Fundamentals of CNC Robotics Operation Flashcards

During a FANUC mastering procedure using the witness mark method, what must be true before setting the zero point?

Answer: Each joint must be aligned so its witness marks are exactly matched

Witness mark mastering requires aligning the scribed lines on each joint before recording the zero encoder count.

What does the FANUC R-30iB controller's iRCalibration feature automatically compute?

Answer: The robot's TCP from a series of taught approaches to a fixed point

iRCalibration uses multiple approaches to a reference point to mathematically determine the TCP offset.

Which FANUC I/O type is used for high-speed synchronization signals between the robot and an external CNC machine?

Answer: Robot I/O (RI/RO)

Robot I/O (RI/RO) points are physically located on the robot arm and are designed for low-latency, high-speed signals.

In a FANUC system configured for coordinated motion, what is the 'master' robot's role?

Answer: It provides the reference frame that the 'slave' robot tracks during synchronized motion

The master robot defines the motion path, and the slave robot moves relative to the master's frame in real time.

What is the purpose of the FANUC Payload Estimation function (PAYLOAD IDENTIFY)?

Answer: To automatically calculate tool mass and center of gravity from measured joint torques

PAYLOAD IDENTIFY moves the robot through specific motions and uses torque feedback to estimate tool mass and CoG.

Which FANUC alarm indicates that the robot has exceeded its defined work envelope limit?

Answer: MOTN-023 Joint limit exceeded

MOTN-023 is triggered when a commanded position would place a joint beyond its software travel limit.

In FANUC TP programming, what does the SKIP CONDITION instruction do?

Answer: Abandons the current motion and jumps to a label if a specified condition is true mid-move

SKIP CONDITION allows the robot to abort a move and branch to a label if the defined I/O or register condition becomes true during motion.