The stationary base structure of a robot arm that supports the first joint.īurn-In is a robot testing procedure where all components of the robot are operated continuously for an extended period of time. This is useful when using multiple robots or devices as positions defined in Base Coordinates will be the same for all robots and devices. The Base Coordinate System (sometimes referred to as World Coordinate System) defines a common reference point for a cell or application. The stable platform to which an industrial robotic arm is attached. The Axis Interference Area is a function that judges the current position of each axis and outputs a signal based on whether the current position is within a predefined range. With this function, the user can register the load of tool, the position of the tools center of gravity and the moment of inertia at the center of gravity.Ī direction used to specify the robot motion in a linear or rotary mode. The Automatic Measurement Function is an alternative to a CAD model, and it uses the robot arm itself to measure the tool properties. These properties can be derived from a CAD model of the tool. Primarily used for grasping parts and mating or fitting them together, such as in assembly line production.įor optimal robot motion, the mass properties of the end-effector should be specified. This allows a robot to be capable of reaching into confined spaces.Ī robot designed specifically for mating, fitting, or otherwise assembling various parts or components into completed products. The joints provide rotation about a vertical axis, and elevation out of the horizontal plane. Each of the joints represents a degree of freedom in the manipulator system and allows translation and rotary motion.ĭescribes a jointed device, such as a jointed manipulator. The arm itself does not include the end-effector.Ī manipulator with an arm that is broken into sections (links) by one or more joints. The actuator responds to a signal received from the control system.Īn interconnected set of links and powered joints comprising a robot manipulator that supports and/or moves a wrist and hand or end-effector through space. Note that this will not be exactly the same as the demand position, due to a multitude of unsensed errors, such as link deflection, transmission irregularity, tolerances in link lengths, etc.Ī power mechanism used to effect motion, or maintain position of the robot (for example, a motor which converts electrical energy to effect motion of the robot) (R15.07). The position or location of the tool control point. The induced motion modification is slight, but sufficient to facilitate the completion of a desired task. Accuracy is not constant over the workspace, due to the effect of link kinematics.Īn active compliant robot is one in which motion modification during the performance of a task is initiated by the control system. Accuracy is normally worse than the arm's repeatability. When the functional safety function is valid, the functional safety range can also be displayed.Ībsolute Data (ABSO Data) is a correction factor for data that establishes an indicated value of zero when the robot is at the predetermined Home (calibration position).Īccuracy is the measurement of the deviation between the command characteristic and the attained characteristic (R15.05-2), or the precision with which a computed or calculated robot position can be attained. By using the multi-window function, the job's teaching position displayed in the job content can also be confirmed on the 3D display window. Thank you for all of your support throughout the years - CoolROM will continue strong.The 3D Graphic Display Function (henceforth described as 3D Display Function) is that, a 3D model of the robot is displayed on the programming pendant window, and the current value of the robot can be confirmed. We feel we have reached this goal and helped cure more cases of nostalgia than we could have ever imagined. From the very beginning, our goal was to allow users to re-live classic moments from video games that they have lost and cannot purchase anymore. We are very grateful to have served the emulation community for so many years and to have CoolROM still exist today. This page has been removed due to a request from Nintendo of America Inc.
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