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Paragraph B

Changes not yet applied. Later legislation changes this provision in ways not yet written into the text below:

The definitions of other terms used in the Table are as follows—

(1)

“Coating process” includes coating repair and refurbishing as well as original coating.

(2)

Multiple-stage coatings in which an element or elements are desposited prior to application of the aluminide coating, even if these elements are deposited by another coating process, are included in the term “alloyed aluminide coating”, but the multiple use of single-stage pack cementation processes to achieve alloyed aluminides is not included in the term “alloyed aluminide coating”.

(3)

Multiple-stage coatings in which the noble metal or noble metals are laid down by some other coating process prior to application of the aluminide coating are included in the term “noble metal modified aluminide coating”.

(4)

“Mixtures” consist of infiltrated material, graded compositions, co-deposits and multilayer deposits and are obtained by one or more of the coating processes specified in this table.

(5)

“MCrA1X” refers to an alloy where M equals cobalt, iron, nickel or combinations thereof and X equals hafnium, yttrium, silicon or other minor additions in various proportions and combinations.

(6)

“Aluminium alloys” as a substrate in this Table means alloys usable at temperqatures above 500 K (227°C).

(7)

“Corrosion resistant steel” means such steel as complies with AISI (American Iron and Steel Institute) 300 series or equivalent national standard for steels.

(8)

“Refractory metals” as a substrate in this Table means the following metals and their alloys: niobium (columbium), molybdenum, tungsten and tantalum.

There shall be excluded from this entry technology for single-stage pack cementation of solid air foils.

IL1391

Robots, robot controllers and robot end-effectors the following: and specially designed components and specially designed ODMA software therefor—

Note: for the purposes of this entry specially designed components includes mechanical structures.

  1. (a)

    Robots having any of the following characteristics—

(1)

capable of employing feedback information in real-time processing from one or more sensors to generate or modify programmes or to generate or modify numerical programme data

C

  • except—

    1. (1.)

      robots capable of using only information derived from sensors which can be used to measure—

    2. (a)

       the internal state of the robot, ie, velocity, position (by other than inertial position measuring systems), drive motor current or voltage, fluid or gas pressure or temperature;

    3. (b)

       through-the-arc current (or voltage) for weld seam tracking; or

    4. (c)

       binary or scalar values for:

    5. (1)

        determing the position of the robot relative to a work piece;

    6. (2)

        tool drive motor voltage or current or hydraulic/pneumatic pressure for determination of force or torque; or

    7. (3)

        external safety functions.

    8. (2.)

      robots capable of using only information derived from vision systems having any of the following characteristics—

    9. (a)

       capable of processing no more than 100,000 pixels using an industrial television camera, or no more than 65,536 pixels using a solid-state camera;

    10. (b)

       using a single scene analysis processor having neither a word size of more than 16-bit (excluding parity bits) not parallel processing for the same task;

    11. (b)

      Note: Systems with a 16-bit word length and not more than a 32-bit architecture are regarded as 16-bit systems for the purposes of this exception.

    12. (c)

       software not capable of full three-dimensional mathematical modelling or full three-dimensional scene analysis;

    •  Note: Approximation of the third dimension by viewing at a given angle or limited grey scale interpretation for the perception of depth or texture (2½D) is included.

    1. (d)

       having no user-accessible programmability other than by input reference images through the system’s camera; or

    2. (e)

       capable of no more than one scene analysis every 0.1 second.

    3. (3.)

      robots capable of using only information derived from end-effectors not specified in head (c) below.

(2)

specially designed to comply with national safety standards applicable to explosive munitions environments

C
(3)

incorporating means of protecting hydraulic lines against externally induced punctures caused by ballistic fragments (e.g. incorporating self-sealing lines) and designed to use hydraulic fluids with flash points higher than 839 K (566°C)

C
(4)

specially designed for underwater use such as those incorporating special techniques or components for sealing, pressure compensation or corrosion resistance

C
(5)

operable at altitudes exceeding 30,000 metres

C
(6)

specially designed for outdoor applications and meeting military specifications therefor

C
(7)

specially designed or rated for operating in an electromagnetic pulse (EMP) environment

C
(8)

specially designed or rated as radiation-hardened beyond that necessary to withstand normal industrial (other than nuclear industry) ionising radiation

C
(9)

equipped with a robot manipulator arms which contain fibrous and filamentary materials specified in entry IL1763 in Group 3I

C
(10)

equipped with precision measuring devices specified in entry IL1532 in Group 3F

C
(11)

specially designed to move autonomously its entire structure through three-dimensional space in a simultaneously co-ordinated manner, except systems in which the robot moves along a fixed path

C

  • Note:

  • This head (a) does not include robots specially designed for household use or those modified from household robots for preuniversity educational purposes not specified elsewhere in this entry

(b)

Electronic controllers for robots having any of the following characteristics—

(1)

controllers specially designed to be part of a robot specified in sub head (a) (2) to (8), (10) or (11) above

C
(2)

minimum programmable increment less (finer) than 0.001 mm per linear axis

C
(3)

having more than one integral interface which meets or exceeds ANSI/IEEE standard 488-1978, IEC publication 625-1 or any equivalent standard for parallel data exchange

C
(4)

capable of being programmed by means of other than lead-through, key-in (such as without processing, on-line or off-line) or teach-pendant techniques

C
(5)

word size exceeds 16 bit (excluding parity bits)

C

  • Note: systems with a 16-bit word length and not more than a 32-bit architecture are regarded as 16-bit systems for the purpose of this sub-head.

(6)

incorporating interpolation algorithms for an order of interpolation higher than two

C
(7)

generation or modification by one-line, real-time processing of the programmed path, velocity and functions other than the following—

C
(i)

manual velocity override;

(ii)

linear, rotary or Cartesian offset;

(iii)

manual robot path editing (including manual path compensation) excluding source language used to programme automatically the robot path, velocity or runction;

(iv)

branching to pre-programmed modification of robot path, velocity or function;

(v)

fixed cycles (e.g. macro instructions or pre-programmed sub-routines); or

(vi)

keyed-in or teach-in modifications;

  • except controllers limited to operations with robots included in any of the exceptions to head (a).

(c)

End-effectors having any of the following characteristics—

(1)

having integrated computer-aided data processing, except those using sensors used to measure the parameters or values described in exception 1 to head (a)(1) above.

C
(2)

equipped with an integral interface which meets or exceeds ANSI/IEEE Standard 488-1978, IEC publication 625-1, or any equivalent standard for parallel data exchange

C
(3)

having any of the characteristics specified in sub-heads (a)(2) to (8) and (10) above

C

In this entry—

  • “robot” means a manipulation mechanism, which may be of the continuous path or of the point-to-point variety, may use sensors, is multifunctional and capable of positioning or orienting material, parts, tools or special devices through variable movements in three dimensional space. It incorporates three or more closed or open loop servo-devices which may include stepping motors; and has user-accessible programmability by means of teach/playback method or by means of an electronic computer which may be a programmable logic controller, without mechanical intervention. “Robot” does not include the following devices—

    1. (1)

      Manipulation mechanisms which are only manually/teleoperator controllable;

    2. (2)

      Fixed sequence manipulation mechanisms which are automated moving devices, operating accordingly to mechanically fixed programmed motions, where the programme is mechanically limited by fixed stops, such as pins or cams, and the sequence of motions and the selection of paths or angles are not variable or changeable by mechanical, electronic or electrical means;

    3. (3)

      Mechanically controlled variable sequence manipulation mechanisms which are automated moving devices, operating according to mechanically fixed programmed motions, where the programme is mechanically limited by fixed, but adjustable stops, such as pins or cams, or the sequence of motions and the selection of paths or angles are variable within the fixed programme pattern, and variations or modifications of the programme pattern (eg, changes of pins or exchanges of cams) in one or more motion axes are accomplished only through mechanical operations;

    4. (4)

      Non-servo-controlled variable sequence manipulation mechanisms which are automated moving devices, operating according to mechanically fixed programmed motions and the programme is variable but the sequence proceeds only by the binary signal from mechanically fixed electrical binary devices or adjustable stops;

    5. (5)

      Stacker cranes which are Cartesian coordinate manipulator systems manufactured as an integral part of a vertical array of storage bins and designed to access the contgents of those bins for storage or retrieval;

  • “end-effectors” include grippers, active tooling units being devices for applying motive power, process energy or sensing to the workpiece and any other tooling that is attached to the baseplate on the end of the robot’s manipulator arm(s);

  • “active tooling unit” is a device for applying motive power, process energy or sensing to the workpiece;

  • “sensor” means a detector of a physical phenomenon, the output of which (after conversion into a signal that can be interpreted by a controller) is able to generate programmes or modify programmed instructions or numerical programme data. This includes sensors with machine vision, infrared imaging, acoustical imaging, tactile feel, inertial position measuring, optical or acoustic ranging or force or torque measuring capabilities.

IL1399

Software and technology for automatically controlled industrial systems, to produce assemblies or discrete parts, the following—

(a)

Softward with all the following characteristics—

C
(1)

specially designed for automatically controlled industrial systems which include at least eight items of the following equipment in any combination—

(a)

machine tools or dimensional inspection machines specified in head (b) of entry IL1091 in Group 3A or IL1370 in this Group;

(b)

robots specified in entry IL1391 in this Group;

(c)

digitally controlled spin-forming or flow-forming machines specified in the entry IL1075 in Group 3A;

(d)

digitally controlled equipment of the type specified in entry IL1080, IL1081, IL1086 or IL1088 in Group 3A;

(e)

digitally controlled electric arc devices specified in the entry IL1206 in Group 3C;

(f)

digitally controlled equipment of the type specified in the entry IL1354 or IL1355 (head(b)) of this Group;

(g)

digitally controlled equipment of the type specified in the entry IL1357 in this Group;

(h)

digitally controlled electronic equipment of the type specified in the entry IL1529 in Group 3F;

(i)

any digitally controlled measuring system specified in entry IL1529 in Group 3F

(2)

integrating, in a hierarchical manner, while having access to data which may be stored outside the supervisory digital computer, the manufacturing processes with—

(i)

design functions; or

(ii)

planning and scheduling functions;

(3)
(i)

automatically generating and verifying the manufacturing data and instructions, includng selection of equipment and sequences of manufacturing operations, for the manufacturing processes, from design and manufacturing data; or

(ii)

automatically reconfiguring the automatically controlled industrial system through reselecting equipment and sequences of manufacturing operation by real-time processing of data pertaining to anticipated but unscheduled events;

  • except—

  • software which only provides rescheduling of functionally identical equipment within flexible manufacturing units using prestored part programmes and a prestored strategy for the distribution of the part programmes; and

  • software (in machine executable form only) for industrial sectors other than nuclear, aerospace, shipbuilding, heavy vehicles, machine building, microelectronics and electronics.

(b)

Technology for the design of automatically controlled industrial systems which will be used with the software specified in head (a) above, whether the conditions required by subhead (a)(1) above are met

D

In this entry

  • an “automatically controlled industrial system” is a combination of:

    1. (1)

      one or more flexible manufacturing units; and

    2. (2)

      a supervisory digital computer for coordination of the independent sequences of computer instructions to, from and within the flexible manufacturing units;

  • a “flexible manufacturing unit” is an entity which comprises a combination of a digital computer including its own main storage and its own ralated equipment and at least one of the pieces of equipment referred to in sub-head (a)(1)(a) to (i) inclusive in this entry.