Chapter 12: Motion Instructions

What does Joint Motion cause the robot to do?

• Move all required axes to the destination position simultaneously

• Move the TCP in a straight line from the start position to the destination position

• Move in a circular path

How is speed specified in Joint Motion?

• As a percentage of the total default speed

• In velocity; millimeters per second, centimeters per second, inches per minute, degrees per second

• As a percentage of the total default speed, or timed; milliseconds or seconds

What does Linear Motion cause the robot to do?

• Move all required axes to the destination position simultaneously

• Move the TCP in a straight line from the start position to the destination position

• Move in a circular path

How is speed specified in Linear Motion?

• As a percentage of the total default speed

• In velocity; millimeters per second, centimeters per second, inches per minute, degrees per second, or timed; milliseconds, seconds

• As a percentage of the total default speed, or timed; milliseconds or seconds

What does the circular motion instruction cause the robot to do?

• Move in a straight line

• Move in a circular path

• Stop moving

• Move in a zigzag pattern

In what units is the speed specified for the circular motion instruction?

• millimeters per second

• kilometers per hour

• miles per hour

• feet per second

What must the programmer do when creating a circle?

• Teach two half circles

• Specify the color

• Set the diameter

• Choose the center point

What does positional information describe in the context of motion instructions?

• The speed of the object

• The direction of the object

• The location, orientation and configuration of the TCP

• The acceleration of the object

What does UF reference?

• User Frame

• Unified Frame

• Universal Frame

• Unique Frame

What does UT reference?

• Universal Time

• Tool Frame

• Utility Tool

• User Time