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Robotics > Robotics Midterm > Flashcards

Robotics Midterm Flashcards

1
Q

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

A

The base or waist

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2
Q

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

A

The shoulder

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3
Q

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

A

The elbow

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4
Q

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

A

The rotation of the arm

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5
Q

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

A

The pitch of the wrist

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6
Q

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

A

The rotation of the hand or face plate

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7
Q

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?

A

Select component, then press [CHOICE]

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8
Q

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

A

False

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9
Q

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

A

J4, J5, J6

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10
Q

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

A

J1, J2, J3

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11
Q

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

A

T1 Mode

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12
Q

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

A

Shift + Display

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13
Q

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

A

Applied mechanically and released electrically

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14
Q

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

A

True

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15
Q

How many soft keys are there on the iPendant?

A

5

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16
Q

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

A

Middle position

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17
Q

Robot positional data can be represented in how many ways?

A

Two

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18
Q

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

A

COORD

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19
Q

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

A

Forward

20
Q

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

A

Up

21
Q

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

A

F1 and F5

22
Q

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

A

PREV and NEXT

23
Q

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

A

Jog the opposite direction

24
Q

What must be done after setting software axis limits?

A

Cycle power

25
Q

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

A

Mass

25
Q

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

A

SHIFT and RESET

26
Q

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

A

Joint 5 (+/-) 10 degrees

27
Q

What are all the methods of defining a tool frame?

A

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

28
Q

What are all the methods of defining a user frame?

A

Three point, Four point, Direct entry

29
Q

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

A

Center of faceplate

30
Q

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?

A

SHIFT and COORD

31
Q

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

A

Tool and User

32
Q

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)

A

World

33
Q

Select all the methods of defining a jog frame

A

Three point, Direct entry

34
Q

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?

A

FCTN

35
Q

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

A

4

36
Q

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

A

Yellow

37
Q

The shift key must be held down to:

A

Both to record and touchup positions

38
Q

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

A

Stop

39
Q

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

A

Globally

40
Q

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

A

[1] and [36]

41
Q

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

A

CNT : Continuous 1-100 and FINE : Fine

42
Q

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

A

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

43
Q

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

A

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

44
Q

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

A

P : Position and PR : Position Register

45
Q

This symbol indicates that the robot is at a particular position

A

@

Robotics (3 decks)

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