GE VMIVME-0427-140 Gas turbine input module

Injury may result from contact with the manipulator if persons enter the working envelope of the manipulator. • Always press the emergency stop button immediately if there are problems. Emergency stop buttons are located at the upper right corner of the XRC playback panel and on the upper right of the programming pendant. • Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed. - Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires. - Always return the programming pendant to its hook on the XRC cabinet after use. If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.

Home Position Calibration

Teaching and playback are not possible before home position calibration is complete. In a system with two or more manipulators, the home position of all the manipulators must be calibrated before starting teaching or playback Home position calibration is an operation in which the home position and encoder zero position coincide. Although this operation is performed prior to shipment at the factory, the following cases require this operation to be performed again. • Change in the combination of the manipulator and XRC • Replacement of the motor or encoder • Clearing stored memory (by replacement of XCP01 board, weak battery, etc.) • Home position deviation caused by hitting the manipulator against a workpiece, etc.

To calibrate the home position

 use the axis keys to calibrate the mark for the home position on each axis so that the manipulator can take its posture for the home position. There are two operations for home position calibration: • All the axes can be moved at the same time • Axes can be moved individually If the absolute data of the home position is already known, set the absolute data again after completing home position registration.

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