Coordinate System on another pallet. This allows for positions to be
V
Vision Sensor
A sensor that identifies the shape, location, orientation, or dimensions of
an object through visual feedback, such as a television camera.
W
Warning
Indicates a potentially hazardous situation which, if not avoided, will result
in death or serious injury. Hazards identified by the signal word WARNING
present a lesser degree of risk of injury or death than those identified by
the signal word DANGER.
Work Envelope
The set of all points which a Manipulator can reach without intrusion.
Sometimes the shape of the work space, and the position of the
Manipulator itself can restrict the work envelope.
Work Envelope (Space)
The volume of space within which the robot can perform given tasks.
Work Home Position
The Work Home Position is a reference point for Manipulator operations. It
prevents interference with peripheral device by ensuring that the
Manipulator is always within a set range as a precondition for operations
such as starting the line. The Manipulator can be moved to the set Work
Home Position by operation from the programming pendant, or by signal
input from an external device. When the Manipulator is in the vicinity of the
Work Home Position, the Work Home Position signal turns ON.
Work Piece
Any part which is being worked, refined or manufactured prior to its
becoming a finished product.
Workspace
The volume of space within which the robot can perform given tasks.
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