1.4. Terms used

The following abbreviations and expression are going to be used within the project.

Table 1‑2 Terms in SafeSpace manual

Term	Description
Workspace	Workspace that the defined robot axes or the tools which is attached on the robot’s end-effector. The axes or the tool must move within the limits of the workspace.
SLP	Safely-Limited Position
SLS	Safely-Limited Speed
SOS	Safe Operating Stop
STO	Safe Torque Off
OLP	Offline Language Programming
Stopping distance	The moving distance from triggered STO to standstill state. It is described in robot troubleshooting manual. It depends on robot type, position, speed, payload and so on.
Mastering Test	The mastering test is to evaluate the calibration condition of robot and external axes.
Cell area	Cell area is a kind of the cartesian working space in world coordinate system. The cell area could be modeled with X-Y plane vertexes and Z-direction height. The cell area is configured with 3 to 10 vertexes and it should be convex polygon
Cartesian space	Cartesian space could be defined working space or protected space for monitoring tool area
Joint space	Joint space could be defined working space or protected space for monitoring joint movement. Joint space could be configured up to 4 spaces and each space consists of 8 axis maximum.
Joint speed	Joint speed is limit value for monitoring each joint speed
Global parameters	Global parameters are TCP speed limitation for monitoring Cartesian speed

1.4. Terms used​