Terminology and Definitions

Maximum space

Refers to the space which can be swept by the moving parts of the robot as defined by the manufacturer, plus the space which can be swept by the end-effector and the workpiece. (Quoted from the ISO 10218-1:2006.)

Restricted space

Refers to the portion of the maximum space restricted by limiting devices (i.e., mechanical stops) that establish limits which will not be exceeded. (Quoted from the ISO 10218-1:2006.)

Motion space

Refers to the portion of the restricted space to which a robot is restricted by software motion limits. The maximum distance that the robot, end-effector, and workpiece can travel after the software motion limits are set defines the boundaries of the motion space of the robot. (The "motion space" is DENSO WAVE-proprietary terminology.)

Operating space

Refers to the portion of the restricted space that is actually used while performing all motions commanded by the task program. (Quoted from the ISO 10218-1:2006.)

Task program

Refers to a set of instructions for motion and auxiliary functions that define the specific intended task of the robot system. (Quoted from the ISO 10218-1:2006.)