GE VMIVME-2120 I/O module of gas turbine

Checking the Tool Center Point After registering the tool file, check if the tool center point is correctly registered by performing a TCP fixed operation like the one shown below, in any coordinate system other than the joint coordinates.Only tool coordinate data are calculated using tool calibraton. If tool pose data is required, input the data number in the tool coordinate display. Refer to " Registering Tool Pose " for the operation.*1 Select any coordinate type except “ JOINT” by pressing [COORD]. *2 Show the tool coordinate display of the desired tool by pressing the page key or selecting it in the tool list. *3 By pressing the axis keys for the R, B, and T axes, change the manipulator pose without changing the tool center point position. If this operation shows a large tool center point error, adjust the tool data.

Automatic Measurement of the Tool Load

With this function, the user can register the load of tool and the position of the tools center of gravity. The tool load and the position of it’s center of gravity are measured and registered in a tool file.This function is available for the models listed below. Contact your Yaskawa representative for information on other models. Applicable models: MOTOMAN UP6, SK16X, SK45X, and UP130 This function can be used where the manipulator is installed level on the ground. For the conditions required for manipulator installation, refer to 3.11 “ARM Control”.To measure the tool load and the center of gravity, move the manipulator to it’s home position (horizontal to the U-, B- and R-axes) and operate the U-, B- and R-axes.

To measure the tool load or the center of gravity, remove the cables or wires connected to the tool. Otherwise, the measurements may not be correct.

The tool list display is shown. 

The tool list is called up only when the file extension function is valid. If the file extension function is invalid, the tool coordinates is shown.Tool File Extension Function Use the following parameter to set the Tool File Extension Function. S2C261: TOOL NO. SWITCHING “0”: Tool switching prohibited. “1”: Can change 24 kinds of tools numbering from 0 to 23

Move the cursor to the desired number in the tool list and press [SELECT]. The tool coordinates of the selected number is shown. In the tool coordinates, change the desired number by pressing the page key . To alternate between the tool list and the tool coordinates, select {DISPLAY} and {LIST}, or {DISPLAY} and {COORDINATE VALUE} under the menu.

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