A-8
186638-1CD
186638-1CD
Appendix A
A.1 Glossary E
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Dynamics
The study of motion, the forces that cause the motion and the forces due
to motion. The dynamics of a robot arm are very complicated as they
result from the kinematical behavior of all masses within the arm's
structure. The robot arm kinematics are complicated in themselves.
E
Emergency Stop
The operation of a circuit using hardware-based components that
overrides all other robot controls, removes drive power from the robot
actuators, and causes all moving parts to stop. (R15.06)
Enable Switch
See "Enabling Device".
Enabling Device
A manually operated device which when continuously activated, permits
motion. Releasing the device shall stop robot motion and motion of
associated equipment that may present a hazard. (R15.06)
Encoder
A feedback device in the robot manipulator arm that provides current
position (and orientation of the arm) data to the controller. A beam of light
passes through a rotating code disk that contains a precise pattern of
opaque and transparent segments on its surface. Light that is transmitted
through the disk strikes photo-detectors, which convert the light pattern to
electrical signals. See "Feedback", "Closed-loop" and "Feedback Sensor".
Envelope
Is the range of movement available. This range is determined by the
length of a robot's arm and the design of its axes. Each axis contributes its
own range of motion.
EOAT
See "Gripper" or "End-effector".
End-effector
An accessory device or tool, specifically designed for attachment to the
robot wrist or tool mounting plate to enable the robot to perform its
intended task. (Examples may include: gripper, spot weld gun, arc weld
gun, spray point gun or any other application tools.) (R15.06)
Endpoint
The nominal commanded position that a manipulator will attempt to
achieve at the end of a path of motion. The end of the distal link.
Error
The difference between the actual response of a robot and a command
issued.
Expandability
Being able to add resources to the system, such as memory, larger hard
drive, new I/O card, etc.
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