Robotics Final

Front 1

What is the meaning of all parts of MOVJ VJ=10, PL=0?

Back 1

MovJ is motion type, J is joint. VJ=velocity, which is in percentage for Movj. In mm/s for other moves. (1500 max)

Front 2

How to NWAIT/CWAIT commands function?

Back 2

NWAIT looks ahead at next lines until it reaches the next mov instruction. CWAIT cancels the looking ahead, and makes it wait.

Front 3

What does the UNTIL instruction do?

Back 3

Move from A to B UNTIL condition comes on.

Front 4

What type of mov is IMOV?

Back 4

It's a relative move. It's also linear.

Front 5

What do you have to use IMOV with?

Back 5

A position variable.

Front 6

What does a position variable hold?

Back 6

Distance and direction.

Front 7

What can a position variable not be in relation to location?

Back 7

The first move of the program.

Front 8

What happens if you have an IMOV in a loop?

Back 8

It moves every time the loop happens, because it's relative.

Front 9

When manually running an IMOV, what has the potential to happen?

Back 9

A crash!!!

Front 10

What's an air cut?

Back 10

When the robot goes up in the air to move to somewhere else.

Front 11

When doing an air cut, what can the position level be?

Back 11

Higher.

Front 12

What does a pulse instruction do?

Back 12

Turns on an output for a specified amount of time, but runs in the background. Doesn't wait.

Front 13

What does the pulse instruction default to if no time is specified?

Back 13

.3 s

Front 14

What's the DIN instruction used for?

Back 14

To read multiple or single inputs and hold the value for further reference.

Front 15

What does IGH stand for?

Back 15

Input group half

Front 16

Understand this

Back 16

Front 17

How does the wait instruction work?

Back 17

Waits on a condition to be fulfilled.

Front 18

Can you jump to a label in a different job?

Back 18

No.

Front 19

Can multiple labels with the same name exist in one job?

Back 19

No.

Front 20

Can you have multiple jumps going to the same label?

Back 20

Yes.

Front 21

Is the return instruction conditional?

Back 21

Can be either conditional or non conditional

Front 22

What is the call instruction for?

Back 22

Used to call other jobs.

Front 23

When are new stack levels created?

Back 23

The first time a job calls another.

Front 24

Should you call jobs from higher stack levels?

Back 24

No.

Front 25

What do you use with a SFTon instruction?

Back 25

Position variables and a SFTof

Front 26

For SUB and ADD inst, what is variable and what is constant?

Back 26

1st set of data has to be a variable, second can be a constant.

Front 27

On sub and add, where does the data get put?

Back 27

Back into the first set of data, the required variable.

Front 28

How many different values do position variables hold?

Back 28

6 different values.

Front 29

What are the six different values that position variables hold?

Back 29

X, Y, Z,

RX, RY, RZ

Front 30

What are the types of variables?

Back 30

(B)yte, (I)nteger, (D)ouble, (R)eal, (S)tring, (L)ocal, (P)osition

Front 31

How many bits does the Byte variable have?

Back 31

8

Front 32

How many bits does the integer variable have?

Back 32

16

Front 33

How many bits does the double variable have?

Back 33

32

Front 34

What is the real variable for?

Back 34

Decimal point

Front 35

What is the string variable for?

Back 35

Letters and numbers

Front 36

What is the SetE instruction for?

Back 36

To set element on position variable.

Front 37

What's the difference between relative and absolute X and Y values?

Back 37

Relative is referenced form previous point, while absolute is referenced from origin.

Front 38

Is an Estop the same as a dead man switch?

Back 38

No.

Front 39

How should an estop be wired?

Back 39

Hardwired or an input to a safety PLC

Front 40

What are the mistaken assumptions?

Back 40

Not moving won't move, following pattern will continue to follow pattern, moving slow will continue to move slow, will move to programmed point.

Front 41

While teaching, testing, or troubleshooting, what precautions should you take?

Back 41

Low speed, low pressure, safety guards on.

Front 42

What's the difference between servo and non servo?

Back 42

Servo provides feedback.

Front 43

What is point to point control motion?

Back 43

When a robot moves point to point, based on mechanics of arm.

Front 44

What motion does a gantry robot have?

Back 44

Straight

Front 45

What motion does an articulated arm have?

Back 45

Arc

Front 46

What is controlled path?

Back 46

Can make a robot arm move in an unnatural way.

Front 47

What us continuous path control programming?

Back 47

Lead through teach.

Front 48

What is singularity error?

Back 48

2 or more robot axis that are UB straight alignment. (coaxial)

Front 49

If the common is negative, what does that make the input?

Back 49

Sinking.

Front 50

If the common is negative, what does that make the output?

Back 50

Sinking.

Front 51

What's the definition of a robot?

Back 51

Programmable, multifunctional, multipositional with 3 or more axes.

Front 52

Sinking I/O means what for the field device?

Back 52

Sourcing field device.

Front 53

What is repeatability?

Back 53

How far off from a point you are

Front 54

What is resolution?

Back 54

Smallest increment.

Front 55

What is accuracy?

Back 55

How well the robot follows a predefined path.

Front 56

Which change of PL saves the most time?

Back 56

When going from 0 to 1

Front 57

IGH go up to what number?

Back 57

8

Front 58

Full groups go up to what number?

Back 58

128

Front 59

Understand this

Back 59

And this

Front 60

What does p equal?

Back 60

IV

Front 61

Can the robot manipulator and the controller be separated? If not, why?

Back 61

They can't, because they have matching order numbers.

Front 62

What's the definition of SCARA?

Back 62

Selective compliance assembly robot arm.

Front 63

What is compliance?

Back 63

Amount of flex a robot has.

Front 64

What are the xyz coords in relation to the robot?

Back 64

Front 65

Match slurbt axes?

Back 65

Base, shoulder, elbow, pitch, roll and Yaw

Front 66

What are the teaching coordinates?

Back 66

Joint, cartesian, tool, and userframe.

Front 67

What is Pam?

Back 67

Allows you to adjust while robot is in play mode.

Front 68

What does Pam stand for?

Back 68

Position adjust manual.

Front 69

What is userframe used for?

Back 69

When x, y, and z coords are rotated to robot base.

Front 70

TCP arm position vs pulse arm position?

Back 70

Pulse arm position is unique for each count, which means it gets the arm in an exact precise position. TCP could have it rotated wrong.

Front 71

Ifthen/endif?

Back 71

Front 72

Switch case?

Back 72

Front 73

While wend?

Back 73

Front 74

For next?

Back 74

Front 75

What is exposure time?

Back 75

Low long it reads the light.

Front 76

Longer exposure means what?

Back 76

Brighter picture.

Front 77

Bigger f number means what?

Back 77

Smaller aperture opening.

Front 78

What is a standard lense?

Back 78

50mm

Front 79

What is a telephoto lense used for?

Back 79

Magnification. Good for distant objects.

Front 80

What is a wide angle lense?

Back 80

Under 50mm. Shorter focal length.

Front 81

What is resolution?

Back 81

Pixels per inch.

Front 82

What is FOV?

Back 82

Field of view.

Front 83

What is DOF?

Back 83

Depth of field.

Front 84

Smaller f number means what for depth of field?

Back 84

Smaller depth of field.

Front 85

What does polarization do?

Back 85

Filters out reflections, provides a lot of contrast.

Front 86

What is contrast?

Back 86

Difference between darkest dark and lighter light.

Front 87

What is ambient light?

Back 87

Any light other than what you've specifically set up.

Front 88

What is working distance?

Back 88

Distance between camera and object.

Front 89

What is low angle lighting?

Back 89

Dark field.

Front 90

What is high angle lighting?

Back 90

Light field.

Front 91

What's the difference between dark field and bright field?

Back 91

Dark field makes rough objects bright, bright field makes smooth objects bright.

Front 92

LED vs incandescent lighting?

Back 92

LED is better because it lasts longer and doesn't change over time.

Front 93

Color filter effect?

Back 93

Same lightens, opposite darkens.

Front 94

What are soft limits?

Back 94

The programmed limit that a robot can move to.

Front 95

What are soft limits made to protect?

Back 95

Cables.

Front 96

Can soft limits be bypassed?

Back 96

Yes.

Front 97

What is shock sense?

Back 97

Shuts off power when bumped.

Front 98

What does shock sense protect?

Back 98

Robot arm.

Front 99

What is key allocation?

Back 99

Can program pendant keys to input different instructions.

Front 100

REMEMBER TO DRAW OUT I/O STUFF

Back 100

Please!!!!