This chapter briefly introduces some terms used in the Manual.

Glossary	Definition
RobotAssist	A host computer software of ROKAE xCore Control System, with functions such as robot motion control, programming, parameter configuration, and status monitoring, can run on such devices as xPad2 Teach Pendant and PC.
HMI	Human Machine Interface.
HMID	Human Machine Interface Device.
RC	Robot Controller.
RCI	Rokae Control Interface, external control interface for ROKAE robots, with real-time underlying control supported.
SDK	Software Development Kit, which will gradually replace RCI to realize underlying control of robots through C++ and other languages.
Project	A management collection of programs, tasks, and other objects that control the operation of the robot; data objects of a project can be exported and reused in other projects or robots.
Task	In xCore, it is as it suggests.
Module	In xCore, we refer it to as program module.
Elbow	It is the angle between the arm plane and the reference plane. The arm plane refers to the plane formed by the robot’s lower arm and upper arm, and the reference plane refers to the arm plane formed when the three axes are set to zero and the end-effector reaches the predefined pose.
RL	Rokae Robot Language. It provides various commands to assist the robot in building projects.
xPad2	Teach Pendant.
RSC	Robot Safety Controller.
JOG	Inching.
Null-space motion	For robots with redundant degrees of freedom, null-space motion can be utilized to move the robot’s joints while keeping the end-effector stationary.
PERS variable	Persistent variable: During the execution of a program, if the value of this type of variable changes, the variable will be automatically amended from the initial value to the current value, thus achieving the effect of "Persistent" storage.