LECTURE13 PROGRAMMING IN FANUC
R-30IB EXAM QUESTIONS AND CORRECT
ANSWERS
\Q\.what are the 4 kinds of motion instructions - ANSWERS✔-- motion type
- positional information
- speed
- termination type
\Q\.what are the three kinds of motion types - ANSWERS✔-• J - Joint motion (moving the
required points at the same time to reach the desired position
• L - Linear motion (move in a straight line from start to end position)
• C - Circular motion (move in an arc from start to end point thru an intermediate position)
\Q\.how do you write a position - ANSWERS✔-P[1] is the position number ranging from 1 -
32767
\Q\.how do you write speed - ANSWERS✔-100% is the speed ranging from 1 to 100 of default
speed
write as percentage
\Q\.two termination types - ANSWERS✔-FINE & CNT
, FINE means robot stop at the point; it can be replaced with CNT (robot decelerate as it
approaches the point position)
\Q\.example of a motion instruction line - ANSWERS✔-J P[1] 100% FINE
\Q\.what are branching instructions for - ANSWERS✔-Enable a program to have a logical flow.
\Q\.examples of unconditional and conditional branching - ANSWERS✔-• Unconditional
branching - LBL, JMP LBL, CALL
• Conditional branching - Boolean Expression, Integer Expression
\Q\.be able to read - ANSWERS✔-• IF DI[1] = OFF, JMP LBL[1]
• J P[1] 100% FINE
• JMP LBL[2]
• LBL[1]
• J P[2] 100% FINE
• LBL[2]
\Q\.what do call instructions do - ANSWERS✔-Instruction to send program flow out to a sub-
program
ex:
• MAIN
• LBL[1]
• CALL PROG A
• CALL PROG B
R-30IB EXAM QUESTIONS AND CORRECT
ANSWERS
\Q\.what are the 4 kinds of motion instructions - ANSWERS✔-- motion type
- positional information
- speed
- termination type
\Q\.what are the three kinds of motion types - ANSWERS✔-• J - Joint motion (moving the
required points at the same time to reach the desired position
• L - Linear motion (move in a straight line from start to end position)
• C - Circular motion (move in an arc from start to end point thru an intermediate position)
\Q\.how do you write a position - ANSWERS✔-P[1] is the position number ranging from 1 -
32767
\Q\.how do you write speed - ANSWERS✔-100% is the speed ranging from 1 to 100 of default
speed
write as percentage
\Q\.two termination types - ANSWERS✔-FINE & CNT
, FINE means robot stop at the point; it can be replaced with CNT (robot decelerate as it
approaches the point position)
\Q\.example of a motion instruction line - ANSWERS✔-J P[1] 100% FINE
\Q\.what are branching instructions for - ANSWERS✔-Enable a program to have a logical flow.
\Q\.examples of unconditional and conditional branching - ANSWERS✔-• Unconditional
branching - LBL, JMP LBL, CALL
• Conditional branching - Boolean Expression, Integer Expression
\Q\.be able to read - ANSWERS✔-• IF DI[1] = OFF, JMP LBL[1]
• J P[1] 100% FINE
• JMP LBL[2]
• LBL[1]
• J P[2] 100% FINE
• LBL[2]
\Q\.what do call instructions do - ANSWERS✔-Instruction to send program flow out to a sub-
program
ex:
• MAIN
• LBL[1]
• CALL PROG A
• CALL PROG B
