GE VMIVME-1182 I/O module of gas turbine

The operation origin cube is a cube like the one shown in the figure below; the length of its sides is determined by a parameter setting made by the user (units: µm). By changing this parameter setting, the size of the cube can be changed.The manipulator moves to the new operation origin point. During movement, the message “Manipulator is moving to operation origin point” is shown. The moving speed is the selected manual operation speed. In the play mode When the operation origin point return signal is input (detected at leading edge), the tool center point of the manipulator is moved to the operation origin point using the same operation as the teach mode. However, the speed for this is set in the parameters. „ Output of the Operation Origin Point Signal This signal is output any time the current position of the tool center point of the manipulator is checked and found to be within the operation origin cube.

Registering Tool Files 

 Number of Tool Files There are 24 tool files numbered 0 to 23. Each file is called as a tool file For the double-arm type of MOTOMAN-CSL series, tool data can be set to the each tool attached to the arm. In this case, it is recommended to set hand data by even-numbered tool file to the L-arm, and by odd-numbered tool file to the R-arm.When the number input operation is used for registering the tool file, input the control point of the tool on the flange coordinates.Tool File Extension Function Normally, one robot uses one kind of tool file. The tool file extension function can change many tool files to be used by one robot. Use the following parameter to set this function. S2C261: TOOL NO. SWITCHING (1: enabled, 0: disabled) For more details, refer to “Concurrent I/OxParameter”.

Registering Tool Pose 

The tool pose data is angle data which shows the relation between the flange coordinates and the tool coordinates. The angle when the flange coordinates are rotated to meet to the tool coordinates becomes an input value. Clockwise toward the arrow is the positive direction. Register in the order of Rz Æ Ry Æ Rx. The following, register Rz=180, Ry=90, Rx=0

The rotation angle of Rz is registered. In the same way, register the angle of Ry,Rx. Ry must be the input rotation angle around YF flange coordinates.

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