GE VMIVME-2200 Gas turbine output module

• Set the robot setup condition exactly. Set the robot setup condition very noting of mistake the unit, the value or the positive and negative of number. An appropriate operation control cannot be done, decrease the speed reducer longevity, or occur the alarm when these are not correctly set. • Confirm the operation path of robot of each job when you change setting. Set the robot setup condition when you basically set up the robot. Confirm the operation path of robot of each job afterwards when you change the setting unavoidably. Injury or damage to machinery may result by collision between tool and jig because the operation path might be changed slightly when the setting about the ARM control is changed.

Robot Setup Condition 

It is necessary to set the following robot setup condition to execute the ARM control appropriately. 

• Robot installation angle 

• S-head payload 

• U-arm payload

Because the gravity moment which loads to each axis can't be calculated correctly when this value is not correctly set, it can not be possible to control the manipulator appropriately. Set the value correctly. Especially, note the direction “+” or “-”. Only rotation angle around Y axis of the robot coordinates can be set in the robot installation angle. Contact YASKAWA representative when robots is installed to incline Y axis of the robot coordinates relative to ground.

Robot installation angle 

The angle of the manipulator installed relative to ground is set in ANGLE REL. TO GROUND to calculate the gravity moment which loads to each axis of the manipulator. The robot installation angle sets how much X axis of the robot coordinates has inclined with the earth around Y axis of the robot coordinates. The direction of + in the U axis operation from the home position posture of the manipulator becomes direction of + of the robot installation angle. Therefore, the robot installation angle for a vertical downward wall mount specification becomes -90 degrees.

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