Electrical
Troubleshooting Guide
IRB6400 M94A
Page D - 2
Glossary
CONTROL PROGRAM:
The inherent set of control instructions that define the capabilities, action, and responses of a robot
system. This program is usually not intended to be modified by the user.
COORDINATE STRAIGHT LINE MOTION:
Control wherein the axis of the robot arrives at their respective end points simultaneously, giving a
smooth appearance to the motion. Control wherein the motions of the axes are such that the tool center
point moves along a pre-specified type of path (line, circle, or other.)
CORNER PATH
The path generated when passing a fly-by point.
DECLARATION
The part of a routine or data that defines its properties.
DEVICE:
Any piece of control hardware, such as an emergency stops button, a selector switch, a control
pendant, a relay, a solenoid valve, or a sensor.
DIALOG/DIALOG BOX
Any dialog boxes appearing on the display of the teach pendant must always be terminated, usually
by pressing OK or Cancel, before they can be exited.
DRIVE POWER
The energy source or sources for the robot actuators.
EMERGENCY STOP (E-STOP) - IEC 204-1,10.7
A condition which overrides all other robot controls, removes drive power from robot axis actuators,
stops all moving parts and removes power form other dangerous functions controlled by the robot.
ENABLING DEVICE - ISO 11161, 3.4
A manually operated device which, when continuously activated in one position only, allows hazardous
functions but does not initiate them. In any other position, hazardous functions can be stopped safely.
END EFFECTOR
An accessory device or tool especially designed for the attachment to the robot wrist or tooling
mounting plate to enable the robot to perform its intended task.
ENERGY SOURCE
Any electrical, mechanical, hydraulic, pneumatic, chemical, thermal, potential, kinetic or other source.
ENVELOPE MAXIMUM
The volume of space encompassing the maximum designed movements of all robot parts including
the end effector, workpiece and attachments.
ENVELOPE RESTRICTED
The portion of the maximum envelope to which the robot is restricted by limiting devices. The maximum
distance the robot can travel after limiting devices are installed defines the boundaries of the restricted
envelope of the robot.
GLOSSARY (Cont)
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