When possible, what should the first and last steps of a job have in common?

• A. Position
• B. Velocity
• C. Time stamp
• D. Command type

Answer: (A)

The main idea is repeatable, predictable motion by ending where you started. When the first and last steps share the same position, the robot finishes a cycle in a known pose, making it easy to loop the job, restart cleanly, or hand off to fixtures and inspections. This consistency in end pose ensures the end effector is in the expected place for the next operation or for safety checks, which reduces surprises and improves reliability.

Velocity, time stamps, and command types can vary along a path without breaking this repeatability, but what matters most for a smooth, reusable cycle is the same spatial position at the start and end.