Fundamentals of Robotics for SCORBOT-ER4u

In the robot workcells with which you will work, the robot origin is always at:

(0, 0, 0)

Position X is located at (100, 50, 200). Which of the following positions has a positive X-offset of 50 mm relative to position X?

(150,50,200)

TCP stopping at every intermediate position is problematic, especially for applications like welding, because: (select one or more)

*Stopping at each of the intermediate positions substantially increases the running time of the program *Stopping at each intermediate position causes a fragmentary motion not suitable for such applications.

In XYZ mode, an absolute position is a set of coordinates that defines the distance each axis has moved relative to its _____ position.

home (0,0,0)

Which of the positions is it best to record as the absolute position?

the template handle at the initial template position

An encoder counts pulses to determine the number of revolutions the disk and motor have completed

true

Match the following commands with the appropriate number to indicate the correct order for executing the first segment of the program - picking up the cylinder and moving above tank A.

1. Open the gripper and move to position #12. Move to position #23. Move to position #34. Move to position #4

Which of the following keys should be clicked or pressed to move the robot on its base?

1/Q

A cylinder is labeled number____.

2

The robot's gripper is labeled number ____.

3

Which letter in the 3D Image toolbar, indicates the button that displays an overhead view of the cell.

B

Which letter indicates the peripheral device best used to bring the robot to objects outside of its workspace.

B

In the RoboCell toolbar, click on the Run Single Line button.

Button next to the save button with the shorter arrow

In the RoboCell toolbar below, click on the Run Single Cycle button.

Button with the longer arrow

Which letter indicates the robot's base joint.

C

Which of the following are the five types of robots?

Cartesian,Spherical,Cylindrical,Vertical Articulated,Horizontal Articulated

It was ___________ to zoom in on the red cube when using the Redirect Camera tool.

Easier

Additional positions must be recorded if you want the robot to return the cube to its initial position.

False

Adjusting the Roll rotates the gripper about the Y-axis.

False

Feeders can hold infinite amounts of parts.

False

Given a defined unit of measurement, and a defined coordinate system, a point in space can have more than one set of coordinates in the Cartesian coordinate system.

False

RoboCell allows you to move the robot in directions that exceed its actual working space since it is simulation software and does not have to accurately reflect reality.

False

The Go Circular command moves the robot TCP in an arc between two points through a defined intermediary point. In this circular trajectory motion, the robot visibly stops at three positions - the first point of the arc, the intermediary point and the last point of the arc.

False

The Run Continuously option runs the program continuously if the operator resets the workcell at the end of each cycle.

False

The Teach Position option in the Teach Position dialog box is always used when defining a position according to Joint coordinates.

False

When working online with an actual robot, Send Robot options can be used to simplify the recording positions task.

False

For which of the following devices can positions be recorded?

For both a robot and a peripheral device.

What are the main components of all robotic systems?

Manipulator and End Effector,Programmer's Terminal,Controller

Which of the following could be the first line of this program?

Open Gripper,Go to Position 11 fast

Drag the following commands into the correct order to program the robot to pick up the pink cube from its initial position.

Open gripper, go to position 11, go to position 1, close gripper

Which of the following commands will be repeated in each of the dipping segments?

Position 2, Position 3, Position 4Each of the remaining segments will contain commands for the robot to move to the next tank (position #4), dip the cylinder (position #2) and move above the tank (position #3).

Which two of the following types of joints are commonly used in robot manipulators?

Prismatic Joints,Revolute Joints

A RoboCell project is ALWAYS comprised of which of the following files?

Program File,Project File,Positions File

Which of the following window components are displayed in RoboCell's Simulation & Teach mode?

Program Window,Teach Positions Dialog Box,Manual Movement Dialog Box,3D Image Window

Which of the following window components are displayed in Teach & Edit mode?

Program Window,Teach Positions Dialog Box,Workspace Window

Which of the following commands is best for the simulated welding operation?

Recording two end positions.

Which of the following commands does not affect program execution?

Remark command

From which of the following locations can you run a single line of the program?

Run menu, RoboCell toolbar

The Reset Workcell option:

Sends the robot and all peripheral components to their home positions

How many positions must be recorded for this task if only absolute positions can be used?

Six absolute positions must be recorded for this task. The position of the second cylinder at the mouth of the feeder is identical to the initial cylinder location. Therefore, you would need to record the initial cylinder location, the two end positions, and a position above each point. (6 - the initial cylinder position at the feeder mouth, the two end positions and a position above each point)

Which of the following options describes the functionality of the Go Linear command? (MC)

The TCP is sent, without stopping, from the start position to the end position through a series of intermediate positions calculated by the controller.

When an axis is set to zero using the SA command, which of the following will happen to the encoder counts for that axis?

The encoder value for the axis will change to zero without changing the position of the axis

What would happen if you ran another cycle of the program without resetting the cell?

The program will run, but as the cube is no longer in its original position, the robot will not pick up the cube. The program will run until line #7, at which stage an error message will be displayed, because the current position of the cube prevents the robot from reaching position #2.

Which of the following options is a possible disadvantage of including numerous intermediate positions between two positions?

The robot will stop and start a number of times between the two end positions.

What is a degree of freedom in robotics?

The robot's ability to move its tool along or around an axis.

Which of the following options best describes the changes to a program execution caused by the Set Variable command?

There were no noticeable changes to the program execution

Which of the following options best describes the changes to the program execution caused by the Remark command?

There were no noticeable changes to the program execution

Robots can be classified into five groups. The code used for these classifications consists of a set of _____ letters, which refer to types of robot joints.

Three

The Teach option in the Teach Position dialog box is used:

To define a position according to XYZ coordinates,For position modification.

Why must you reset before running a program?

To home the robot, so that the robot movements all begin from the home position,To home the robot and peripheral devices, so that the program can execute correctly.

If the reference position of a relative position does not change, the relative position is virtually absolute (does not change).

True

It is easier to move the TCP along the Cartesian axes when in XYZ mode.

True

Positions recorded on ground level are typically named with single digits while positions directly above them may be named with multiple digits.

True

Recording relative positions should reduce total programming time.

True

Set Variable and Remark commands help to increase a program's readability.

True

The operator can gain greater control over the TCP path by increasing the number of intermediate positions along the trajectory.

True

The position of available parts in a feeder remains the same. This is advantageous for the robot program.

True

The purpose of sending an output from the robot controller to the feeder is to release a part from the feeder.

True

When a robot is moved along a linear slidebase, the robot positions and the robot's work envelope move together with the robot.

True

Without a previous understanding of the program's task, it is difficult to understand what the program written in the previous task does.

True

Which of the following commands pauses the execution of the program for a predetermined period of time?

Wait command

Why is it easier to move the TCP in straight lines when in XYZ mode?

Working in XYZ enables you to move the TCP along one cartesian axis at a time.

Which of the following are true of encoders?

both of the above (Encoder counts can be used to aid in the recording of robot positions & Encoder counts can be used to aid in the recording of robot positions)

What is a relative position?

A set of coordinates that defines an offset from another position.

Which of the following options describes the Follow Me Camera viewing tool?

Adjusts the viewing angle to follow the movements of any selected object

Which of the following options can be used to teach position #12?

All of the options are correct (Relative to position #1 with a Z offset of 50mm and a Y offset of 200mm, Relative to position #2 with a Z offset of 50mm, Relative to position #11 with a Y offset of 200mm)

Which of the following difficulties are encountered when manually manipulating the gripper?

All the answers are correct. (The view of the workcell has to be adjusted repeatedly to ensure that the gripper approaches from the correct angle; The gripper has to be moved slowly to avoid collisions; The method of movement (Joint or Cartesian) has to be changed repeatedly to move the gripper to the required position)

What is the system response to an encounter between the robot arm and the table?

An impact error message is displayed and the robot arm cannot be lowered any further

Which of the following coordinates represent a TCP position that is 50mm above table level?

Any coordinate that has a Z above 50.(0, 120, 50)(300, 200, 50)

The feeder is labeled number_____.

1

Which of the following are true of relative positions?

A relative position is linked to a reference position;A relative position's coordinates are defined by a specific offset from another position;If the coordinates of the reference position change, the relative position changes along with it.

The template is labeled number____.

4

How many degrees of freedom does the SCORBOT-Er 4u have?

5

If position #11 is defined as relative to position #1 with a Z-offset of 50 mm, position #1 will always be:

50 mm below position #11.

Which letter indicates the peripheral device best used to bring objects into the robot's workspace.

A

What is the robot home?

A fixed reference position.