Maintenance and inspection
9
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69
9.5.2.3
Inspection procedures
WARNING!
Before you carry out the gas pressure inspection of the compensating cylinder or
discharge of the gas, i.e. filling, check if the brake of the L-axis motor is working properly
and if the L-axis is securely locked for that it cannot move.
Non-observance can lead to very dangerous situations by loosening the brake of the L-
axis motor. Without retaining force due to the extension or shortening, the L-axis causes
the compensating cylinder to rotate the L-arm.
1. Move the robot to home position and turn off the power of the robot control.
2. Remove the cover and insert the quick connector to the gas inlet.
3. Connect the gas filling device to the quick connector after confirming that the blowdown
valve, needle valve, and gate valve of the gas filling device are firmly closed.
4. Check the compensating cylinder surface temperature.
5. Slowly open the needle valve of the gas filling device, and then check that the pressure
indicated on the digital pressure gauge is satisfying the value shown in table 9.5.2.2
"Adequate gas pressure" on page. 68
Depending on the value, procedures after this are subject to change.
Case 1:
If the value is exceeding the adequate value.
Discharge the gas till the value satisfies the adequate value (refer to chapter 9.5.3
"Gas discharging procedure" on page 70).
Case 2:
If the value is lower than the adequate value by 0.5 MPa or more.
Discharge the gas till the value satisfies the adequate value (refer to chapter 9.5.4
"Gas injecting procedure" on page 71).
Not according to case 1 and 2
Proceed to step 6.
6. Close the needle valve of the gas filling device and then remove the gas filling device
from the quick connector.
7. Disconnect the rapid-action coupling and mount the cover (tightening torque 5 Nm).
8. Turn on the power to the robot control.
Pressure testing of gas in the compensating cylinder
Gas inlet/outlet
2 screws M4 x 6
Cover
When you dismount/remove
the compensating cylinder
from the robot.
Screw M6
1
1
2
3
4
5
2
3
4
5