3.4. Example of command-based gas spring pressure test

3.4. Example of command-based gas spring pressure test

 

 

(1)   Record appropriate potion for the gas spring pressure test. It is recommended to perform the test with the axis X positioned at 140°. If the command is executed at 140°, the robot moves back and forth between 120 and 140°. The estimation performance is decreased with the axis H positioned between 50 and 120°. The positions of the other axes are not considered.

 

(2)   Here is the robot position to test the gas spring pressure in this example.

 

 

Figure 3.7Robot movement for gas spring test

 

(3)   Here is the gas spring pressure test program.

 

Figure 3.8 Example of a gas spring test program

 

(4)   Execute the program, and check the result on the monitoring window. Check the identified result and reference values to adjust the warning or error range.

 

Figure 3.9Example of a gas spring test program

 

If the estimated pressure has little difference with the reference in the gas spring pressure test, set a more restraint warning reference to find any gas issue seen earlier. Or, if the difference is large, lower the warning reference to reduce possible misdetection.

 

 

◆【Note】◆

 

Pressure estimation error can occur because of actual load to the robot, additional weight, and outdoor temperature.

Adjust the reference value according to the estimation result after the initial system setting.