C-9
183523-1CD
183523-1CD
Appendix C
G
RM2-755-RDR Postioner
Functional Safety Unit (FSU)
The Functional Safety Unit (FSU) is a component of the Manipulator
Controller that provides programmable safety functions that enable
collaborative operation of the robot. As these safety functions are
programmable, the FSU allows the minimization of nearby overall
equipment footprint, as well as human accessible areas. The FSU
consists of two parallel Central Processing Units (CPUs) run concurrently,
thereby providing dual channel checking. In addition, the FSU acquires
robot position from its encoders independently from the motion control
system of the robot. Based on this feedback, the FSU monitors the
Manipulator and tool’s position, speed and posture.
G
Gravity Loading
The force exerted downward, due to the weight of the robot arm and/or the
load at the end of the arm. The force creates an error with respect to
position accuracy of the end effector. A compensating force can be
computed and applied bringing the arm back to the desired position.
Gripper
An end effector that is designed for seizing and holding (ISO 8373) and
“grips” or grabs an object. It is attached to the last link of the arm. It may
hold an object using several different methods, such as: applying pressure
between its “fingers”, or may use magnetization or vacuum to hold the
.
H
Hand
A clamp or gripper used as an end-effector to grasp objects. See
, and
Hardstop
Physical block that defines the movement stop positions
Harmonic Drive
Compact lightweight speed reducer that converts high speed low torque to
low speed high torque. Usually found on the minor (smaller) axis.
Harness
Usually several wires, bundled together to deliver power and/or signal
communications to/from devices. For example, the robot motors are
connected to the Controller through a wire harness.
Hazardous Motion
Unintended/unexpected robot motion that may cause injury.
Headstock
Positioner column containing the driving mechanism
Hold
A stopping of all movements of a robot during its sequence, in which some
power is maintained on the robot. For example, program execution stops,
however power to the servo motors remain on, if restarting is desired.
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