ISO 8373:1994/Amd 1:1996

INTERNATIONAL
STANDARD
First edition
NORME
Premi&e bdition
1994-12-01
INTERNATIONALE
AMENDMENT 1
AMENDEMENT 1
1996-05- 15
Manipulating industrial robots - Vocabulary
AMENDMENT 1: Annex B - Multilingual annex
Robots manipulateurs industriels - Vocabulaire
AMENDEMENT 1: Annexe B - Annexe multilingue
Reference number
Numb0 de rkfkence
IS0 8373:1994/Amd.l:1996(E/F)

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IS0 8373:1994/Amd.l:1996(E/F)
Foreword
IS0 (the International Organization for Standardization) is a worldwide
federation of national standards bodies (IS0 member bodies). The work
of preparing International Standards is normally carried out through IS0
technical committees. Each member body interested in a subject for
which a technical committee has been established has the right to be
represented on that committee. International organizations, govern-
mental and non-governmental, in liaison with ISO, also take part in the
work. IS0 collaborates closely with the International Electrotechnical
Commission (IEC) on all matters of electro-technical standardization.
Draft International Standards adopted by the technical committees are
circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member
bodies casting a vote.
Amendment 1 to International Standard IS0 8373:1994 was prepared by
Technical Committee lSO/TC 184, industrial automation systems and
integration, Subcommittee SC 2, Robots for manufacturing environment.
0 IS0 1996
All rights reserved. Unless otherwise specified, no part of this publication may be
reproduced or utilized in any form or by any means, electronic or mechanical, including
photocopying and microfilm, without permission in writing from the publisher./Droits de
reproduction reserves. Sauf prescription differente, aucune par-tie de cette publication ne
peut etre reproduite ni utilisee sous quelque forme que ce soit et par aucun procede,
electronique ou mecanique, y compris la photocopie et les microfilms, sans I ’accord ecrit de
I ’editeur.
International Organization for Standardization
Case Postale 56 l CH-1211 Geneve 20 l Switzerland
Printed in Switzerland/lmprime en Suisse
ii

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0 IS0 IS0 8373:1994/Amd.l:1996(E/F)
Avant-propos
L ’ISO (Organisation internationale de normalisation) est une federation
mondiale d ’organismes nationaux de normalisation (comites membres
de I ’ISO). L ’elaboration des Normes internationales est en general confide
aux comites techniques de I ’ISO. Chaque comite membre interesse par
une etude a le droit de faire partie du comite technique tree a cet effet.
Les organisations internationales, gouvernementales et non gouverne-
mentales, en liaison avec I ’ISO participent egalement aux travaux. L ’ISO
collabore etroitement avec la Commission electrotechnique internatio-
nale (CEI) en ce qui concerne la normalisation electrotechnique.
Les projets de Normes internationales adopt& par les comites tech-
niques sont soumis aux comites membres pour vote. Leur publication
comme Normes internationales requiert I ’approbation de 75 % au moins
des comites membres votants.
L ’Amendement 1 a la Norme internationale IS0 83739994 a ete elabore
par le comite technique lSO/K 184, Systhmes d ’automatisation
industrielle et intkgration, sous-comite SC 2, Robots pour environnement
de fabrication.

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IS0 8373:1994/Amd.l :1996(E/F)
0 IS0
Manipulating industrial Robots manipulateurs
- Vocabulary industriels - Vocabulaire
robots
AMENDEMENT 1: Annexe B -
AMENDMENT 1: Annex B -
Annexe multilingue
Multilingual annex
This Amendment is a second annex to Le present Amendement constitue une deuxieme
IS0 8373:1994 and gives the equivalent terms in annexe a I ’ISO 8373:1994 et donne les termes
allemande, italienne,
the German, Italian, Japanese, Spanish and equivalents en langues
Swedish languages; the relevant member bodies japonaise, espagnole et suedoise; les comites
membres correspondants sont responsables de leur
are responsible for their publication,
publication.

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IS0 8373:1994/Amd.l:1996(E/F) 0 IS0
Annexe B
Annex B
(informative)
(informative)
Multilingual annex Annexe,multilingue
Bl . Corresponding terms in the German, Italian, Japanese, Spanish and Swedish
languages
Termes correspondants en langues allemande, italienne, japonaise, espagnole
et su6doise
Item number German terms Italian terms
Mf. du Termes allemands Termes italiens
paragraphe
2 Allgemeine Begriffe Termini generali
2.1 Manipulator manipolatore
2.2 Manipulator mit festgelegtem Ablauf manipolatore a sequenza fissa
2.3 physischer Eingriff modifica fisica
2.4 frei programmierbar riprogrammabile
2.5 mehrzweck multiscopo
2.6 Industrieroboter robot industriale di manipolazione
Roboter
robot
2.7 Steuerung sistema di comando
2.8 Playbackroboter robot programmabile per addestramento
2.9 off-line programmierbarer Roboter robot programmabile fuori linea
2.10 sequentieller Roboter robot sequenziale
2.11 bahngesteuerter Roboter robot a comando per traiettoria
2.12 adaptiver Roboter robot adattativo
2.13 mobiler Roboter robot mobile
2.14 Robotersystem sistema robotic0
2.15 Robotik robotica
2.16 Bedienperson operatore
2.17 Programmierer programmatore
2.18 Installation installazione
2.19 lnbetriebnahme _ messa in servizio
2

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IS0 8373:1994/Amd.l :1996(E/F)
0 IS0
Spanish terms Swedish terms Item
Japanese terms
Termes japonais Termes espagnols Termes su6dois Ref.
Terminos generales Allmanna termer 2
-&m:z
manipulador manipulator 2.1
7s &L P-9
manipulador de secuencia fija manipulator med fast sekvens- 2.2
.~~v-fr3-x7=s03.L-9
styrning
fysiskt ingrepp 2.3
omprogrammerbar 2.4
universe11 2.5
robot industrial manipulador industrirobot 2.6
~y&fJ7=k"sL-y~2y
robot robot
13 .* 'y b
styrsystem 2.7
~j$tjl~X~~
robot programable por guiado playback robot 2.8
yp+\'*y 3 P4$y b
off-line programmerbar robot 2.9
zj-754 Y-/P9-3?7*ILP$y I--
se kvensstyrd robot 2.10
.;/-yy=/u$*y b
banrijrelsestyrd robot 2.11
~ig$#spP~Y b
adaptiv robot 2.12'
igE=c, b
robot m6vil mobil robot 2.13
#$2l$p~~y I-
sistema rob6tico robotsystem 2.14
p l $ ‘y b -2 x y A
rob6tica robotteknik 2.15
-w432
operador operatijr 2.16
$eb-p
programador programmerare 2.17
yu9:57
instalacih installation 2.18
EHW
puesta en servicio idrifttagning (ighgkdrning) 2.19
ItJ3P
3

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IS0 8373: 1994/Amd. 1: 1996( E/F) 0 IS0
Item number German terms Italian terms
R6f. du Termes allemands Termes italiens
paragraphe
Mechanische Struktur Struttura meccanica
3
3.1 Antrieb attuatore
3.2 Arm braccio
Hauptachsen assi principali del
Nebenachsen
3.3 polso
assi secondari del
3.4 Gelenkstruktur struttura articolata
3.5 Konfiguration configurazione
3.6 Glied collegamento
3.7 Gelenke giunti
3.7.1 Schubgelenk giunto di scorrimento
slitta
3.7.2 Drehgelenk
giunto di rotazione
3.7.3 mehrgliedriges Gelenk
giunto distribuito
3.7.4 Rotoidgelenk giunto sferico
3.8 Basis base
3.9 Basismontageflache superficie di fissaggio della base
3.10 mechanische Schnittstelle interfaccia meccanica
3.11 Endeffektor dispositivo di estremita
3.12 Endeffektor-AnschluOvorrichtung element0 di accoppiamento del dispositivo di
estremita
3.13 automatischer Werkzeugwechsler
element0 per il cambio automatic0 del
dispositivo di estremita
3.14 Greifer pinza
3.15 Arten mechanischer Strukturen
tipi di struttura meccanica
3.15.1 kartesischer Roboter robot Cartesian0
robot rettangolare
zylindrischer Roboter
3.15.2 robot cilindrico
3.15.3 Polarroboter
robot polare
robot sferico
3.15.4 Pendularroboter robot a pendolo
4

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IS0 8373:1994/Amd.l:1996(E/F)
0 IS0
Japanese terms Spanish terms Swedish terms Item
Termes espagnols Termes suQdois
Termes japonais R6f.
Mekanisk uppbyggnad
I
actuador drivenhet 3.1
I I I
brazo arm 3.2
ejes principales huvudaxlar
mufieca handled
3.3
ejes secundarios handledsaxlar
estructura articulada Iledadstruktur 3.4
I I
konfiguration
3.5
I
I
lank
3.6
I I
articulaciones
leder 3.7
I I I
articulation prismatica linjarled 3.7.1
I-
HE 9 S 4 Y b (~a 9 S 4 2 J. ) 1 articulation de revolution
rotationsled 3.7.2
I I
articulation cilindrica kombinerad led
3.7.3
9459347b (fqgj
‘j.44
I I
kulled
3.7.4
I I
base sockel
3.8
4-z
I
I I
superficie de fijacion de la base sockelns monteringsyta 3.9
I
I I
interfase mecanica mekanisk anslutningsflans 3.10
/tti=fiJtd297z-X
element0 terminal verktyg 3.11
rYF=71-~9
dispositivo de acoplamiento del verktygsanslutning 3.12
x2b+=7=39QM%+
element0 terminal
automatisk verktygsvaxlare
3.13
x2t-+x7rpp~gjjgf$@gJ
pinza gripdon 3.14
#I%3
tipos de estructura mecanica
typer av mekanisk uppbyggnad 3.15
gg#&++ys Cl Jf3%&
robot Cartesian0 rektangular robot 3.15.1
~ff.jJzg&!P l $ ‘y b
robot rectangular kartesisk robot
robot cil indrico cylindrisk robot 3.15.2
fq~pJzj$u $ ‘2 j-
robot polar
sfarisk robot 3.15.3
gi@g!+$y b
robot pendular pendelrobot 3.15.4
ggQFO;r:Y I-
5

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IS0 8373:1994/Amd.l :I 996(E/F)
0 IS0
Item number German terms Italian terms
R6f. du Termes allemands Termes italiens
paragraphe
3.15.5 anthropomorpher Roboter robot antropomorfo
robot articolato
3.15.6 SCARA Roboter robot “SCARA”
Spineroboter robot “SPINE”
3.15.7
3.15.8 paralleler Roboter robot parallel0
4 Geometrie und Kinematik Geometria e cinematica
4.1 vorvvartsgerichtete Kinematik trasformazione cinematica diretta
4.2 inverse Kinematik trasformazione cinematica inversa
4.3 Achse asse
Freiheitsgrad
4.4 grado di liberta
GDL
4.5 Pose (= Position und Orientierung) posa
4.5.1 Sollpose posa di comando
programmierte Pose posa di programmata
4.5.2 lstpose posa raggiunta
4.5.3 Referenzpose posa di riferimento
4.5.4 Bahn traiettoria
4.6 Bewegungsbahn traiettoria temporale
4.7 Koordinatensysteme sistemi di coordinate
Weltkoordinatensystem ,
4.7.1 sistema di coordinate generale
4.7.2 Basiskoordinatensystem sistema di coordinate di base
4.7.3 Koordinatensystem der mechanischen
sistema di coordinate dell ’interfaccia
Schnittstelle
meccanica
4.7.4 Gelenk-Koordinatensystem sistema di coordinate dei giunti
Werkzeugkoordinatensystem
4.7.5 sistema di coordinate dell ’utensile
TCS
TCS
4.8 Raumdefinitionen spazi
4.8.1 maximaler Raum spazio massimo
4.8.2 eingeschrankter Raum spazio ristretto
4.8.3 Betriebsraum spazio operativo
6

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0 IS0 IS0 8373: 1994/Amd.l: 1996( E/F)
Japanese terms Spanish terms Swedish terms Item
Termes espagnols
Termes japonais Termes suedois Ref.
robot angular Iankarmsrobot
3.15.5
f3&jf$=4s*y b
robot Scara SCARA robot
3.15.6
robot vertebrado
spine robot 3.15.7
parallel1 robot
3.15.8
Geometria i cinemgtica Geometri och kinematik
4
direkt kinematik
4.1
omvand kinematik
4.2
eje axel 4.3
grado de libertad frihetsgrad 4.4
DOF
. .
position
lage 4.5
position de consigna
programmerat Iage 4.5.1
position alcanzada
uppnatt lage 4.5.2
position de referencia
referenslage 4.5.3
trayectoria
bana 4.5.4
tidsbaserad banrorelse
4.6
sistemas de coordenadas
koordinatsystem 4.7
sistema de coordenadas del
globalt koordinatsystem 4.7.1
entorno
sistema de coordenadas de la baskoordinatsystem 4.7.2
base
sistema de coordenadas de la anslutningsflansens
4.7.3
% fi 5 fi Jb /I 2 9 7 s - x IEEE%% intedase mecanica
koordinatsystem
sistema de coordenadas ledkoordinatsystem 4.7.4
934;/t ‘@ES
articulares
verktygskoordinatsystem
4.7.5
x=/Fx7zL3? (Y-IL)
Eiis%
espacios volymer 4.8
fiTi@
-
espacio maxim0
maximal volym 4.8.1
St ?dl%E
espacio restringido
begrhsad volym 4.8.2
#I iws~
espacio operational
utnyttjad volym 4.8.3
i!l? qiism.~
7

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IS0 8373:1994/Amd.l:1996(E/F)
0 IS0
Item number German terms Italian terms
Ref. du Termes allemands Termes italiens
paragraphe
4.8.4 Arbeitsraum spazio di lavoro
I I -1
II
4.9 Werkzeugarbeitspunkt punto di centro utensile
TCP TCP
4.10 Nebenachsen-Bezugspunkt
punto di riferimento del polso
I I -1
II
4.11 Koordinatentransformation
trasformazione di coordinate
I I
II I
5 Programmierung und Steuerung Programmazione e comando
II
1 Programme
5.1 programmi
I
II -1
5.1 .I Anwenderprogramm
programma del compito
I -1
II I
5.1.2 Steuerungsprogramm
programma di comando
5.2 Programmierung programmazione
5.2.1 Anwenderprogrammierung programmazione del compito
Programmierung programmazione
5.2.2 Programmierung mit manueller Dateneingabe programmazione con introduzione
manuale dei dati
5.2.3 Handeingabeprogrammierung
programmazione per addestramento
5.2.4 Off-line-Programmierung programmazione fuori linea
II I I -1
5.2.5 zielgerichtete Programmierung programmazione orientata all’obiettivo
I I I
II
5.3 Steuerung
comando
I I I
II
5.3.1 Pose-zu-Pose Steuerung comando posa a posa
II I -1
5.3.2 Bahnsteuerung comando continua in traiettoria
I I -1
5.3.3 Sensor-Steuerung
comando con sensore
I I 1
5.3.4 adaptive Steuerung comando adattativo
I I 1
5.3.5 selbstlernende Steuerung comando intelligente
I I I
5.3.6 Bewegungsplanung pianificazione del movimento
I I I
5.3.7 Nachgiebigkeit cedevolezza
I I
I
5.3.8 Betriebsart modo operativo
I I -1
5.3.8.1 Automatikbetrieb modo automatic0
I I --1
5.3.8.2 Handbetriebsatt modo manuale
I I I
5.4 Servosteuerung anello di asservimento
I I I

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0 IS0 IS0 8373:1994/Amd.l :1996(E/F)
Spanish terms
Japanese terms Swedish terms Item
Termes japonais Termes espagnols Termes suedois
Ref.
espacio de trabajo -7arbetsvolym ~ ~~~ 1 4.8.42F
f7stsiVs
I I
punto de referencia del element0 arbetspunkt 4.9
1.~i-7z~++Jbfi
terminal
TCP
punto de referencia de la muneca handledens referenspunkt
4.10
transformation de coordenadas koordinattransformation
4.11
Programacibn y control - Programmering och styrning
5
programas
program 5.1
I
I I
programa de tareas arbetsprogram
5.1 .I
9x3e39-3~
I I I I
programa de control styrprogram
5.1.2
fPl@Ya 3 ’5 Jb
I I r
programacion programmering
5.2
I I I
programacion de tareas programmering av arbets-
5.2.1
programacion
program
programmering
programacion por introduction programmering genom manuell 5.2.2
7 =37/b? ‘-
9.AjJYa ‘1 ’3
manual de datos
datainlasning
; ’ 23”
programmacion por ensenanza
inl&ningsprogrammering
&i$Ya3 ”: 3 23’
I I --
off-line programmering
5.2.4
~734~ ‘/09*5:~3-
programacion por objectives malinriktad programmering
5.2.5
fi~f~~'Pn 9-5 : 23'
control styrning
5.3
%mP
control punt0 a punt0 ~~Ilige-till-llge styrning~Ei
p T p%J@P
I I
control de trayectoria continua kontinuerligt banstyrning
5.3.2
control continua givarstyrning
5.3.3
control adaptativo adaptiv styrning 5.3.4
control con aprendizaje sjalvlarande styrning
5.3.5
rorelseplanering
5.3.6
i!!Ei%z-t@
I I I I
J 2Y3 4 7 2 x
(Jr~lEiW acomodacion eftergivlighet 5.3.7
modo operativo
k&s&t 5.3.8
jJg;;E- F
modo automatic0 automatiskt k&s&t 5.3.8.1
~ggJ;E-F - *
modo manual manuellt kiirsatt 5.3.8.2
+gHs- F
p+~$dJfiljl I
1 servostyrning I 5.4

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IS0 8373:1994/Amd.l :1996(E/F) 0 IS0
Item number German terms Italian terms
Ref. du Termes allemands Termes italiens
paragraphe
normaler Betriebszustand stato normale di funzionamento
automatischer Betrieb
5.6 Haltepunkt punto di arrest0
I
II I I
5.7 uberschleifpunkt punto di passaggio
I
II I I
unita portatile di addestramento
leva di comando
Steuerhebel
-“joystick”
6 LeistungskenngriiBen Prestazioni
II I I I
normale Betriebsbedingungen condizioni normali di funzionamento
6.2 Belastungen carichi
II I I I
6.2.1 Last carico
I I
II I
~~
6.2.2 Nennlast carico nominale
T I
II I
6.2.3 Maximallast
carico limite
I
II I I
6.2.4 zusatzliche Last
carico addizionale
zusatzliche Masse
6.2.5 maximale Kraft spinta massima
I
II I -1
6.2.6 maximales Moment
moment0
maximales Drehmoment coppia massima
6.3 Geschwindigkeit velocita
I I
II I
6.3.1 Einzelgelenkgeschwindigkeit velocita del singolo giunto
Einzelachsgeschwindigkeit velocita del singolo asse
6.3.2 Bahn-Geschwindigkeit
velocita in traiettoria
I I I
6.4 Beschleunigung
accelerazione
I
I -1
6.4.1 Einzelgelenkbeschleunigung
accelerazione del singolo giunto
Einzelachsbeschleunigung accelerazione del singolo asse
6.4.2 I Bahn-Beschleunigung accelerazione in traiettoria
I
I
Pose-Genauigkeit precisione di posa
Pose-Genauigkeit in einer Richtung
precisione di posa unidirezionale
Pose-Wiederholgenauigkeit
ripetibilita di posa
Pose-Wiederholgenauigkeit in einer Richtung ripetibilita di posa unidirezionale
Streuung der Mehrfachrichtungspose- variazione della precisione di posa
Genauigkeit
multidirezionale
10

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0 IS0
IS0 8373:1994/Amd.l:1996(UF)
Japanese terms Spanish terms Swedish terms
Item
Termes japonais Termes espagnols Termes suQdois
R6f.
estado normal de funcionamiento normal drift 5.5
iEZBG%E (Has%)
funcionamiento automatic0
automatisk kerning
stoppunkt 5.6
I I
passerpunkt 5.7
7~~~f~~$~ 2 b
I I I
I
consola portatil programmeringsenhet 5.8
palanca de mando
styrspak 5.9
Prestaciones
Prestanda 6
t!kE
I
condiciones normales de
normala driftsvillkor 6.1
funcionamiento
last 6.2
I I
carga last 6.2.1
Em
I
I I I
carga nominal
marklast 6.2.2
I I I
carga Iimite
maximal last 6.2.3
I I
I
extralast 6.2.4
empuje maxim0 maximal tryckkraft 6.2.5
I I I
par maxim0 maximalt moment 6.2.6
velocidad hastighet 6.3
I I I
velocidad de eje individuell ledhastighet 6.3.1
banhastighet
velocidad de trayectoria 6.3.2
acceleration
aceleracion 6.4
individuell ledacceleration
aceleracion de eje 6.4.1
aceleracion de trayectoria banacceleration 6.4.2
precision de posicionamiento Iagesnoggrannhet 6.5
enkelriktad Iagesnogrannhet
Iagesrepeterbarhet
repetibili
...