Robotics Midterm

Question 1

True/False: The iPendant must be on in order to access the menus.

Answer 1

False

Question 2

In regards to teach pendant (TP) motion instructions, these are examples of speeds

100 deg/sec
2000 mm/sec
50%
[1]
[36]
C : Circular
CNT : Continuous 1-100
FINE : Fine
J : Joint
L : Linear
P : Position
PR : Position Register

Answer 2

100 deg/sec, 2000 mm/sec, and 50%

Question 3

Robot positional data can be represented in how many ways?

Answer 3

Two

Question 4

Pressing what key or keys on the teach pendant will clear the fault when a DCS error occurs?

Answer 4

SHIFT and RESET

Question 5

The STEP status indicator on the teach pendant will turn what color when the robot step mode is on?

Answer 5

Yellow

Question 6

In regards to teach pendant (TP) motion instructions, these are all of the termination types

100 deg/sec
2000 mm/sec
50%
[1]
[36]
C : Circular
CNT : Continuous 1-100
FINE : Fine
J : Joint
L : Linear
P : Position
PR : Position Register

Answer 6

CNT : Continuous 1-100 and FINE : Fine

Question 7

For a FANUC robot, how do you recover from violating an axis limit?

Answer 7

Jog the opposite direction

Question 8

The most common singularity error on a FANUC robot can be corrected by moving

Answer 8

Joint 5 (+/-) 10 degrees

Question 9

In regards to teach pendant (TP) motion instructions, these are all the motion types

100 deg/sec
2000 mm/sec
50%
[1]
[36]
C : Circular
CNT : Continuous 1-100
FINE : Fine
J : Joint
L : Linear
P : Position
PR : Position Register

Answer 9

C : Circular, J : Joint, and L : Linear

Question 10

For six axis robots such as an LR Mate 200iD/4S, the major axes are:

Answer 10

J1, J2, J3

Question 11

For six axis robots such as an LR Mate 200iD/4S, J4 can be described as:

Answer 11

The rotation of the arm

Question 12

Assuming a standard setup, if you jog the robot in the World +X, which direction will the TCP move?

Answer 12

Forward

Question 13

What key sequence is depressed and held to access the Controlled start screen while powering on the controller?

Answer 13

PREV and NEXT

Question 14

True/False: QUICK/FULL menus can be accessed from the FCTN key.

Answer 14

True

Question 15

Which mode limits all Cartesian speeds to less than 250 mm/sec and joint speeds to less than 10%?

Answer 15

T1 Mode

Question 16

For six axis robots such as an LR Mate 200iD/4S, J1 can be described as:

Answer 16

The base or waist

Question 17

How many soft keys are there on the iPendant?

Answer 17

5

Question 18

For six axis robots such as an LR Mate 200iD/4S, J3 can be described as:

Answer 18

The elbow

Question 19

For six axis robots such as an LR Mate 200iD/4S, the minor axes are:

Answer 19

J4, J5, J6

Question 20

Pressing what key or keys on the teach pendant will display the jog menu which allows the operator to activate the user frame and tool frame that will be used to record positions?

Answer 20

SHIFT and COORD

Question 21

The origin of this (these) frame(s) is on the centerline of the J1-axis at the height of the centerline of the J2-axis (select all that are correct)

Answer 21

World

Question 22

What are all the methods of defining a tool frame?

Answer 22

Two point +Z, Three point, Four point, Six point (XZ), Six point (XY), Direct entry

Question 23

This symbol indicates that the robot is at a particular position

Answer 23

@

Question 24

For six axis robots such as an LR Mate 200iD/4S, J2 can be described as:

Answer 24

The shoulder

Question 25

In the motion command “J P[2] 100% FINE”, If you wanted to change the “FINE” component to a “CNT100” what buttons would you press?

Answer 25

Select component, then press [CHOICE]

Question 26

Where is position register (PR[X]) data valid?

Answer 26

Globally

Question 27

Which key combination on the iPendant is needed to access the split screen display menu?

Answer 27

Shift + Display

Question 28

Pressing what key or keys on the teach pendant will change the coordinates to jog in JOINT mode?

Answer 28

COORD

Question 29

Using a 3 position Deadman switch, which position allows you to jog the robot?

Answer 29

Middle position

Question 30

In regards to teach pendant (TP) motion instructions, these are examples of position or position register numbers 100 deg/sec 2000 mm/sec 50% [1] [36] C : Circular CNT : Continuous 1-100 FINE : Fine J : Joint L : Linear P : Position PR : Position Register

Answer 30

[1] and [36]

Question 31

Where is the default Tool Center Point for a FANUC robot?

Answer 31

Center of faceplate

Question 32

What must be done after setting software axis limits?

Answer 32

Cycle power

Question 33

For six axis robots such as an LR Mate 200iD/4S, J5 can be described as:

Answer 33

The pitch of the wrist

Question 34

Select all the methods of defining a jog frame

Answer 34

Three point, Direct entry

Question 35

What are all the methods of defining a user frame?

Answer 35

Three point, Four point, Direct entry

Question 36

True/False: The shift key must be held down to both record and touchup positions.

Answer 36

True

Question 37

Fine termination type causes the robot to __________________________ at the destination position before moving to the next position.

Answer 37

Stop

Question 38

What direction does the robot move in the World Z+ if floor mounted?

Answer 38

Up

Question 39

How many default motion instructions can be defined using HandlingTool software?

Answer 39

4

Question 40

Robot payload information is comprised of __________, COG, and moment of inertia

Answer 40

Mass

Question 41

For six axis robots such as an LR Mate 200iD/4S, J6 can be described as:

Answer 41

The rotation of the hand or face plate

Question 42

In regards to teach pendant (TP) motion instructions, these are all the position types 100 deg/sec 2000 mm/sec 50% [1] [36] C : Circular CNT : Continuous 1-100 FINE : Fine J : Joint L : Linear P : Position PR : Position Register

Answer 42

P : Position and PR : Position Register

Question 43

What key sequence is depressed and held to access the BMON screen while powering on the controller? (Select all that are correct)

Answer 43

F1 and F5

Question 44

Robot positional data is dependent on what frame(s) (select all that are correct)

Answer 44

Tool and User

Question 45

Brakes are built into the FANUC AC servo motors that drive each axis. These brakes are applied ________ and released ________.

Answer 45

Applied mechanically and released electrically

Question 46

In order to save frame data on a FANUC robot, what key or keys must be pressed on the iPendant after displaying any frame screen and before selecting save?

Answer 46

FCTN