GE VMIVME-1330 I/O module of gas turbine

Tool Calibration To ensure that the manipulator can perform interpolation operations such as linear and circular interpolation correctly, accurate dimensional information on tools such as torches, tools, and guns must be registered and the position of the tool center point must be defined. Tool calibration is a function that enables this dimensional information to be registered easily and accurately. When this function is used, the tool center point is automatically calculated and registered in the tool file. What is registered in tool calibration is the coordinates of the tool center point in the flange coordinates.

Teaching

 In order to perform tool calibration, five different poses (TC1 to 5) must be taught with the tool center point as the reference point. The tool dimensions are automatically calculated on the basis of these five points.Each pose must be arbitrary. Accuracy may decrease when pose setting is rotated in a constant direction.There are 24 tool files numbered 0 to 23. In a basic system with one manipulator and one tool, the tool file for tool No.0 is used. If there is more than one tool, for example when using a multihand, use the tool numbers in the order 0, 1, 2

Select the robot to calibrate

(When the robot has already been selected or there is only one of robot, this operation should not be performed.) Select “**” in the tool calibration setting display and select the robot in the displayed selection dialog.Taught position is registered. Repeat *4~*5 operation to teach TC1 to TC5. z indicates that teaching is completed and { indicates that it is not completed.To check the taught positions, call up the required display among TC1 to TC5 and press [FWD]. The manipulator moves to the set position. If there is a difference between the current position of the manipulator and the displayed position data, “TC…“ next to “POSITION” in the display flashes.

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