FANUC Certification

Turning the Teach Pendant On:

Gives motion control solely to the operator via the Teach Pendant

What must be accomplished to avoid hard-stops and over-travels?

Set software/axis limits

SHIFT and the hardkey COORD will display the following menu:

The "jog" menu

SHIFT and POINT are needed to do what?

Record the current position of the robot

In the motion command "JP[2] 100% FINE", If you wanted to change the "FINE" component to a "CNT100" what buttons would you press?

*****

To switch manually from one program to another, you have to be in which screen?

Select

How many Robot I/O points are standard on a controller?

16

Which soft key is pressed to display the current motion instruction defaults from the EDIT screen?

POINT

When creating a program, which hard key should be pressed?

Select

When using the Prog Adjust utility, which statement is correct?

Pressing CLR_ADJ or CLR_ALL will save the current enabled/disabled data values

Which of these tasks can be performed from the FILE menu?

Copy a program from one name to another within the controller. ****

If while jogging the robot, you get an "In singularity" error, what must you do?

Joint jog J5 +/- at least 10 degrees

The "Program Header Information" at the DETAIL softkey enables you to modify the following program information, except:

Active Tool Frame

What is the suggested type of motion used to move the robot to a Home position?

Joint

Which softkey allows you to enter additional program instructions into a Teach Pendant program?

[INST]

Which of the following is a type of I/O signal?

Digital I/O

Which of the following hard keys would bring the menu item ABORT ALL to the TP screen?

FCTN

If you would like to look at the positional data of P[3] in the instruction "JP[3] 100% FINE", what buttons would you press?

Cursor to the 3 of P[3] and press F5 POSITION

What are the two menus from which you can save Teach Pendant files?

SELECT & FILE

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

Holding PREV and NEXT

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

R[7] = R[7] + 1

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

CALL****

What are the two (2) possible actions of an IF/SELECT statement?

CALL & JMP/LBL

To switch between JOINT,WORLD, TOOL, JGFRM, & USER for jogging purposes, you need to press which of the following key(s)?

COORD key

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

Globally throughout the controller

Enabling the iPendant gives motion solely to whom?

A. The PLC
B. The Controller
C. The Operator

The Operator

Assuming standard setup, if you jog the robot in World -Y, which direction will the TCP move?

To the robot’s right

What key is depressed to switch between the different jog modes?

COORD

What two buttons display the Jog Menu?

Shift and COORD

What type of memory is saved when performing an image backup?

F-ROM and SRAM

Singularity error can be corrected by moving?

Joint 5 (+/-) 10 degrees

Where is the default Tool Center Point?

Center of faceplate

What type of I/O handles communication between the controller and the robot?

Robot I/O

Positional data is dependent on what two frames?

User and Tool

Which type of instruction defines for the robot how to move, where to move, and how fast to move, and how to stop?

Motion instruction

Which type of pasting will paste the motion instructions in order and renumber the Position's ID's based on the first available Position ID?

POSITION

Which mode limits all cartesian speed to less than 250 mm/sec and joint speed to less than 10%?

T1 mode

Which motion type moves the TCP in a straight line from the start position to the destination position?

Linear

Which position must the DEADMAN switch be held to enable motion?

Centered

Before forcing an input it must be..

Simulated

What type of memory is saved when performing a file backup?

SRAM only

The six point method of defining a tool frame defines the location and ______ of a tool frame.

Orientation

What are the two possible actions of an IF/SELECT statement?

JMP LBL & CALL

The motion option OFFSET, PR[x] is offset relative to the orientation of what frame?

USER

Which macro assignments will execute a macro in a manual mode?

UK, SU, MF *****

How many soft keys are there on the iPendant?

5

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

CALL

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?

Cursor to the 3 of P[3] and press F5 POSITION

The motion option OFFSET, PR[x] is offset relative to the orientation of what frame?

USER

Which key combination is needed to access the split screen display menu?

Shift and DISP (Display)

If while jogging the robot you release the shift key or jog key, what will happen?

The robot will execute a controlled stop.

What teach pendant key brings the option Abort All?

FCTN

Which soft key is not on the Select Screen ?

Run

What type of test should be performed prior to running the program in continuous ?

Step Test

What combinations of keys are used to touch up a position?

Shift and Touchup

Fine termination type causes the robot to ____ at the destination position before moving to the next position.

Accelerate

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

@

What type of positional data is globally accessible?

Positions P[X]

True or False: Shift + 5 is the key combination used to touch up a position.

True

Fine termination type causes the robot to _______ at the destination position before moving to the next position.

pause (should be stop)

Identify the motion instruction elements

J - Motion
P[1] - Position
100% - Speed
FINE - Termination

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

Globally accessible

True or False: Is it possible to have more than one fault at a time.

True

What two keys must be pressed to diagnose a FAULT?

Shift and DIAG

If you use the MOVE TO feature to send the robot home after a crash the robot will take the most route to the recorded position.

direct

When inserting a blank line, place the cursor on the line _____ the spot to add the blank lines.

below

True or False: Outputs can be forced ON or OFF

True

True or False: A macro is a fully functioning macro without being assigned to the macro table.

False

True or False: A file backup should be made when changes to the program occur.

True

Which direction does the TCP move in relation to the robot when the +X key is pressed while jogging in WORLD frame?

To the robot's right. *****

Shift and Touchup are needed to do what ?

Record the current positional data of the robot.

Given the motion command: J P [2] l00% FINE

If you wanted to change the "FINE" component of this motion instruction to a "CNTwo," which keys would you press?

Select component, then press F4 [CHOICE]

In step mode, to change the direction execution of the program, which hard key should you press while holding the shift key?

FWD or BWD keys

Which of the following is a kind of I/O signal?

Robot I/O

To display the stored programs on the controller, which key should be pressed ?

Select

Which key is pressed to bring the robot to a controlled stop?

Hold

Which of the following hard keys will being the menu item "Abort (All)" to the teach pendant display Move Instruction?

FCTN

What is the world coordinate system based on?

a point that never changes

What are the first two lines of code

user frames

What does Utool (tool offset data) tell the controller?

where the Tool frame is relative to the center of the faceplate

What does the Uframe (user frame offset data) tell the controller?

where the user frame is relative to the tool frame

What is the maximum amount of characters can the program name be?

8

What is the only special character that can be used in the program name?

_

What should the program name describe?

program function

What must the program name begin with?

a letter

What does positional data tell the user?

where the tool frame is relative to the user frame

What does the positon register do?

stores position information for use in programs (x, y, z, w, p, r)

What is the default setting for position registers?

10

What is the maximum amount of positon registers?

200

How often should you test code?

every 5 lines

What mode do you use to test code?

STEP

True or false: approach points are imperative.

true

All position registers are ___________.

global

How many frames does user frame have?

9

How many frames does tool frame have?

10

What can the servo act?

tenth of a millimeter

x+

moves the end of arm straight forward

x-

moves the end of arm straight back

y+

moves the end of arm laterally to the left

y-

moves the end of arm laterally to the right