ACR

Active command register

CMD

Command

FB

Function Block

HMI

Human machine interface

PLC

Programmable logic controller

RA

Robot Arm

RC

Robot Controller

RI

Robot Interface

SRCI

Standard Robot Command Interface

TCP

Tool Center Point

TCS

Tool Coordinate System

UCS

User Coordinate System

WPS

Wrist center point System

WCS

World Coordinate System

M/O

Mandatory/Optional