Keep the teach pendant within reach while the robot is operating or when you are in side the robot work area.. Hard stop is the position when the robot axes moves as far as it can physic
Trang 1SEGMENT 1
1 The three features that define a robot are:
Automated, Reprogrammable and Multitasking
2 Name five basic component of a robot:
1 Manipulator
2 End Effector
3 Controller
4 Drives
5 Teach pendant
3 Name four common examples of robot applications:
1 Assembly
2 Material handling
3 Welling
4 Machine loading
4 Robot improve the quality of life by per forming job that are dangerous
or dirty
5 The robot’s manipulator is often called the Arm
6 Never wear loose fitting clothing , sleeves , or ties around the robot (or any other machinery)
7 The three steps necessary to power up a servo- Robot are :
1 Perform a safety check
2 Turn on the power
3 Enable the drive
8 The drives consist of electronic circuitry that supply power to the robot arm’s motors
9 Keep the teach pendant within reach while the robot is
operating or when you are in side the robot work area
10 The Emergency stop pushbutton causes the robot to stop its program and disable its drives immediately after pressing it
SEGMENT 2
1 The two classes of robot axes are body axes and wrist axes
2 List three type of jog applications
1 Start up
2 Teaching
3 Shut down
3 Why might it be necessary to use the slow job setting?
Trang 2The slow jog speed is used when it is necessary to have precise positioning
4 Explain when you might use the fast jog speed setting:
The fast jog speed is used when it is desirable to cover more distance but with less control
5 Define what is meant by a hard stop
Hard stop is the position when the robot axes moves as far as it can physically This will cause the motors to be disabled and an error message
[FERR] Will be display on the teach pendant
6 Why does a robot have axes
A robot haves axes to move to various positions
7 How can you tell if the jog function is enabled by looking at the teach pendant ?
8 The jog speed of the Pegasus root can be set between 0 and 255
9 Describe the procedure for recovering from a motor error
Press/F1/STA
Press/F2/ENA to enable the motors
Press/SEL/to change direction of this axis so you can move in the
other direction
Jog the axis away from this position , which is often called a hard stop
10 How many axes does the Pegasus robot have ?
5
11 To jog the robot means to move the robot arm manually under power
12 Describle the function of the [SEL] key on the teach pendant
The [SEL] key is used to change direction of the axis
13 Explain the function of the [JOG] key on the teach pendant
The [JOG] key is used to turn on or turn off the jog function
SEGMENT 3
1 List the four components of a robot axis
The four components of a robot axis are:
Servo Motor
Encoder
Mechanical Structure
Home Position Sensor
2 An Encoder is located on the servomotor shaft and sends pulses
corresponding to the shaft position
Trang 33 The quick homing position is used to minimize the amount of time needed to home the robot
4 Briefly explain why it is necessary to home the robot
Homing is an automatic procedure that causes the robot’s axes to each move to a position where it actuates its home sensor The controller then resets its memory for each encoder position to zero This assures that the robot will accurately to each position that stored in memory
5 Describe the location of the quick – homing position
Waist (Axis 1) – Locate in any clear position to the left of center It will home right
Shoulder (Axis 2) – Locate in any clear position forward of the vertical position It will home up to the vertical position
Elbow (Axis 3) – Locate slightly lower than the horizontal position Pitch (Axis 4) – Locate in any clear position that is below the
horizontal position It will home up to the horizontal position
Roll (Axis 5 ) – If using a pneumatic ( air powered ) gripper , locate so that the air hose is to the left of the vertical position It will home
counterclockwise
6 A servo motor receive signals from motor drives in the controller to move at a specific speed , either every slow , very fast or some where in between
7 The first procedure that you should perform when working with the Pegasus robot or any other industrial machine is a safety check of the work area
8 List five steps to start up a servo – robot :
1) Conduct a safety check of the robot and work area
2) Turn on power to the controller
3) Enable the robot drives
4) Jog the robot to the quick homing (or clear ) position
5) Home the robot
9 To make the homing process quicker , jog the robot to a position called a
quick homing position
10 In the case of the Pegasus the home position sensor is an infrared sensor
Trang 4SEGMENT 4
1 Briefly describe what an end - effector is :
End-effector is a device which is used to grasp parts or tools There are two basic types of end effector : end of arm (EOA) tolling and grippers
2 The most common end effector is the grippers
3 EOA stands for end-of-arm
4 Name there types of end-of-arm tooling :
Drilling
Welding
Gluing
5 Name two common ways of powering a gripper
1) electric powered
2) pneumatic powered
6 2 – point curvilinear and 2 – point parallel are two types of grippers
7 Name the five types of robot safety devices
1) Emergency stops
2) Barricades
3) Light curtains
4) Safety mats
5) Signs and tape
8 The robot’s work area and the equipment in it are called a workcell
9 The [EXEC] and [F3] functions on the teach pendant allow you to
manually open and close the robot’ gripper
10 Grippers are used to hold or grasp an object for the purpose of lifting or other wise physically moving an object