Introduction to Automation 291

3D

Three-dimensional. Having height, width, and depth. 3D simulations can approximate all movements made in the real world.

address letter

A letter used within a part program word that signals the essential function of the word. Address letters specify the type of command to be performed.

alphanumeric

Consisting of or using both letters and numbers. Alphanumeric codes, which make up G-code programming, instruct CNC machine operation.

aluminum

A silvery-white nonferrous metal that is soft and light and has a high strength-to-weight ratio. Aluminum base metals often contain chromium and nickel.

American National Standards Institute

ANSI. A private, nonprofit organization that oversees industry standards for commercial products and services. The American National Standards Institute provides a process for industry groups to create and publish certain specifications.

amplifier circuit

An electronic device that increases amperage or voltage. An amplifier circuit is included in the drive package of a CNC machine.

arc welding

A group of welding processes that use electricity to generate the heat needed to melt base metals and any filler metal. Arc welding is portable and economical, making it the most common form of welding.

articulated robot

A type of robot that closely resembles a human arm. An articulated robot, also known as a robotic arm, has at least three revolute joints.

assist gas

A gas used during the laser cutting process that removes molten metal from a cut and improves cut quality and cutting performance. Assist gases include oxygen, nitrogen, and compressed air.

auto mode

A robot setting that allows an operator to select a program that the robot will run independently. Auto mode, or run mode, is the setting used for robots that are actively in operation.

automation

The use of self-regulated equipment, processes, or systems that meet manufacturing requirements with limited human intervention. Automation is an efficient means of production.

axis control module

A component in a robot's controller that drives, monitors, and synchronizes the motion of a robot's joints. The axis control module also controls the velocity and torque of the robot.

ballscrew

A long, threaded device that rotates to move machine components. Ballscrews are powered by drive motors.

base

The foundation of a robot that secures it to a surface. Bases for stationary robots are often secured to floors and walls for support.

base coordinate system

A positioning system in which the origin is set at the base of a robot. The base coordinate system, or base frame, is particularly useful for precisely adjusting the position of a floor-mounted unit since the base position is physically fixed.

base frame

A positioning system in which the origin is set at the base of a robot. The base frame, or base coordinate system, is particularly useful for precisely adjusting the position of a floor-mounted unit since the base position is physically fixed.

bead-around-box program

A program that moves a robot around a box shape. A bead-around-box program is often one of the first basic programs learned by operators.

blocks

A single line of a part program. A block is composed of words.

body

The casing and parts that provide structural support for the other components in the robot. The body shape of a robot varies greatly depending on the type of robot.

CAD

Computer-aided design. Computer software used to create 3D part or manufacturing component models. CAD is most often used to create part models for CNC production, but it can also be used to create 3D components for robotic simulations.

CAM

Computer-aided manufacturing. A computer software program that generates the path a machine tool must follow to produce a part. CAM software is used by CNC and robotic systems, including for welding and thermal cutting.

cantilever

A type of machine structure with a moveable vertical support and a suspended horizontal arm that holds a tool. Cantilever-type machines can be used for CNC thermal cutting.

Cartesian coordinate system

A positioning system that uses three linear axes perpendicular to each other to locate positions in three-dimensional space. The three linear axes in the Cartesian coordinate system are the X axis, Y axis, and Z axis.

Cartesian robot

A type of robot that moves along three orthogonal axes. Cartesian robots have linear joint movement that gives them a highly rigid structure, allowing them to lift heavy objects.

chemical reaction

A process that changes the properties of one or more substances. Chemical reactions alter the physical structure of a substance in some way.

circular program

A program that moves a robot in an arc or complete circle by defining a series of points along the path. Circular programs are often used for tasks like welding, dispensing, or cutting circular shapes.

CNC

Computer numerical control. A programmable system of software and hardware that directs the operation of a machine. CNC systems use mathematical data to direct machine movements.

CNC controller

The computer that operates a CNC machine by interpreting and executing programs. CNC controllers manage motor movements, speed, and tool functions.

cobots

A robot designed to work safely in coordination with humans. Cobots, or collaborative robots, are useful for assisting with tasks that require precision and repetitive movements.

collaborative robots

A robot designed to work safely in coordination with humans. Collaborative robots, or cobots, are useful for assisting with tasks that require precision and repetitive movements.

commands

A specific instruction given to a computer application to perform a task or function. Commands may be entered into a control system through a computer, teach pendants, or feedback devices.

compressed gas

Any gas held under pressure in a gas cylinder. Compressed gases, such as nitrogen, argon, and oxygen, are sometimes used in plasma cutting.

computer numerical control

CNC. A programmable system of software and hardware that directs the operation of a machine. Computer numerical control systems use mathematical data to direct machine movements.

computer-aided design

CAD. Computer software used to create 3D part or manufacturing component models. Computer-aided design is most often used to create part models for CNC production, but it can also be used to create 3D components for robotic simulations.

computer-aided manufacturing

CAM. A computer software program that generates the path a machine tool must follow to produce a part. Computer-aided manufacturing software is used by CNC and robotic systems, including for welding and thermal cutting.

conductive

Able to easily transfer or convey heat or electricity. Copper is electrically and thermally conductive.

control systems

A manual or automatic system used to manage dynamic processes. Control systems adjust or maintain an automated process's physical variables such as temperature, speed, or position.

controller

The main device that processes information and carries out instructions in a robot. The controller has a CPU or processor and provides the means for interfacing with the robot, saving programs, and processing instructions to drive the robot.

coordinate systems

A system that uses axes to describe the location of an object in three-dimensional space. A coordinate system, or reference frame, expresses the location of any point as the distance from it to the origin, or the fixed intersection of axes.

copper

A reddish nonferrous metal that is very ductile, thermally and electrically conductive, and corrosion resistant. Copper is often used to make electrical components.

current

The flow of electricity through a circuit. The amount of current in a circuit is known as amperage and is measured in amperes (A), or amps.

cutting nozzle

The component that directs and aligns the assist gas with the laser beam in laser beam cutting. Cutting nozzles must be carefully chosen to avoid any errors during the cutting process.

cutting table

The surface on which the workpiece rests during a cutting process. The cutting table supports the workpiece and catches sparks and slag produced while cutting.

cutting tip

A replaceable nozzle for a gas torch that is adapted for oxyfuel cutting instead of welding. Cutting tips come in a variety of sizes and orifice configurations for different types of fuel gas and the depths of cut.

cutting torch

A tool used to control the severing of a workpiece during thermal cutting processes. Cutting torches are specialized to the type of thermal cutting process in which they are used.

cybersecurity

Protection against criminal or unauthorized access to computer networks, programs, and data. Cybersecurity has become a major industrial concern as networking and connectivity have increased.

cycle time

The actual time it takes to perform a task and forward it to the next step. Cycle times can be reduced when automation is integrated into processes.

cylindrical robot

A type of robot that has a combination of revolute and prismatic joints and a column-type configuration. Cylindrical robots work in cylindrical work envelopes.

Deadman switch

A control device that must be depressed for a robot to move. Deadman switches are a safety feature on robotic teach pendants.

debugging

Testing programs to identify and fix errors. Debugging ensures that robot programs and operations are safe and work as intended.

degrees of freedom

The ability to move in a specific direction in three-dimensional space along or around an axis. Industrial robots typically have a maximum of six degrees of freedom, three for position and three for orientation.

Delta robot

A special type of robot that has three sets of connected arms that work in conjunction to move one end effector. Delta robots are most commonly used in pick-and-place applications and for welding small components.

destination points

Specific, defined coordinates in a robot's environment that it is programmed to reach. Destination points define the end of motion during a performed task or step in a task.

divot

A gouge in the surface of a metal workpiece. Divots are often created at the pierce point of a cutting toolpath.

drive motor

A component in a CNC drive system that powers the movement of the machine components. Drive motors include stepper and servo motors.

drive package

An integrated system of electronic and mechanical components that powers a CNC machine's motion through instructions from the controller. A drive package usually includes some combination of motors, transmission systems, and feedback devices.

dross

Re-solidified metal that forms during some thermal cutting processes. Dross is a result of oxidation on the surface of molten metals.

dry run

A trial run of a CNC part program without the workpiece loaded on the cutting table. Dry runs are commonly used to prove out a part program.

electric shock

The flow of electricity through the body. Electric shock is dangerous and, depending on the level of exposure, can be fatal.

electrode

A conductor used to establish electrical contact in an electrical circuit. Electrodes can also serve as filler metal.

emergency stop

E-stop. A pushbutton that, when pressed, brings a machine to a safe, rapid halt. The emergency stop is installed on the teach pendant of a robot.

encoders

A device that translates rotary or linear motion into a digital signal. Encoders can determine a robot's position.

end effector

A device attached to a robot that allows it to interact with a part, component, or material. An end effector, also known as an end-of-arm tool, may be a welding gun or cutting torch.

end-of-arm tool

A device attached to a robot that allows it to interact with a part, component, or material. An end-of-arm tool, also known as an end effector, may be a welding gun or cutting torch.

e-stop

Emergency stop. A pushbutton that, when pressed, brings a machine to a safe, rapid halt. The E-stop is installed on the teach pendant of a robot.

external sensors

A type of sensor that is located outside of or mounted to a robot. External sensors provide feedback about the robot's environment.

feedback

A signal sent back to a control system that describes the condition of equipment and tools. Feedback comes from devices like sensors and encoders.

feedback system

A means of monitoring the position of a machine tool and sending informational signals back to the machine control unit. Feedback systems provide information that allows the control unit to make any necessary corrections during the cutting process.

fixed

Stationary or permanent. Fixed points are usually used as defaults.

fixed

Stationary or permanent. Fixed structures are used to mount CNC thermal cutting tools.

fixture

A customizable, modular workholding device created by configuring locators, supports, and clamps. Fixtures are useful when holding irregularly shaped workpieces or when holding multiple workpieces for a single operation.

focusing device

A lens or mirror, or set of devices, aligned within a mechanical assembly that is used to concentrate a laser beam. Focusing devices, which are sometimes called focus heads, concentrate a laser beam to a focal point.

footprint

A specification that indicates the amount of floor space a machine or work area occupies. Footprint size can be reduced by automation.

force

A push or pull that changes an object's motion or state of rest. Forces have specific directions and magnitudes.

fuel gas

A gas that can store potential energy and release it as thermal energy or that can be used to perform work. Fuel gases are mixed with oxygen to perform oxyfuel processes such as welding and cutting.

gantry

A bridge-like overhead structure with a platform for supporting equipment or tooling on machines. Gantries may be used to move robot manipulator arms for welding or tools on CNC thermal cutting machines.

gas cylinders

A metal container that stores compressed gases. Gas cylinders are built specifically for each gas and have different properties depending on the gas.

gas tungsten arc welding

GTAW. A precise arc welding process that uses a non-consumable tungsten electrode and inert shielding gas. Gas tungsten arc welding is also known by the nonstandard term tungsten inert gas welding (TIG welding).

G-code

An individual word in a CNC part program that instructs a CNC machine on where to move its tool, how quickly to move it, and what path its movement should follow. G-codes consist of the letter "G" followed by a number.

G-code programming

CNC machine instruction using G-code as the programming language. G-code programming is standardized for CNC machines by the American National Standards Institute.

hand guiding

An online programming method in which programmers physically move a robot through the steps of a manufacturing operation. Hand guiding, also known as lead-through programming, poses more safety risks to the trainer than teach-pendant programming and requires enhanced sensing technology.

heat input

The amount of thermal energy transferred to the workpiece during welding. Heat input is measured in kilojoules per inch (kJ/in.) or kilojoules per millimeter (kJ/mm).

HMIs

Human-machine interface. A device connected to a machine that allows operators to monitor and control a machine or process. An HMI may have a touchscreen or control pad.

human-machine interface

HMI. A device connected to a machine that allows operators to monitor and control a machine or process. A human-machine interface may have a touchscreen or control pad.

human-robot collaboration

HRC. Any manufacturing process in which a human operator and a robot work closely together to complete the task. Human-robot collaboration is a growing robot application as it allows for more flexibility in the use of robots while improving the efficiency of an operation.

industrial robots

A reprogrammable machine sometimes used in place of a person in a manufacturing setting. Industrial robots perform dangerous or repetitive tasks with a high degree of accuracy.

information technology

IT. The department within an organization that is responsible for developing and managing computer systems. Information technology works with hardware, software, networks, and other computerized devices.

infrared

IR. Invisible radiant energy emitted by heat sources with wavelengths slightly longer than visible red light. Infrared radiation is emitted by the welding arc and can damage vision.

input devices

A device that enables communication, programming, or condition monitoring for a robot. Input devices include keyboards, teach pendants, and sensors.

input signals

The information sent to a robot. Input signals provide information about a robot's operating conditions.

Integrated Development Environments

IDEs. Software that allows robot programmers to write, debug, and test program code. Integrated Development Environment software combines multiple types of software and processes into one platform.

internal sensors

A type of sensor that is located inside a robot. Internal sensors provide feedback about the state of the robot.

International Electrotechnical Commission

IEC. An international organization that prepares and publishes all standards for electrical, electronic, and related technologies. The International Electrotechnical Commission develops standards that are applied in Europe and other countries.

International Society of Automation

ISA. A non-profit technical society for engineers, technicians, and other professionals in the field of automation. The International Society of Automation develops standards and guidelines for safe industrial automation.

iron

A metallic compound containing iron and oxygen. Iron reacts with oxygen to create a kerf during thermal cutting.

jog

To move a machine component using machine controls. To jog a robot, an operator must use a teach pendant.

jog frame

A positioning system in which the origin is set by the user for manual robot manipulation. In the jog frame, the robot moves without restrictions from other coordinate systems, making it easier to jog the robot or troubleshoot motion errors.

joint coordinate system

A positioning system aligned with an origin on each specific joint. The joint coordinate system, or joint frame, defines the movements of a robot based on the direction of joint rotation.

joint frame

A positioning system aligned with an origin on each specific joint. The joint frame, or joint coordinate system, defines the movements of a robot based on the direction of joint rotation.

joints

A connecting component of a robot that enables relative motion between connecting links. Joints on a robot mimic the movement of human joints, such as wrists or elbows.

kerf

Material removed from a workpiece during a thermal cutting operation. Kerf sometimes refers to the width of a cut or the width of the material removed by a cutting process.

laser beam

An intense beam of coherent, collimated, monochromatic light that can be precisely aimed and controlled. Laser beams can be used to cut and weld materials and for other thermal processes.

laser beam cutting

LBC. A thermal cutting process that uses a focused beam of coherent, collimated, monochromatic light to sever a workpiece. Laser beam cutting is usually an automated process that produces intricate and repeatable cuts.

laser beam welding

LBW. A welding process which uses a laser to create a weld. Laser beam welding makes deep, strong, clean welds, but it is expensive and requires either automation or a highly trained welder.

laser vision sensors

A type of photoelectric sensor that uses a laser beam to inspect objects without physical contact. Laser vision sensors can detect part characteristics such as weld seams.

lead-in

A section at the beginning of a toolpath that starts a cut at a location that will not be visible or create a defect in the finished product. Lead-ins are often used in CNC thermal cutting processes.

lead-outs

A section at the end of a toolpath that ends a cut in a location off the finished workpiece. Lead-outs are sometimes used in CNC thermal cutting processes.

lead-through programming

An online programming method in which programmers physically move a robot through the steps of a manufacturing operation. Lead-through programming, also known as hand guiding, poses more safety risks to the trainer than teach-pendant programming and requires enhanced sensing technology.

lifter

A specialized component on a CNC thermal cutting machine where the cutting tool is mounted. Lifters also control vertical movement of the cutting tool.

light curtains

A field of light that stops a machine when the light is blocked by an object. Light curtains send a stopping signal to the controller to prevent mechanical parts from striking personnel and equipment.

linear axes

An axis that describes linear movement. Linear axes describe side-to-side, front-to-back, or up-and-down movement.

linear joint

A joint that moves in a straight line across one axis. Linear joints are also known as prismatic joints.

linear program

A program that moves the robot in a straight line between points. Linear programs are precise and easy for controlling a robot's path.

linear scale

A type of feedback device that relies on the strength of an electrical current to convey information about the position or distance of a machine. A linear scale is one of the most accurate feedback devices.

links

A rigid body between two joints. A robot's link movement is actuated by motors in the joints.

low-alloy steel

A steel that contains small amounts of intentionally added materials that change the properties of the metal. Low-alloy steels commonly include manganese, molybdenum, and nickel.

machine guards

A rigid shield or cover that encloses hazardous areas on a machine. Machine guards prevent accidental machine contact with body parts and prevent debris, such as chips, from exiting the machine.

material handling

The process of loading, unloading, placing, or manipulating material. Material handling operations often require highly repetitive tasks that are ideal for robotic work.

M-codes

An individual word in a CNC part program that instructs a machine on the operation of its auxiliary functions, such as when to turn the tool on and off. M-codes consist of the letter "M" followed by a number.

mechanization

The use of machines to perform manufacturing processes. Mechanization still requires operators to control and monitor processes.

micromachining

A high-precision manufacturing process used to create extremely small, intricate components or features. Micromachining involves removing material at a small scale to achieve tight tolerances and precise features like tiny threads or slots.

mild

A carbon steel that contains less than 0.30% carbon. Mild steels, also known as low-carbon steels, are generally tough, ductile, and easily welded.

mobile robots

A robot that is able to move through space. Mobile robots often use tracks or a set of independent wheels to move.

modal command

A type of command used in a CNC part program that stays in effect regardless of subsequent G-code commands. Modal commands remain active until another modal command is entered.

model

A representation of a part or other object. Models are usually three-dimensional and can be physical or digital.

motion control keys

A set of keys that can control the direction of robot motion, including forward, backward, right, and left direction buttons. Motion control keys are used for lead-through programming and robot positioning.

negative numbers

A number representing a value less than zero. Negative numbers are always preceded by a minus sign (-) to indicate their negative value.

nesting software

A CAM program tool that optimizes the arrangement of parts on raw materials to minimize waste and reduce costs. Nesting software is especially helpful for automated thermal cutting applications using sheet metal.

network connectivity

The capability of computer systems and devices to share information across networks. Network connectivity is a key aspect of modern automation.

number keys

A set of keys that are used to enter numerical data. Number keys may be used to enter axis positions.

numerical data

Any type of information that is expressed in numbers. Numerical data is used to program the movement of CNC machines.

offline programming

A type of robot programming in which the programmer writes commands from a remote location, which are downloaded to a robot. Offline programming involves either writing all the instructions for an operation or using a computer simulation of operations.

on/off switch

A control device that can control power for a equipment. On/off switches have no intermediate states.

online programming

A method of creating instructions for a robot in which the programmer interacts directly with an active robot. Online programming includes teach-pendant programming and lead-through programming.

optical encoder

A type of feedback device that records light reflections during the cutting process. The optical encoder then converts those reflections into feedback signals.

optical energy

Energy in the form of light. Optical energy is converted into thermal energy during laser beam cutting.

origin

The fixed, central point in a coordinate system where axes meet. The origin has a numerical value of zero.

output signals

The information sent to the robotic body or arm. Output signals activate work tools.

oxidizing

Chemically combining and reacting with oxygen. Oxidizing the iron in a heated ferrous metal workpiece creates a kerf during oxyfuel cutting.

oxyfuel cutting

OFC. A thermal cutting process that uses a flame produced by a mixture of oxygen and fuel gas along with a high pressure stream of oxygen to sever a workpiece. Oxyfuel cutting, which is sometimes called flame cutting or gas cutting, is a very convenient and cost-effective cutting process.

oxyfuel welding

A fusion welding process that uses a flame produced by a mixture of oxygen and acetylene gas. Oxyfuel welding is also known as oxyacetylene welding.

parallel

Extending in the same direction and equally distant from one another at all points. Parallel lines or objects never intersect.

part program

A series of digitized instructions used by a CNC machine. Part programs guide the machine tool to perform the necessary sequence of operations to machine a specific workpiece.

payload

The maximum amount of weight that a machine is able to manipulate. Exceeding payload limits creates a hazard for robot operators.

perpendicular

Intersecting at right angles. A vertical line is perpendicular to an intersecting horizontal line.

personal computers

PCs. A processor-driven device that runs multiple programs and processes simultaneously. A personal computer may be used as an input device.

personal protective equipment

PPE. Articles of clothing or safeguarding devices that employees use to prevent injury in the workplace or on worksites. Welding PPE includes safety glasses, insulated gloves, face shields, and earplugs.

pick-and-place

A robot or robotic device that moves parts from one location to another. Pick-and-place robots, sometimes called part-transfer robots, improve the precision, quality, and speed of manufacturing operations.

pierce point

The area where the cutting tool first makes contact with the workpiece and starts the cutting process. Pierce points usually create a divot and/or visible dross on the topside of the workpiece.

plasma

A state of matter created by energizing a gas. Plasma is characterized by its high temperature and electrical conductivity, making it useful for metal cutting.

plasma arc cutting

PAC. A thermal cutting process that uses a jet of gas that has been ionized by an electric arc to create plasma. Plasma arc cutting is a quick process that creates high-quality cuts.

plasma welding

A welding process that emits a plasma arc and an external shielding gas. Plasma welding is commonly used for deep, narrow welds.

point-to-point program

A program that moves the robot from the source position to the target position without using waypoints. A point-to-point program provides fast, time-optimized movement.

positional data

Information about the position of a device or component. Positional data is used to program a machine or robot's movement.

positive numbers

A number representing a value greater than zero. Positive numbers are sometimes preceded by a plus sign (+) to indicate their positive value.

power sources

The device that provides the electricity needed to perform welding. Power sources can be plugged into wall outlets or use mechanical devices such as motors or generators to produce electricity.

presence sensing devices

A mechanism used to detect the location of people or objects near hazardous areas of a machine. Presence-sensing devices often use pressure-sensitive mats or light curtains.

prismatic joint

A joint that moves in a straight line across a single axis. Prismatic joints are also known as linear joints.

procedural data

Information about the steps necessary to perform a process. Procedural data is used to program a machine or robot's operation.

program

The instructions entered into a central processing unit that directs equipment. A program contains lines of instruction.

program control keys

A type of key on a teach pendant for selecting and executing programs. Program control keys assist operators in providing machines with directions for movement and tasks.

program input device

A device that delivers the part program to the CNC controller. Program input devices can be sensors, switches, or USB connections.

programming language

A set of symbols and rules used to represent information. Programming languages instruct processors on the manner in which they should carry out a process.

prove out

To verify the accuracy of a part program before implementing it. To prove out a program, a CNC operator must closely monitor machine operation while conducting a dry run.

proximity sensors

A device that uses an electronic sensing field to detect the presence of an object. Proximity sensors can be used in conjunction with robots to help position the robot in space relative to other objects.

rack and pinion

A gear pair that consists of a circular gear, or pinion, that meshes with a flat-toothed bar, or rack. Rack and pinions are sometimes used in CNC thermal cutting machines to convert rotary motion into linear motion.

reach

The length of a fully extended robot from its base to the tip of the end effector. A robot's reach determines the size of its work envelope.

reference frames

A system that uses axes to describe the location of an object in three-dimensional space. A reference frame, or coordinate system, expresses the location of any point as the distance from it to the origin, or the fixed intersection of axes.

revolute joint

A joint that rotates around a single circular axis. Revolute joints, also called rotary joints, give robotic arms wide ranges of movement.

robotic

A technology or industry that is focused on automated and programmable equipment. Robotics in manufacturing uses robots to perform tasks with a high degree of accuracy.

robotic arm

A type of robot that closely resembles a human arm. A robotic arm, also known as an articulated robot, has at least three revolute joints.

rotary joint

A joint that rotates around a single circular axis. Rotary joints, also called revolute joints, give robotic arms wide ranges of movement.

rotational axis

An axis that describes rotation around a linear axis. The rotational axes in the Cartesian coordinate system are as the RX axis, RY axis, and RZ axis.

RX axis

The rotational axis that describes motion around, or about, the X axis. Movement about the RX axis is called roll.

RY axis

The rotational axis that describes motion around, or about, the Y axis. Movement about the RY axis is called pitch.

RZ axis

The rotational axis that describes motion around, or about, the Z axis. Movement about the RZ axis is called yaw.

safety barriers

A movable or permanent structure that keeps employees from entering or accessing dangerous areas during a machine operation. Safety barriers include structures like gates and fences.

seam welds

A continuous weld made on or between overlapping metal parts. Seam welds are often used for tanks or pipes.

seams

The place where base metals meet or overlap. The welder guides the electrode along the seam to fuse metals together.

selective Compliance Assembly Robot Arm robot

SCARA robot. A type of cylindrical robot that has four axes of movement: X, Y, Z, and Theta Z. Selective Compliance Assembly Robot Arm robots are often used for material handling applications.

sensors

A device that detects a change in a physical stimulus and turns it into a signal that can be measured or recorded. Sensors allow robots and other devices to interact with their environment and operate with little human intervention.

simulation

A computer re-creation of a physical space and activity. Simulations allow engineers to walk a three-dimensional model of a robot through a computerized version of an operation and record the robot's movements to upload to the physical robot.

single-step program

A program used by programmers to teach a robot its movements one line at a time. In a single-step program, a programmer moves the robot to its desired location and records that location one movement at a time.

slag

A substance created when remnants of molten metal resolidify. In thermal cutting processes, slag is usually composed of metal oxides.

smart manufacturing

A method of manufacturing designed to improve product design and processes through the integration of digital technology throughout the supply chain. Smart manufacturing increases connectivity between all areas of product development.

software

A set of digitized programs and operating procedures. Software determines the actions or performance of a computer or machine.

soldering

A joining process in which a filler metal is melted at temperatures below 840°F (450°C) to form a joint between two base metals. Soldering is often used for delicate projects, such as jewelry and electronics.

spherical robot

A type of robot that has a joint configuration that allows the robot to rotate in a desired direction and then extend to reach an object. A typical spherical robot typically has two revolute joints and one prismatic joint.

spot welding

A welding process in which parts are squeezed together between two electrodes and subjected to a large amount of electric current to form a joint. Spot welding is largely used in the automotive industry.

stainless steel

A type of steel that contains 11-30% chromium and exhibits excellent hardness and corrosion resistance. Stainless steel can be welded with many different welding processes.

syntax

The format or order each word in a part program follows. Syntax errors can cause serious problems within a part program.

teach mode

A robot setting that allows an engineer or operator to control the robot's movements and save those movements as an operating program. Teach mode, or manual mode, is used in online programming.

teach pendants

An input device used to control a robot's operation and program the robot. Teach pendants may have control buttons, a joystick, or a touchscreen.

teach-pendant programming

An online programming method in which programmers take a robot through a process using a remote control or other machine interface. Teach-pendant programming is the most commonly used type of online programming.

thermal cutting

A cutting process that uses heat to remove metal from a workpiece. Thermal cutting processes include oxyfuel, air carbon arc, plasma arc, and laser beam.

thermal energy

A form of power that produces heat. Thermal energy is used to cut materials in thermal cutting processes like laser cutting and plasma cutting.

three-dimensional

3D. Having length, width, and depth. Three-dimensional objects can be located using the Cartesian coordinate system.

tool center point system

TCP system. A coordinate system in which the origin is the tip of the end effector. The tool center point system adjusts for offsets and must be configured for each end effector used.

tool coordinate system

A positioning system in which the origin is set at the robot's wrist. The tool coordinate system, or tool frame, moves as the tool attached to the robot moves.

tool frame

A positioning system in which the origin is set at the robot's wrist. The tool frame, or tool coordinate system, moves as the tool attached to the robot moves.

toolpath

The route followed by the tool as it creates the workpiece. Toolpaths consist of a series of coordinate positions.

torch

An instrument used to generate the flame or arc for welding or thermal cutting. The torch either holds the electrode during arc welding or is specialized for its intended type of thermal cutting.

torque

A force that causes rotation. Torque attempts to twist or rotate an object.

travel speed

The rate at which a cutting torch or welding gun moves along the surface of a workpiece. Travel speeds are measured in inches or millimeters per minute.

ultraviolet

UV. Invisible radiant energy emitted by light sources with wavelengths slightly shorter than violet light. Ultraviolet radiation is emitted by the welding arc and can cause skin and eye issues with prolonged exposure.

universal joints

A specialized joint that provides rotational motion and freedom at the connection points. Universal joints are used in Delta robots.

universal serial bus connection

USB connection. A port on a computer that is compatible with many different types of devices. Universal serial bus connections are used by a variety of devices, including machine controllers.

user coordinate system

A positioning system in which the origin is set by the user. In the user coordinate system the origin is usually set to the worktable or a workholding device.

ventilation

A means of moving air to remove contaminants and provide clean air. Ventilation reduces the hazards posed by welding fumes and gases.

vision sensors

A type of sensor that uses a camera to detect the presence, orientation, and features of an object. Vision sensors provide guidance to robots.

voltage

The electrical force or pressure that causes current to flow in a circuit. Voltage is measured in volts (V).

weave patterns

The path used when moving the electrode in a side-to-side motion to deposit weld metal into a joint. Weave patterns create an even layer of weld metal and produce wide, strong welds.

welding

A joining process that permanently fuses two separate components together. Welding uses heat, pressure, or a combination to make one new part.

welding fixtures

A rigid or adjustable device used to hold, align, and secure workpieces during welding. Welding fixtures are often used with robotic welding to prevent movement, reduce distortion, and ensure high-quality production.

welding gun

A welding instrument that conducts electricity, guides the electrode, and, in some cases, releases shielding gas. Welding guns are used in some automatic welding processes, such as robotic welding.

wire feed speed

WFS. The rate at which the wire electrode is fed through the welding gun. Wire feed speed determines amperage and the amount of heat in the arc.

wire feeders

A device that delivers a supply of wire electrode to the welding gun. The wire feeder may be built inside the power source or be an external device set beside it.

words

An address letter paired with a number used within a part program. Words instruct a machine on specific movements.

work envelope

The defined area through which a robot can move. The work envelope is generally enclosed by a cage or guard fence and defines the area that operators should remain outside in order to be safe during active production.

workcell

An arrangement of machines, tooling, materials, and operators structured around the design of similar products. Workcells encourage smooth product flows and use space efficiently.

workholding

A device used to locate and support a workpiece for manufacturing operations. Common workholding devices include clamps, fixtures, chucks, collets, and centers.

work-object coordinate system

A positioning system in which the origin is set to a point on the workpiece. The work-object coordinate system is most useful when workpieces may be moved during a manufacturing operation, such as flipping a part so it can be welded on both sides.

workpieces

A part that is being worked on during manufacturing. The workpiece may be subject to cutting, welding, forming, or other operations.

world coordinate system

A positioning system in which the origin is set to a fixed point in the manufacturing area. The world coordinate system, or world frame, facilitates programming of two or more robots that must work together.

world frame

A positioning system in which the origin is set to a fixed point in the manufacturing area. The world frame, or world coordinate system, facilitates programming of two or more robots that must work together.

wrist

The joint that connects the end effector of the robot to the robot arm. Wrist joints have a number of components to allow full rotational movement for end effector.

X axis

The linear axis that describes front-to-back or side-to-side movement. The X axis is one of the two horizontal axes in the Cartesian coordinate system.

Y axis

The linear axis that describes side-to-side or front-to-back movement. The Y axis is one of the two horizontal axes in the Cartesian coordinate system.

Z axis

The linear axis that often describes up-and-down movement. The Z axis is the only vertical axis in the Cartesian coordinate system.