WorksheetsFANUC 1234
Total questions: 134
Worksheet time: 1hrs 7mins
Name
Class
Date
1.
How many jog frames are standard on the R-J3 series controller?
a)
3
b)
4
c)
2
d)
5
2.
How many user frames are standard on the R-J3 series controller?
a)
13
b)
9
c)
8
d)
11
3.
How many Robot I/O point are standard on a controller?
a)
16
b)
15
c)
5
d)
10
4.
Select all methods that a Jog Frame can be taught.
a)
3 point method
b)
6 point method
c)
2 point method
d)
direct entry
5.
The status line describes the current status of the I/O. When the status displays PENDING, this means:
a)
an assignment has not been made
b)
the assignment is valid, but not active
c)
the assignment is valid and active
d)
the assignment is invalid based on the I/O hardware present when the controller was turned ON
6.
SHIFT and POINT are needed to do what?
a)
Change Robot Speed
b)
Request the positional screen to appear
c)
Record the current position of the robot
d)
Execute a MACRO program and return the robot to home
7.
Each production check provides different enabled choices within the program select detail. Which condition takes priority when multiple conditions are enabled?
a)
check when run
b)
check when resume
c)
force condition
8.
The "right-hand rule" in a Cartesian Coordinate System:
a)
clearly defines a 2-dimensional space based on the x and y axis system.
b)
is helpful when determining the direction a robot will move while jogging in the WORLD.
c)
is a useful tool while jogging in the JOINT jog mode.
d)
is a selectable option which must be installed during a Cold Start
9.
The following display is a direct or indirect addressing: R[3]=2
a)
direct
b)
indirect
10.
this is exactly like the RM-POD-ID except that new position numbers are assigned in the pasted lines
a)
F1 -- R-LOGIC
b)
F3 -- RM-POS-ID
c)
F5 -- RM-POS
d)
F2 - LOGIC
11.
speed and termination types are pasted in the proper instructions to maintain the original speed and termination of each path segment
a)
F2 - LOGIC
b)
F3 -- RM-POS-ID
c)
F4 - POSITION
d)
F3 - POS ID
12.
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)
FCTN followed by ABORT ALL
b)
SHIFT and FWD
c)
SELECT followed by NEXT
d)
Select component, then press [CHOICE]
13.
The jog speed is selected by pressing and releasing the:
a)
FCTN key
b)
+%/-% keys
c)
arrow keys
d)
COORD keys
14.
If while jogging the robot, you get an "In singularity" error, what must you do?
a)
Jog the robot in Tool
b)
Change the correct user frame
c)
Joint jog J5 +/- at least 10 degrees
d)
Press the position key and reset the axis limits
15.
Given the following teach pendant program motion instruction, which of the following robot motions will occur? L P[1] 1500mm/sec CNT75
a)
joint motion at 50% override to position P[1] with fine motion termination
b)
a linear motion at 50% override to position P[1] with fine motion termination
c)
a linear motion at 1500 millimeters per second to position P[1] with continuous motion termination and 75% corner rounding
d)
a joint motion at 75% override to position P[1] with fine motion termination
16.
The controller contains the computer that operates the robot. Which of the following is NOT housed within the controller?
a)
Memory
b)
Control Circuitry
c)
Operator Controls
d)
Servo Motors
17.
Jogging the robot in the JOINT jog mode:
a)
moves the robot in a linear motion where precision is desirable
b)
moves the robot based on a Cartesian (XYZ) coordinate system
c)
allows the operator to jog each joint individually, or a combination of joints by pressing more than one jog key simultaneously
d)
prevents override speed from exceeding 15%
18.
If you would like to look at the positional data of P[3] in the instruction "J P[3] 100%FINE", what buttons would you press?
a)
Press the DATA hardkey then F1[TYPE] and choose 2 for PR[]
b)
Pres POSN hardkey to see the data directly
c)
Cursor to the 3 pf P[3] and press F5 POSITION
d)
Press STATUS, NEXT, and F2 DETAIL
19.
Based on the guidelines for naming teach pendant programs (TPP), which of the following names would be considered acceptable?
a)
PROG#1
b)
1PROG
c)
PROG1
d)
PROGS 1
20.
The "Program Header Information" at the DETAIL softkey enables you to modify the following program information, except:
a)
Program Name
b)
Group Mask
c)
Activate Tool Frame
d)
Program Sub Type
21.
Placing the robot in LOCAL mode when the Teach Pendant is disabled:
a)
requires the robot to wait for a PLC command to start the currently selected program
b)
allows the operator to use the Cycle Start button on the SOP to start the currently selected program
c)
immediately begins robot motion for the currently selected program
d)
generates a Class III fault
22.
Mode select key switch in the T1 position
a)
requires the robot to wait for a Programmable Logic Controller (PLC) command to start the currently selected program.
b)
is used when teaching robot positions in space. In this mode, speed is limited to 250 millimeters per second at 100%.
c)
is used when testing programs up to 2000 millimeters per second at 100% of maximum robot speed.
d)
is used when running full production
23.
To add a Part to the workcell:
a)
Select "Add a Part" from the Edit menu.
b)
Select "Add a Part" from the Tools menu
c)
Select "Add a Part" from the Cell Browser within the Parts category.
d)
Select "Add a Part" from the File menu
24.
Teach Pendant programs can be loaded from the FILE menu and one other menu. What is the other screen?
a)
SETUP menu
b)
SELECT menu
c)
UTILITIES menu
d)
USER menu
25.
If you are saving files to a disk, you must set the default device. Which of the following menu items would you find this?
a)
SETUP/DEVICE
b)
FILE/UTILITIES
c)
SELECT/UTILITIES
d)
USER/SETTINGS
26.
Every point in a robot work envelope is definable based on either degrees of rotation from center, or zero, for the JOINT jog mode, or distance from the robot's origin for Cartesian motion. Positional data is viewed by accessing the:
a)
status screen
b)
DATA key
c)
main menu
d)
position detail screen
27.
SHIFT and the hard key COORD will display the following menu:
a)
The position menu
b)
The utilities menu
c)
The jog menu
d)
The manual functions menu
28.
If the HOLD status indicator is lit, which of the following does NOT occur?
a)
the program has been paused
b)
smooth deceleration has occurred
c)
power is maintained on the robot and execution can be resumed
d)
all control digital outputs are turned off
29.
Positional data in the WORLD jog mode consists of location, orientation and configuration. What is the orientation of a position?
a)
the three values relative to the position of the x, y, and z axes and their distance from the zero position or origin measured in mm
b)
The three real values relative to the rotation of the tool center point about the x, y, and z axes, referred to as yaw, pitch, and roll expressed in degrees.
c)
the data structure consisting of values that reference the unique set of joint angles that are required to reach a point in space where there is more than one possible way to get there
d)
all of the above
30.
Status indicator lights indicate the current status of the robot to an operator. These lights are:
a)
to the left of the LCD screen on the teach pendant -- iPendant
b)
at the base of the robot
c)
in the center of the teach pendants LCD screen display
d)
on the Standard Operators Panel (SOP)
31.
Can you always start the same program from the SOP cycle start while in remote mode?
a)
YES
b)
NO
32.
For simulation to pickup and drop a part:
a)
You must define a close gripper in the EOAT.
b)
You must place a check in the "Allow part to be picked" and in the "Allow part to be placed" found within the Fixture Simulation tab.
c)
Adjust the part to the Tool Center Point.
d)
You must place a check in the "Allow part to be picked" and in the "Allow part to be placed" within the properties page of the part.
33.
A macro that contains a motion instruction can be assigned to teach pendant user key 1 without the shift key.
a)
true
b)
false
34.
A macro that contains a motion instruction can be assigned to user 1 button on the standard operator's panel when using R-J3iB and earlier controllers.
a)
true
b)
false
35.
An analog I/O signal is an input or output voltage that has a value within the range of the I/O board or module that is being used.
a)
true
b)
false
36.
Position register element instruction allows you to change an individual value in a joint or Cartesian position.
a)
true
b)
false
37.
The renumber function reassigns all position numbers in the program so that they are in sequential order. Renumbering changes the position ID, not the positional information.
a)
true
b)
false
38.
The replace option will help you to modify registers, motion speed and termination, inputs and outputs, jump labels, calls and time before and time after.
a)
true
b)
false
39.
Timers must start and end in the same program.
a)
true
b)
false
40.
To add a Pick Fixture to the Workcell:
a)
From the File menu select "Add a Fixture".
b)
From the Edit menu select "Add a Fixture".
c)
From the Cell menu, select "Add a Fixture" or Cell Browser, right click on Fixtures
d)
From the Tools menu, select "Add a Fixture"
41.
To add End-of-Arm Tooling to the robot:
a)
Select "UT:#(Eoat)" within the Tooling category of the Cell Browser.
b)
From the Robot menu, select "Add End-of-Arm Tooling".
c)
From the Tools menu select "Add End-of-Arm Tooling".
d)
From the File menu select "Edit End-of-Arm Tooling"
42.
To adjust the view of the robot use the zoom in and out command which is:
a)
RIGHT mouse drag.
b)
LEFT mouse drag.
c)
BOTH mouse (left and right) drag or use the mouse wheel.
d)
Hold down the SHIFT+RIGHT drag.
43.
To create a simulated program:
a)
From the Teach menu select "Add Simulation Program".
b)
From the Process Navigator within the Teach TP Programs, select Add a TP Program.
c)
Within the Cell Browser, right click on Programs and select Add Simulation Program.
d)
All the above.
44.
To create an AVI file:
a)
Click on the Record button within the icon bar.
b)
From the Tools menu select "Create an AVI file"
c)
From the Robot menu select "Create an AVI file".
d)
From the File menu select "Create an AVI file".
45.
To Cycle start a program from the Standard Operator Panel the REMOTE/LOCAL keyswitch is placed into the:
a)
ON position.
b)
LOCAL position.
c)
REMOTE position.
d)
position it was in when step testing the program.
46.
To display the contents of a Device, you must Generate a Directory.
a)
true
b)
false
47.
To modify the positional information of a taught position, jog the robot's tool center point (TCP) to the new position an press the:
a)
SAVE key in the FUNCTIONS menu
b)
SHIFT key and the corresponding function key for TOUCHUP
c)
INST key from the TPP teach pendant
d)
DEADMAN switch, enable the teach pendant, then press the RECORD pushbutton on the Standard Operator Panel
48.
To remove a Fixture
a)
Click to select the Fixture within the Cell and from the keyboard press Delete.
b)
Within the Cell Browser, right click on the Fixture name, then select Delete Fixture.
c)
From the Edit menu, select remove Fixture
d)
All the above.
49.
To run and view a program from beginning to end utilizing the EOAT pick and place a part:
a)
Right click on the program within the Cell Browser and select Run Program.
b)
From the Test-Run menu, select Run Panel
c)
Right click on the robot and select Run Program
d)
Click on Cycle Start within the icon bar.
50.
To select an existing program to work with, operators should press the __________ key.
a)
MENUS
b)
NEXT
c)
SET UP
d)
SELECT
51.
To switch between JOINT, WORLD, TOOL, JGFRM, & USER for jogging purposes, you need to press which of the following keys?
a)
COORD
b)
MENU
c)
SELECT
d)
DATA
52.
To switch manually from one program to another, you have to be in which screen?
a)
Select
b)
Edit
c)
Status
d)
Position
53.
Tool Center Point (TCP) can best be described as:
a)
the point at the center of the robot's faceplate on a newly purchased robot
b)
the location on the end of arm tooling where work will be performed.
c)
the point on the tool that is used to teach positions
d)
all of the above
54.
Turning the teach pendent on:
a)
Activates the default program
b)
Enables Communication with External Devices
c)
Gives motion control soley to the operator via the TP
d)
Energizes robotic arm
55.
What are the 3 methods used to define a tool frame.
a)
4, 3, and six point method
b)
3, 6, and direct entry method
c)
2, 4, and 6 point method
d)
2, 3, and direct entry
56.
What are the three methods used to define a RTCP frame?
a)
2 and 6 point method
b)
3 and 7 point method
c)
3 point, 4 point and direct entry method
d)
all of the above
57.
What are the two (2) possible actions of an IF?SELECT statement?
a)
SELECT & Set an OUPUT
b)
JMP/LBL & SELECT
c)
Set an OUTPUT & CALL
d)
CALL & JMP/LBL
58.
What are the two menus from which you can save TP files?
a)
SELECT & FILE
b)
SELECT & DATA
c)
SYSTEM & FILE
d)
ED_CMD & CONFIG
59.
What instruction will send program flow out to a sub-program?
a)
JMP/LBL
b)
REMARK
c)
CALL
d)
SELECT
60.
What is the default location of the tool center point?
a)
at the center of the faceplate
b)
the center of the user frame
c)
the job frame
d)
the center of the robot
61.
What is the suggested type of motion used to move the robot to a Home position?
a)
Linear
b)
Simultaneous
c)
Joint (faster)
d)
Circular
62.
What is the Teach Tool?
a)
Allows you to "drag" the EOAT.
b)
Teaches the robot - similar to creating a program.
c)
Using the Teach Pendant, create a program.
d)
Using the Teach Pendant, jog the robot.
63.
What must be accomplished to avoid hard-stops and over travels?
a)
Set UtOOL offsets
b)
Set axis Limits
c)
Set UFRAM offsets
d)
Move each Robot joint +/- 20 degrees and reset
64.
What start up method is used when turning on power to the robot and controller without entering boot monitor functions?
a)
hot start
b)
cold start
65.
When a CALL statement branches from the main program that executes the entire program, you must insert another CALL statement to return back to the main program.
a)
true
b)
false
66.
When an Emergency Stop button is pushed
a)
all digital I/O is turned off and the robot decelerates to a "soft stop"
b)
all digital I/O is turned off, then returned to their previous state when the program is resumed
c)
dynamic braking is employed on all joints and all brakes are engaged
d)
robot motion is stopped and the main power to the robot controller is disconnected.
67.
When assigning a number for the standard operator user key 1 for controllers R-J3iB and earlier, you can use SP[4].
a)
true
b)
false
68.
When assigning user key SU[3}, the key that executes the macro is:
a)
shift+tool1
b)
shift+move menu
c)
shift+I/O
d)
shift+tool2
69.
When continuously testing a program using the teach pendant:
a)
single step testing must be disabled
b)
it is not necessary to grip and hold the DEADMAN switch on the teach pendant
c)
a 5% default jog speed is automatically set within the system, therefore settings the jog speed is not necessary
d)
the program my be tested in a forward and backward direction using the SHIFT+FWD or SHIFT+BWD keystroke combination
70.
When creating a program, which hard key should be pressed?
a)
FCTN
b)
FWD
c)
Select
d)
Hold
71.
When group output binary is set to 7, what DO[#]'s will be switched on?DO[1] = 1 DO[2] = 2 DO[3] = 4 D0[4] = 8 DO[5] = 16
a)
3, 4
b)
1, 2, 3
c)
2, 5
d)
2, 3, 4
72.
When inserting a program instruction, you must highlight either a line number or END.
a)
true
b)
false
73.
When jogging the robot, select the key on the Teach Pendant that must be pressed and held before you press a desired jog key.
a)
RESET
b)
SHIFT
c)
DEADMAN SWITCH
d)
COORD
74.
When needing to cursor along a line in a program to make changes to an element, pressing which option on the Function menu bar will display additional selection options for the element?
a)
LIST
b)
POSITION
c)
[CHOICE]
d)
EDIT
75.
When step testing a program to verify the program's integrity:
a)
the STEP status indicator should be lit
b)
program statements may be tested independently in the forward (SHIFT+FWD) and backward (SHIFT+BWD) direction.
c)
the DEADMAN switch must be gripped and help and the Teach Pendant enabled
d)
all of the above
76.
When the controller is in local mode it cannot start from an external signal such as a PLC or cell controller.
a)
true
b)
false
77.
When using the Prog Adjust utility, which statement is correct?
a)
All adjustments are relative to the TOOL Frame
b)
Pressing CLR_ADJ or CLR_ALL will save the curent enabled data values
c)
The maximum single linear adjustment allowed is 100mm
d)
Program Adjust is performed from the Status Setup Screen
78.
When you enable the AT HOME check within the setup menu, the controller will check to see if the robot is at the home position and if it's not at home position then it will not run the production program.
a)
true
b)
false
79.
Where is Position Register (PR[]) data valid?
a)
Current program only
b)
Globally
c)
Nowhere
d)
Max 2 programs
80.
Which I/O is used when using the EE connector on the robot?
a)
digital
b)
robot
c)
analog
d)
group
81.
Which instruction will increment Register 7 (R[7]) by 1?
a)
R[7]=1
b)
R[7]+1
c)
R[7]++
d)
R[7]=R[7]+1
82.
Which is not a valid way to execute an assigned MACRO?
a)
Pressing TP user key
b)
Pressing the "USER 1" button on the SOP
c)
Executing an item from the Manual functions screen
d)
Holding PREV & NEXT
83.
Which of the below is the number one safety concern in a robotic system?
a)
people
b)
external devices
c)
robots
d)
tooling
e)
workpiece
84.
Which of the following hard keys would bring the menu item ABORT ALL to TP screen?
a)
FCTN
b)
HOLD
c)
RESET
d)
E-STOP
85.
Which of the following is a type of I/O signal?
a)
UIP I/O
b)
SIP I/O
c)
Digital I/O
d)
Configuration I/O
86.
Which of these components shown in these pictures will allow high voltage to the robot?
a)
Circuit Breaker
b)
ON button
c)
OFF button
d)
Teach Pendant ON/OFF switch
87.
Which of these tasks can be performed from the File menu?
a)
Execute a program from a storage device
b)
Get a directory of the default device
c)
List the program names for execution, teachng data, or editing
d)
Print a program found on a disk
88.
Which soft key is pressed to display the current motion instruction defaults from the EDIT screen?
a)
POINT
b)
NEXT
c)
POSN
d)
[INST]
89.
Which softkey allows you to enter additional program instructions into a TP program?
a)
[ED_DEF]
b)
EDIT
c)
DETAIL
d)
[INST]
90.
Which teach pendant key do you press to abort a program?
a)
MENUS
b)
SELECT
c)
DATA
d)
FCTN
91.
While on the JOINT position detail screen, the current position is definable based on:
a)
the number of joints moved simultaneously
b)
the degrees of rotation in either a positive or negative direction from zero
c)
default values appearing on the position detail screen
d)
the Cartesian coordinate system
92.
will add lines exactly as they were copied and renumbers the copied positions with the next available position number
a)
F3 - POS ID
b)
F2 - LOGIC
c)
F3 -- RM-POS-ID
d)
F4 - POSITION
93.
will add lines exactly as they were copied and retains the current position numbers
a)
F3 -- RM-POS-ID
b)
F3 - POS ID
c)
F2 - LOGIC
d)
F4 - POSITION
94.
will add lines in reverse order and renumbers the copied positions with the next available position numbers
a)
F1 -- R-LOGIC
b)
F2 -- R-POS-ID
c)
F5 -- RM-POS
d)
F4 -- R-POS
95.
will add lines in reverse order and retains their original position numbers
a)
F5 -- RM-POS
b)
F3 -- RM-POS-ID
c)
F1 -- R-LOGIC
d)
F2 -- R-POS-ID
96.
will add lines in reverse ore and does not record the positions, but leaves the position numbers blank
a)
F3 - POS ID
b)
F1 -- R-LOGIC
c)
F3 -- RM-POS-ID
d)
F2 - LOGIC
97.
will add lines in reverse ore and does not record the positions, but leaves the position numbers blank
a)
F2 - LOGIC
b)
F5 -- RM-POS
c)
F3 -- RM-POS-ID
d)
F1 -- R-LOGIC
98.
will add the lines exactly as they were copied, but leaves the position numbers blank
a)
F4 - POSITION
b)
F2 - LOGIC
c)
F3 -- RM-POS-ID
d)
F3 - POS ID
99.
You must turn the Teach Pendant ON in order to copy an existing program.
a)
true
b)
false
100.
What are two ways to control the robots motion limits/boundaries?
a)
Axis Limits and DCS Position Check
b)
Axis Limits and Collision Guard
c)
. DCS Position Check and Safety Fence
d)
Hard Stops and Safety Fence
101.
What is the proper piece of equipment used to delete a program?
a)
controller cabinet
b)
teach pendant
c)
manipulator
d)
servo controller
102.
Which start method allows you to install options and updates?
a)
running start
b)
blank start
c)
cold start
d)
controlled start
103.
What key do you press to change the coordinates to jog into JOINT mode?
a)
COORD Key
b)
MENU
c)
SELECT
d)
NEXT
104.
To restore a position register, which file would be used?
105.
Which is NOT an output device?
a)
temperature switches
b)
horns and alarms
c)
stack lights
d)
fans
106.
Which of the following CANNOT be viewed by the program profiler:
a)
segment times
b)
off times
c)
total times
d)
alarm data
107.
To perform a hot start
a)
SHIFT and RESET on Teach Pendant
b)
Unplug and then replug in controller
c)
go into a controlled start and select hot start
d)
SHIFT and COORD
108.
Which hard key do you press to access position registers?
a)
SELECT
b)
DATA
c)
POSN
d)
COORD
109.
For a program to be generated from a collection of targets, the targets must be associated with a
a)
profile
b)
target group
c)
fixture
d)
list
110.
What hardwired safety signal allows the operator to enter the work cell while in teach mode and allow motion to the robot?
a)
emergency stop
b)
safety fence circuit
c)
HOLD
d)
PAUSE
111.
Singularity error can be corrected by moving
a)
Joint 1 (+/-) 10 degrees
b)
Joint 2 (+/-) 10 degrees
c)
Joint 3 (+/-) 15 degrees
d)
Joint 5 (+/-) 10 degrees
112.
Which of the following media is used to load software?
a)
USB device
b)
RAM
c)
WIFI
d)
Bluetooth
113.
If the robot arm loses position when power is off, once you power up the robot, you are likely to receive
a)
A PULSE mismatch alarm
b)
a HOLD alarm that stays on
c)
TP on in auto alarm
d)
robot not at zero alarm
114.
Which is the correct path to follow in order to assign a Macro?
a)
Menu - Setup - Type - Macro
b)
Menu - Setup - Type - Frames
c)
. Menu - File - Type - Macro
d)
Menu - Data - Type - Macro
115.
After performing a restore of an image, which error will likely occur?
a)
PULSE mismatch
b)
BZAL alarm
c)
BLAL alarm
d)
already locked by another task
116.
These are electrical signals that enable the controller to communicate with the robot, end-of-arm, and other external devices such as PLC.
a)
Groups
b)
Deadman Switch
c)
Inputs and Outputs I/O
d)
Teach Pendant
117.
When a DCS error occurs, what two keys do you press to clear the fault?
a)
SHIFT & RESET
b)
RESET & ENTER
c)
F1 & F5 keys
d)
PREF & NEXT keys
118.
To transfer files from the "real" robot to the ROBOGUIDE workcell, use the following EXCEPT?
a)
Ethernet cable
b)
USB
c)
Compact Flash
d)
Bluetooth
119.
Simulations are used for all of the following EXCEPT
a)
to analyze motion profile
b)
to perform REACH and RANGE study
c)
to develop applications program
d)
to generate bill material
120.
What is the method to turn on the robot?
a)
Reset button
b)
Red Button on the Teach Pendant
c)
Red button on the controller
d)
switch/circuit breaker on the controller
121.
How do you emergency Stop the robot
a)
turn off the main power on controller
b)
emergency stop on the teach pendant
c)
emergency stop on the controller
d)
all of the above
122.
What is the number one safety concern in a robotic world?
a)
Robot
b)
Material
c)
People
d)
room
123.
What allows you to jog individual joints using the teach pendant?
a)
Joint
b)
World
c)
User
d)
Tool
124.
What do you use to teach points
a)
controller
b)
robot
c)
camera
d)
teach pendant
125.
How do you run the robot in "Auto Mode"?
a)
Select program, turn teach pendant on, hit cycle start on controller
b)
Select posn, turn teach pendant off, hit cycle start on controller
c)
Select program, turn teach pendant off, hit cycle start on controller
d)
Select program, turn teach pendant on, hit cycle start the teach pendant
126.
In what jog mode does a singularity occur?
a)
Joint
b)
World
c)
User
d)
Tool
127.
What allows you to jog the robot in X Y Z Coordinate Frame?
a)
Joint
b)
World
c)
User
d)
Tool
128.
How do you clear a fault?
a)
Shift Reset
b)
POSN Shift Reset
c)
Deadman, Shift, Reset
d)
Deadman, Posn, Reset
129.
A 2nd way to verify 'Mechanical Zero' with the teach pendant by itself
a)
Hit 'Select" key, jog in Joint to get all angles near Zero for each axis
b)
Hit 'EDIT" key, jog in Joint to get all angles near Zero for each axis
c)
Hit 'Home" key, jog in Joint to get all angles near Zero for each axis
d)
Hit 'POSN" key, jog in Joint to get all angles near Zero for each axis
130.
How do you choose a 'Jog" mode
a)
POSN
b)
COORD
c)
MENU
d)
EDIT
131.
Why do we care about Axis limits?
a)
So we have a defined range, & don;t hit objects
b)
So we have a defined work envelope, & don;t hit objects
c)
So we have a defined movement, & don;t hit objects
d)
So we have a defined job, & don;t hit objects
132.
How do you clear a singularity?
a)
Move Joint 1 +/-10 degrees
b)
Move Joint 4 +/-10 degrees
c)
Move Joint 5 +/-10 degrees
d)
Move Joint 6 +/-10 degrees
133.
One way to Verify mechanical 'Zero' visually
a)
Jog in world mode to line up marks for joints
b)
Jog in world mode to line up marks for joints
c)
Jog in joint mode to Home
d)
Jog in joint mode to line up marks for joints
134.
How do you view Axis Limits?
a)
SELECT, NEXT, SYSTEM, AXIS LIMITS
b)
EDIT, NEXT, SYSTEM, AXIS LIMITS
c)
MENU, NEXT, SYSTEM, AXIS LIMITS
d)
DATA, NEXT, SYSTEM, AXIS LIMITS
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