70 A255 Robot Arm User Guide
99-04-23
on a slightly smaller pitch diameter than the circular spline. The wave generator is
a thin raced ball bearing assembly fitted onto an elliptical plug serving as a high
efficiency torque converter.
Interlock
A safety device connected to a machine which prevents the machine from doing
anything unless the device’s integrity is maintained or restored. For example, a
door-mounted contact switch connected to the robot e-stop circuit which breaks
contact and stops the arm when the door is opened and allows arm operation only
when the door is closed and contact is restored.
Joint
A part of an arm connecting two links and containing an axis of rotation that
provides a degree of freedom.
Limping
A method of moving the arm by disengaging the servos which normally hold the
joints in place.
Link
A rigid part of a robot arm between two neighboring joints.
Payload
The mass (weight) carried by the arm.
Pitch
See Yaw, Pitch, and Roll
Range of Motion
The extent of travel of a link or an arm, dependent on the limits of rotational
motion of the joints and the lengths of the links.
Reach
The maximum distance that the arm can extend the tool flange or gripper. It
defines the work envelope.
Resolution
The smallest increment of motion or distance that can be detected or controlled.
RAPL (Robot Automation Programming Language)
An automation-oriented, line-structured language of commands, similar to BASIC
and C, used for robot applications and communication.
Roll
See Yaw, Pitch, and Roll
Teach Pendant
A hand-held robot control terminal having a keypad and LCD display. It provides a
means to move the robot, teach locations, and run robot programs. It is connected
by its cable to the robot controller.
Umbilical Cables
Cables which connect the controller and the arm. The motor power cable carries
power to the motors. The feedback cable carries feedback from the encoders and
servo gripper, as well as power for the encoders, servo gripper, brake release, and
air solenoid control.
Work Cell
A station composed of the arm, the apparatus integrated with the arm (material
handling, reagents, sensors, etc.), and the arm workspace.
Work Envelope
The outer boundary of the workspace. The limit of the arm’s reach.
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