Industrial Robot Operations Flashcards
7 cards from real SACA practice questions. Tap to flip, then mark Knew It or Still Learning — missed cards come back until you master them.
Read the first 7 Industrial Robot Operations flashcards as text
What is the primary purpose of a robot's Denavit-Hartenberg (DH) parameter set?
Answer: To define the kinematic relationship between consecutive joint frames
DH parameters mathematically describe the geometric relationship between adjacent links and joints, forming the basis for forward kinematics calculations.
During a collaborative robot (cobot) risk assessment, which hazard category requires the lowest priority mitigation effort?
Answer: Residual hazards with negligible probability and minor severity
Residual hazards rated as negligible probability combined with minor severity fall at the lowest level of the risk matrix and typically require only informational labeling.
A robot program calls a subroutine that modifies a GLOBAL variable. What is the most critical concern with this design?
Answer: Unintended side effects may corrupt data used by other routines
Global variables are accessible throughout the program, so modifying them inside a subroutine can unintentionally affect other program sections that rely on the same variable.
Which robot motion type guarantees that the TCP follows a perfectly straight-line path between two points?
Answer: Linear interpolated motion (MOVEL)
MOVEL (linear motion) commands the controller to interpolate all joint angles simultaneously so the TCP traces a straight Cartesian line between start and end points.
An operator notices the robot's repeatability has degraded from ±0.05 mm to ±0.3 mm over several months. What is the most likely root cause?
Answer: Mechanical wear in gearboxes or encoder backlash
Gradual degradation in repeatability over time is a classic indicator of mechanical wear in joint gearboxes, bearings, or encoder slippage rather than software or environmental factors.
In robot welding applications, what does the term 'weave' refer to?
Answer: The oscillating side-to-side motion of the TCP across the weld joint
Weave motion is a programmed oscillation of the robot's TCP perpendicular to the weld direction, used to fill wider gaps and improve bead profile.
What safety function must be engaged before a technician enters a robot's restricted space to perform maintenance while the robot is in reduced-speed manual mode?
Answer: Enabling device (deadman switch) must be held in the intermediate position
ISO 10218 requires that in T1 manual mode, personnel inside the safeguarded space must hold a three-position enabling device, which stops motion if fully released or fully pressed.