GE VMIVME-1101 Gas turbine interface module

The home position is the pulse value "0" for each axis. The relative values between the home position and the geometry position are set to parameters. The relative values are specified as an angle in units of 1/1000°, and vary for different manipulator types. See " 3.1.3 Home Position of the Robot ".

If the error alarm occurs again, there may be an error in the PG system. Check the system. After adjusting the erroneous axis, calibrate the home position of the axis, then check the position again.

Purpose of Position Check Operation

 If the absolute number of rotation detected at power on does not match the data stored in the absolute encoder the last time the power was turned off, an alarm is issued when the controller power is turned on. There are two possible causes of this alarm: • Error in the PG system • The manipulator was moved after the power was turned OFF. If there is an error with the PG system, the manipulator may stall when playback is started. If the absolute data allowable range error alarm has occurred, playback and test runs will not function and the position must be checked.

Pulse Difference Check 

The pulse number at the specified point is compared with that at the current position. If the difference is within the allowable range, playback is enabled. If not, the error alarm occurs again. • The allowable range is the number of pulses per rotation of the motor (PPR data). • The initial value of the specified point is the home position (where all axes are at pulse 0). The specified point can be changed. For details, refer to " 3.2 Specified Point ".

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