Title: Quiz 1, week 1-2 Robots
Course: Applied Industrial Robotics (ATR-145-1)(2018SP)

Q: According to Fanuc (ANSI/RIA 15-02), which of these is the number one priority to protect from unsafe occurrences?
- Robot
- External Devices
- People
- Workpiece
A: People

Q: Which of these is NOT a requirement of 2.1.3, setting up a safe workcell?
- Test the programmed robot at full speed in T1-T2 mode before Auto mode.
- Know whether or notyou are using an intrinsically safe teach pendant ifyou are working in a hazardous environment.
- Isolate the robo from all remote control signals that an cause motion whle data is being taught.
- Make sure all personnell are outside the work envelope beore running production.
A: Test the programmed robot at full speed in T1-T2 mode before Auto mode.

Q: How many individual E-stop devices are present in the 4-robot workcell in Hawkeye's lab?
- 21
- 19
- 23
- 17
A: 23

Q: True or False, according to 2.1.6, if you remove a servomotor from a robot, the remaining brake for the associated arm WILL prevent the arm from falling in the direction of gravity.
- False
- True
- don't know
- also don't know
A: False

Q: What is the purpose of the dead man squeeze switch on the teach pendant?
- To force the programmer to keep both handsout of the moving path of the robot.
- To force a programm AND a service technician both to service a powered up robot
- To slow down programming making it safer
- To provide a quick E-stop for the programmer in the event a rapid motion stop is needed during programming.
- Both A. and D. above
A: Both A. and D. above

Q: Which of these Dual Check Safety (DCS) features is NOT a feature of the R30iA and R30iB controllers?
- Joint Position Check
- Joint Speed Check
- Cartesian Position Check
- Cartesian Speed Check
- Auto mode 100% speed check
A: Auto mode 100% speed check

Q: What is the name of the programming language you are learning for this Robot?
- Fanuc Robot Code
- Robot CPU Code
- Handling Tool Application programming
- Arc Tool Application programming.
A: Handling Tool Application programming

Q: What occurs after MENUS, 0, SYSTEM, F1, Master/Cal, $MASTER_ENB, 1, ENTER, has been performed on the Teach Pendant?
- 5 methods of Mastering plus calibrating can be perfomred.
- System files A through Z can be accessed
- Karel programs can be viewed.
- BZAL alarms occur.
A: 5 methods of Mastering plus calibrating can be perfomred.

Q: Which of these can NOT be accessed from Quick Menu's?
- Feed rate override
- J+, J- jogging
- I/O forcing
- System files
A: System files

Q: J1+ and X+ are the same thing, whether in World Mode or Joint mode, and both are displayed in mm.
- True
- False
- fourteen and 1/2
- up
A: False

Q: Robots with the 30iA, 30iB control show an error if by accident joints j4, j5, j6 align in a straight line.  This error is called?
- Linear Joint Error
- Duplicity Error
- Singularity Error
- SRVO 047 error
A: Linear Joint Error

Q: Repeatedly pressing the COORD button displays How Many different coordinate systems tracked by the robot?
- 3
- 4
- 5
- 6
A: 5

Q: What's the first thing you need to tell your Fanuc Technical Service person on the phone?
- G Number
- J Number
- F Number
- H Number
A: F Number

Q: Fanuc stores ALL service calls by robot F number, until the robot is destroyed or parted out, IFF you are calling Fanuc for service or technical support.
- True
- False
- Who knows
- The shadow knows
A: True

Q: Interfering with the light curtain, floor pressure matt, personnel proximity sensors, safety gates, cause what action by the robot when it is moving?
- Estop and drive shutdown
- Controlled stop AFAP with drive power remaining on
- Program stop with drive power cut
- Main disconnect interrupt.
A: Controlled stop AFAP with drive power remaining on

Q: A tripped "red breaker" in the safety gate circuit, which can not be closed, WILL prevent all robots inside the safety area from jogging or operating because of which "card" in the robot control?
- Estop card
- CPU card
- I/O card
A: Estop card

Q: Wiring of external read safety relay input to the Estop board CAN be done so as to allow jogging of the robots through the safety curtain in T1-T2 mode, if wired to TBOP terminals 5,6,7,8.
- True
- False
- No Idea
- ELIFINO
A: True

Q: Fanuc 30iA and 30iB controls both have the ability to determine if one or both of the double redundant safety circuits has opened or failed by way of a two count pulse counter.  This may not be present on older robots of all kinds, and can possibly allow safety circuits to be unsafe.
- True
- False
- yes and no
- maybe, maybe not
A: True

Q: From Fig. 3.3.4 of the FANUC Robot series R-30iB Mate CONTROLLER MAINTENANCE MANUAL, REV. C. what happens if more than 200 mSec. time elapses between "fail to close #1" and "fail to close #2" of a dual redundant safety relay input to the Estop card on ALL late model Fanuc robots?
- The robot Estops
- The robot performs Controlled stop and issues an alarm of "abnormal"
- The robot completes the safety circuit
- The robot pauses but no alarm is issued.
- Controlled Stop occurs, an alarm is posted, the external safety relay must be reset, AND a Maintenance Engineer must peform an F4_1CH Reset.
A: Controlled Stop occurs, an alarm is posted, the external safety relay must be reset, AND a Maintenance Engineer must peform an F4_1CH Reset.

Q: When a brand new Fanuc robot is shipped, what is wired to the "E-STOP (ESPB), FENCE(EAS), and EMGIN(EES)" terminals on the Estop card in the robot control?
- Nothing, the terminals are bare
- 3 fake Estop switches
- 6 jumpers
- 12 jumpers
A: 6 jumpers

Q: On the Fanuc RJ-2 controlled robot, how many wires are needed to "admit safety" to the E-STOP card?
- 2, completing one closed circuit
- 4, completing two closed circuits
- 6, or so
- as many as it takes
A: 2, completing one closed circuit