2.1.2. Gas spring pressure test setting items

2.1.2. Gas spring pressure test setting items

 

(1)   Reference pressure (bar)

Reference pressure is displayed for the gas spring currently in use. Gas pressure is a value fixed according to robot models and springs. In general, the reference pressure is 140 bar.

 

(2)   Warning output reference (%)

Set the pressure warning output reference for a gas spring estimated with the command method. Warning will be output if an estimated pressure is below minimum value or over maximum value of reference value. If the warning is output, warning messages and abnormal gas pressure signal are displayed but the robot continues to operate.

 

(3)   Error output reference (%)

Set the pressure error output reference for a gas spring estimated with the command method. Error will occur if an estimated pressure is below the minimum value or above the maximum value of reference value. If the error is output, error messages and abnormal gas pressure signal are displayed, but the robot discontinues.

 

(4)   Warning output reference for the stop state

To use gas pressure estimation in the stop state (for estimating gas pressure while the robot is waiting without executing any command), set the warning output reference for the estimated gas spring pressure..

 

(5)   Gas pressure estimation in stop state

Set it to use the gas pressure estimation function without executing a separate command, with the robot waiting.

 

-   Disable: Gas pressure is not estimated in the waiting state.

-   Estimate: Gas pressure is estimated in the waiting state. An estimated pressure is not tested to see if it is out of error or warning range.

-   Estimate + monitor abnormality: Gas pressure is estimated in the waiting state. If the robot is not in the waiting state, test if the error or warning range is exceeded using a final estimated value.

 

(6)   Abnormal gas pressure signal

If an estimated gas pressure is out of warning or error output reference, the abnormal gas pressure signal is output with defined signal.

 

(7)   Tool load validity checked / not checked status

This is the result of the checking whether the load of the current tool data is valid. When the indication of this item is “not checked,” you may enter the dialog box for “Function of gas spring pressure check” by clicking “F1: Tool load validity,” and carry out tool load validation.