1. 12
Examination
1. Which of the below commands can be used to make decision in program based on a condition?
a. If…else
b. Set
c. Switch
d. Assignment
e. Wait
2. When is it necessary to configure the X- and/or Y-axis of the TCP?
a. If the tool is not a gripper
b. If programming relative to a feature
c. If the TCP is not located directly on the Z-axis
d. If the Z-axis of the tool is not parallel to the Z-axis of tool flange
3. How would you create a variable that accepts and stores input from an operator?
a. Use the “Assignment” command and change settings to “Operator”
b. Use the “initialize variables” option
c. Use the installation variables option
d. Use a “Thread” command
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2. Examination 12 4. What is the difference between a MoveL and a MoveP?
a. You can set a blend radius in a MoveP, but not in MoveL
b. MoveP maintains joint speed throughout the tool path, MoveL does not
c. MoveP maintains TCP speed throughout the tool path, MoveL does not
d. MoveP can perform a circular motion
5. What is the Set command used for?
a. Change Digital or Analog Outputs
b. Create program logic
c. Change and reset Payload during pick-up and drop-off
d. Optimize robot trajectory
6. When is it necessary to configure the orientation of the tool/end-effector?
a. If the X-axis of the tool is not parallel with the X-axis of the tool flange
b. If the Z-axis of the tool is not parallel with the Z-axis of the tool flange
c. If the Y-axis of the tool is not parallel with the Y-axis of the robot base
d. If the Z-axis of the tool is not parallel with the Z-axis of the robot base
Name and date:

3. 12
Examination
7. Which of the following statements are true about the “Thread” command?
a. A thread can be called from the main program
b. A thread runs simultaneously with and independent of the main program
c. A thread cannot set a variable
d. A thread is mostly used to control robot motion
8. Which of these variables can be used with a switch command?
a. Boolean (true/false)
b. Integer (whole number)
c. String (text)
d. Floating point (decimal)
9. Which of the following statements are true about SubProgram?
a. A SubProgram can be called from several places in the main program
b. A SubProgram can be used in multiple programs
c. A SubProgram can only be called using an if…else command
d. A SubProgram can contain the same types of commands as the main program
Name and date:

4. 12
Examination
10. Which of the below statements are true when programming relative to a plane feature?
a. A circle move cannot be programmed relative to a feature
b. A moveJ cannot be programmed relative to a feature
c. If a feature is moved, any waypoints programmed relative to it need to be re-taught
d The feature you are programming relative to needs to be configured as variable
11. Safety boundaries cannot be configured to which of the following?
a. Using user-defined feature planes
b. Using complex shapes such as ellipses and curved surfaces
c. To offset a given plane
d. To trigger reduced mode
12. Which of the following can be used as condition in an If…else command?
a. Digital input
b. Assignment
c. SubProgram
d. Thread
e. Loop
f. Variable
Name and date:

5. 12
Examination
13. When using the Wait command, which of the following can the robot wait for?
a. A thread to finish
b. A SubProgram to finish
c. A specific amount of time
d. A digital/analog input
e. An expression (e.g. a variable equaling a specific value)
14. Which of the following is true about the If…else command?
a. An if command may have several associated Elseif commands
b. An If…else command cannot be used in a thread
c. An if command may have several associated Else commands
d. An if command does not need to have any associated Else commands
15. Which options below enable instantaneous response to a Digital Input State change?
a. Use the “Thread" function
b. Enable "Check-expression continuously" check-box under If-Else
c. Enable "Check-expression continuously" check-box under Loop
d. Using an installation variable that is written by a digital input
e. None of the above
Name and date:

6. 12
Examination
16. Why do we need to "Set" and "Reset" TCP payload on a UR robot?
a. The motor tuning parameters are dynamically calculated based on payload
b. Incorrect payload affects stability of robot
c. Don’t need to, Maxing out payload works fine
d. A wrong payload setting can cause a short circuit inside of a joint
e. None of the above
17. What are possible reasons for a failure that says „Runtime error: Program used too much time without instruction robot what to do“?
a. Program with neither a physical command or a waiting time.
b. Loop with neither a physical command or a waiting time.
c. Loop variable too big
d. Thread or event without a sync() or a waiting time
18. What is the correct definition of Center of Gravity?
a. The center of gravity is the middle of the tool flange from where the Z-axis originates
b. The point on tool where mass is evenly distributed on each side
c. The total weight of both tool and picked object
d. The distance from tool flange to end of tool
e. None of above
Name and date:

7. 12
Examination
19. Which of the following statements are true regarding waypoints?
a. A fixed waypoint is a specific position in the robots workspace
b. Waypoint names can be defined by user
c. A relative waypoint is defined by teaching two positions
d. It is not possible to change speed and acceleration for a single waypoint
e. None of the above
20. Which of the following statements are true about building an application with a UR robot?
a. Fencing and safeguarding is always required around an application
b. Safety settings in PolyScope should always be considered for the individual application
c. A risk assessment is only required when a human is working within workspace of the robot
d. Only point features can be used for creating safety boundaries
e. None of the above
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