GE VMIVME-2330 Gas turbine control module

Tool Load Information Tool load information includes weight, a center of gravity position, and moment of inertia at the center of gravity of the tool installed at the flange. These are registered in the tool file.The total weight of the installing tool is set. Set a little large value though it does not care by a rough value. Rase to a unit in each 0.5 to 1kg for small or middle robot and rase to a unit in each 1 to 5kg for large robot. Center of gravity : xg, yg, zg (Unit : mm) The center of gravity position of the installed tool is set as the position in the flange coordinates. It does not care by setting a rough value because it is usually difficult to get a strict center of gravity position. Presume and set a center of gravity position roughly from outline of the tool. Set the value when the center of gravity position of the installed tool is clear from specifications etc.

moment of inertia at the center of gravity

It is an moment of inertia of the tool at the center of gravity position. The value is calculated around the each axis of the coordinates which is in parallel to the flange coordinates and which origine position is the center of gravity position of the tool. Set a little large value though it does not care by a rough value. This setting is used to calculate the moment of inertia which loads to each axis of the manipulator. However, the moment of inertia at the center of gravity need not usually set because this data is small enough to the moment of inertia calculated from weight and the center of gravity position. Only when the moment of inertia of the tool is large (The size of the tool is, as a standard, in case of about twice or more the distance from the flange to the center of gravity position), this setting is needed.

In the example of sealing gun of the figure below

 it is assumed that there is center of gravity in the position where inclined to head from the center a little , and sets the center of gravity position on the flange coordinates. There is no problem even if the moment of inertia at the center of gravity is not set because the size of the gun is not too large. Rough value of the moment of inertia at the center of gravity can be calculated by followings methods. - Method to approximate the entire tool in hexahedron or cylinder. - Method to calculate from each weight and center of gravity position of plural mass. Refer to the following setting examples for details.

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