GE IC695ETM001-EK Gas turbine module

You can specify acceleration and deceleration jerk rates on single axis moves directly via operands in the instruction faceplate for S-curve profile motion. Jerk rates for S-curve motion can be specified as either “Units/Sec3”, “% of Maximum”, or a new “% of Time”, letting you optimize the need for speed and smoothness. The configured maximum jerk rates are accessible programmatically via GSV/SSV instructions. Earlier revision of projects using S-curve velocity profiles will be automatically migrated forward and prepopulate the new Jerk Operands in the MAM, MAJ, and MAS instructions with default values for Jerk rate as “100% of Time”.

Motion homing capabilities

 have been extended to provide two additional homing modes. · Torque Level allows the homing position to be set when a configured torque limit is reached. · Torque Level-Marker lets the homing position to be set when the configured torque limit is reached and feedback marker is detected. These capabilities allow for enhanced application flexibility by removing the need for a home switch.

Kinematic Transformation Instructions Added 

Motion control capabilities have been extended by allowing inverse and forward kinematic transformations. This functionality is targeted for controlling robots used in packaging and pick-and-place applications. The native geometries supported are: two and three axes articulated-dependent and articulated-independent robot geometries, as well as configurable support for three-axes SCARA geometries by leveraging the native geometries. To accomplish this functionality, the coordinate system configuration is enhanced to allow selection of the coordinate system type as either Cartesian or articulated.

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