When backing up files to a memory device, all files are erased from the root directory.

True or False

When should a file backup be made?

A. after major changes

B. yearly

C. after any changes

D. monthly

The backed up images can be stored on only the same robot or on a robot with exactly the same memory configuration or larger.

True or False

Mode select key in the T1 position

__ requires the robot to wait for a PLC command to start the current selected program

__ is used when teaching the robot positions in space. In this mode, speed is limited to 250mm/s at 100% feedrate override

__ is used when testing programs up to 2000mm/s at 100% of maximum robot speed

__ is used when running full production

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. select/utilities

C. user/settings

D. file/utilities

[image]

Identify each of the SOP components

1. Fault reset

2. Cycle start

3. Fault light

4. Power light

5. Emergency stop

When an Emergency Stop button is pushed

__ dynamic braking is employed on all joints and all brakes are engaged

__all digital I/O is turned off, then returned to the previous state when the program is resumed

__ all digital I/O is turned off and the robot decelerates to a soft stop

__Robot motion is stopped and the main power to the robot controller is disconnected

You must turn the Teach Pendant ON in order to copy an existing program.

True or False

When prioritizing the safety of your robotic system, the #1 consideration should always be:

- Robot

- tooling

- people

- work piece

- external devices

Which backup type will backup F-ROM and S-RAM controller memory modules?

A. File backup, then select all of the above

B. Disk backup

C. Image backup

D. Hard drive backup

J1, J2, J3, J3, J5, J6 - Match each of the SOP components

__ y axis - shoulder

__ pitch

__ z axis - elbow

__ x axis - waist

__ yaw - rotate about the z axis

__ rotate

J2 - y axis - shoulder

J5 - pitch

J3 - z axis - elbow

J1 - x axis - waist

J6 - yaw - rotate about the z axis

J4 - rotate

When backing up an image what two keys are pressed on the Teach Pendant when powering up the controller to BMON?

A. SHIFT FCTN

B. SHIFT DATA

C. PREV NEXT

D. SHIFT MENU

To display the contents of a Device, you must Generate a Directory?

True or False

Which of these components will allow high voltage to the robot?

__ Teach pendant on switch

__ ON button

__ Circuit Breaker

__ PLC

The controller contains the computer that operates the robot. Which of the following is Not housed within the controller?

__ Control circuitry

__ Operator controls

__ Memory

__ Servo motor

Teach Pendant programs can be loaded frim the FILE menu and one other menu. What is the other screen?

A. SELECT MENU

B. SETUP MENU

C. USER MENU

D. UTILITIES MENU

The Teach Pendant must be on in order to access the menus?

True or False

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

The R-JiB and higher iPendant is able to have multiple windows and provide Internet/Intranet access?

True or False

What is different between an R-30iB Teach Pendant jog keys and R-30iA.

A. faster

B. slower

C. back light

D. 2 additional jog keys

The jog speed is selected by pressing and releasing the:

A. FCTN key
B. +%/-% keys
C. arrow keys
D. COORD keys

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)

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%

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

What key do you press to change Coordinates to jog in JOINT mode?

A. COORD

B. SHIFT

C. EDIT

D. SELECT

E. MENUS

To select an existing program to work with, operator should press the ______ key?

A. MENUS

B. NEXT

C. SETUP

D. SELECT

Quick/full menus can be accessed from the FCTN key?

True or False

What key can be depressed to access the Position screen?

A. POSN

B. MENUS

C. SELECT

D. DATA

Which one is not a jog speed type?

A. COURSE

B. FINE

C. VFINE

D. 50%

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

A. 1

B. 2

C. 3

Name two ways to control the robots motion limits/boundaries.

A. DCS and POSN limits

B. DCS and AXIS limits

C. POSN limits and AXIS limits

D. POSN limits and Mechanical stops

Robot ___________ can be useful for getting help and ordering parts.

A. Serial Number

B. F Number

C. Manufacturing Number

D. Model Number

Singularity error can be corrected by moving?

A. Joint 5 (+/-) 10 degrees

B. Joint 1 (+/-) 10 degrees

C. Joint 2 (+/-) 10 degrees

D. Joint 3 (+/-) 10 degrees

E. Joint 6 (+/-) 10 degrees

F. Joint 4 (+/-) 10 degrees

The six point method defines the locaton and ____ of the TOOL FRAME?

A. rotation

B. distance

C. position

D. orientation

What two buttons are pressed to display the JOG menu?

A. SHIFT + MENU

B. SHIFT + FCTN

C. SHIFT + JOG

D. SHIFT = COORD

Name the three methods of defining a USER FRAME?

A. five point

B. position entry

C. direct entry

D. three point

E. four point

F. six point

C. direct entry

D. three point

E. four point

What are the three methods used to define a RTCP frame?

A. 3 point, 4 point, and direct entry method

B. 3 & 7 point methods

C. 2 and 6 point methods

D. all of the above

A. 3 point, 4 point, and direct entry method

If you are jogging in JOINT, the axis number indication the axis (or axes) in an over travel will be displayed in the error log. You can manually release over travel on your system from the ___________ Release screen.

A. AXIS LIMITS

B. POSN

C. OT

D. FCTN

How many User Frames are standard on the R-J3 series controller?

A. 8

B. 11

C. 9

D. 13

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

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
E. 7 point method

A. 3 point method
D. direct entry

What is the default TOOL center point

A. Face plate

B. Set by TOOL frame

C. World origin 0,0,0

D. End of TOOL

If you had to place an object at a 45 degree angle, what cooordinate would assist in accomplishing jogging the robot along this angle?

A. USER FRAME

B. WORLD FRAME

C. TOOL FRAME

D. JOINT FRAME

When a DCS error occurs, what two keys do you press in order to clear the fault?

A. SHIFT RESET

B. MENU RESET

C. FCTN RESET

D. FAULT RESET

What is the default location of the Tool Center Point?

A. At the center of the robot

B. the jog frame

C. the center of the user frame

D. the center of the faceplate

How many Jog Frames are standard on the R-J3 series controller?

A. 5

B. 3

C. 2

D. 4

What key combination is used to record a

program point?

A. SHIFT + POINT

B. SHIFT + SELECT

C. SHIFT + PROGRAM

D. SHIFT + RECORD

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

Identify the motion instruction elements

1. J 2. P[1] 3. 100% 4. FINE 5. OFFSET, PR[2]

___ SPEED

___ TERMINATION

___POSITION

___TYPE

___OPTIONS

100% - SPEED

FINE - TERMINATION

P[1] - POSITION

J - TYPE

OFFSET, PR[2] - TYPE

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

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

Within the program header, what does Group Mask represent when it displays the following? [1,*,*,*,*]

A. 1 MOTION GROUP

B. 1 USER FRAME

C. 1 TOOL FRAME

D. 1 JOG FRAME

What keys are pressed to change the default motion?

A. MENU MOTION

B. POINT EDDEF

C. MENU POINT

D. DATA MOTION

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

What combination of keys are used to record a position?

A. SHIFT + RECORD

B. SHIFT + PROGRAM

C. SHIFT + SELECT

D. SHIFT + POINT

To use the cycle start button from the SOP, which of the following setup modes should the Remote/Local be set within the System/Config screen?

A. EXTERNAL I/O

B. SOP

C. REMOTE

D. LOCAL

A Motion Group can define different groups of ________ that can be driven by FANUC servo motors used for independent pieces of equipment?

A. axis

B. arms

C. tools

D. frames

Where is Position Register (PR[ ]) data valid?

A. GLOBAL

B. LOCAL

C. WORLD

D. PROGRAM

What symbol is used to indicate that the robot is at the taught position?

A. *

B. +

C. #

D. @

What key combination is used to touchup

a program point?

A. SHIFT + RECORD

B. SHIFT + TOUCHUP

C. SHIFT + SELECT

D. SHIFT + PROGRAM

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. PROG 1

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

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

What status indicator will turn green when the

robot step mode is off?

A. CONTINUOUS

B. STEP

C. RUN

D. LINE

FINE termination type causes the robot to _____ at the destination position before moving to the next position.

A. MOVE CONTINUOUSLY

B. SPEED UP

C. STOP

D. SLOW DOWN

What does RM-POS-ID do?

A. pastes the lines in revers order and leaves the position numbers blank

B. pastes the lines in reverse order and retains the current position numbers

C. pastes the lines in reverse order and renumbers the positions

D. paste all instructions except motion instructions in reverse order

Which instruction will increment Register 7 (R[7]) by 1?

A. R[7] ++

B. R[7] = 1

C. R[7] = R[7] + 1

D. R[7] + 1

What are the two 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

Match the Paste Reverse to the appropriate definitions.

1. F1 - R-LOGIC 2. F2 - R-POS-ID 3. F3 - RM - POS-ID

4. F4 - R-POS 5. F5 - RM-POS

___Will add lines in reverse order and retains their original position numbers.

___This is exactly like the RM-POS-ID except that new Postion numbers are assigned in the pasted lines.

___ Speed and termination types are pasted in the proper instructions to maintain the original speed and termination of each path segment

___Will add lines in reverse order and renumbers the copied positions with the next available position numbers.

___Will add lines in reverse order and does not record the positions, but leaves the position numbers blank.

_2_Will add lines in reverse order and retains their original position numbers.

_5_This is exactly like the RM-POS-ID except that new Postion numbers are assigned in the pasted lines.

_3_ Speed and termination types are pasted in the proper instructions to maintain the original speed and termination of each path segment

_4_Will add lines in reverse order and renumbers the copied positions with the next available position numbers.

_1_Will add lines in reverse order and does not record the positions, but leaves the position numbers blank.

What feature from the EDCMD would you use to replace a CNT termination type with a FINE termination type?

A. FINE

B. SELECT

C. REPLACE

D. TYPE

The following display is a Direct or Indirect addressing? R[3}=2

A. DIRECT

B. INDIRECT

Which option would you use to paste instructions that would include reverse positional data and new number ID?

A. R POS

B. R POS ID

C. RM

D. RM ID

Match to the appropriate definition

1. F2 - LOGIC 2. F3 - POS ID 3. F4 - POSITION

___will add lines exactly as they were copied and renumbers the copied positions with the next available position number

___will add lines exactly as they were copied and retains the current position numbers

___will add the lines exactly as they were copied, but leaves the position numbers blank

_3_will add lines exactly as they were copied and renumbers the copied positions with the next available position number

_2_will add lines exactly as they were copied and retains the current position numbers

_1_will add the lines exactly as they were copied, but leaves the position numbers blank

The RENUMBER function reassigns all position numbers in the program so that they are in sequential order. RENUMBERING change the POSITION ID NOT THE POSITION INFORMATION?

TRUE OR FALSE

What instruction will send program flow out to a sub-program?

A. JMP/LBL

B. REMARK

C. SELECT

D. CALL

When inserting a Program Instruction, you must highlight either a line number or END?

TRUE OR FALSE

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

TRUE OR FALSE

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?

TRUE OR FALSE

Timers must start and end in the same program?

TRUE OR FALSE

Match the options to the appropriate definition

1. LOGIC 2. POS ID 3. POSITION

___Will add lines exactly as they were copied and renumbers the copied position with the next available position number

___Will add the lines exactly as they were copied, but leave the position numbers blank

___Retains the current position numbers

_3_ Will add lines exactly as they were copied and renumbers the copied position with the next available position number

_1_ Will add the lines exactly as they were copied, but leave the position numbers blank

_2_ Retains the current position numbers

Position Register element instruction allows you to change an individual value in a Joint or Cartesian position?

TRUE OR FALSE

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

[image]

A Macro that contains a motion instruction can be assigned to User Key 1 button on the Standard Operator Panel when using R-J3iB and earlier controllers?

TRUE OR FALSE

The following Position Register Instructions will alter what coordinate?

PR[1,3:LPOS]=1000

A. Y

B. ALL

C. Z

D. X

[image]

When assigning a number for the Standard operator User Key 1 for controllers R-J3iB and earlier, you can only use SP[4]?

TRUE OR FALSE

Which is not a valid way to execute an assigned MACRO?

A. Executing an item from the Manual Functions screen

B. Pressing "USER 1" button on the SOP for earlier controllers

C. Pressing a Teach Pendant USER key

D. Holding PREV and NEXT keys

[image]

When Group Ouptput binary is set to 7 what

DO[#]'s will be switched ON?

A. 1,2,3

B. 3,4

C. 2,5

D. 2,3,4

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

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?

TRUE OR FALSE

The Remark Miscellaneous Instruction allows what?

A. none of the listed options

B. markings

C. data

D. comments

Where is Position Register (PR[ ]) data valid?

A. Nowhere, Position registers are an instruction and therefore do not have data

B. Globally through the controller

C. Within a maximum of 2 programs

D. Within the current program only

[image]

When assigning User Key SU[3}, the key that executes the macro is?

A. Shift + Move Menu

B. Shift + I/O

C. Shift + Tool1

D. Shift + Tool2

[image]

Configuring I/O establishes the correspondence between the signal number and the physical port. Each signal, or signal-sequence must be configured to a rack, a ____ in the rack, and the starting point or channel number?

A. I/O

B. SLOT

C. BIT

D. CARD

The macro commands that requre the USER key to be pressed alone (UK[1] - UK[7]) cannot have any instructions that _______ the robot?

A. stop

B. changes

C. move

D. limit

Which I/O is used when using the EE connector on the robot?

A. digital

B. robot

C. group

D. analog

[image]

A Macro that contains a motion instruction can be assigned to Teach Pendant User Key 1 without the shift key?

TRUE OR FALSE

[image]

What is the Binary Bit value for the following outputs?

A. 17

B. 14

C. 6

D. 9