Definitions

End-effector: an accessory tool specifically designed for attachment to a robot wrist to enable the robot to perform its intended task. Examples include grippers, spot-weld guns, and spray paint guns.

Envelope (space), Maximum: The volume of space encompassing the maximum designed movements of all robot parts including the end-effector, workpiece, and attachments.

Envelope, Operating: That portion of the restricted envelope (space) that is actually used by the robot while performing its programmed motions.

Envelope, Restricted: That portion of the maximum envelope to which a robot is restricted by limiting devices. The maximum distance that the robot can travel after the limiting device is actuated defines the boundaries of the restricted envelope (space) of the robot.

Limiting devices: A device that restricts the maximum envelope (space) by stopping or causing to stop all robot motion and is independent of the control program and the application programs.

Operating envelope: The physical area where a robot performs its tasks. This envelope is the volume swept by all possible programmable robot movements. This includes the area where work is performed by robot tooling.

Programming: Individual command steps which state either the position or function to be performed by the robot, along with other informational data such as speed, dwell or delay times, sample input device, activate output device, execute, etc.

Robot components: Industrial robots have four major components: the mechanical unit (i.e. the manipulative arm), the power source(s), the control system, and tooling.

Teach Mode: The control state that allows the generation and storage of positional data points effected by moving the robot arm through a path of intended motions.