3.5. Gas spring pressure estimation in stop state

3.5. Gas spring pressure estimation in stop state

 

 

(1)   It may be difficult to add a separate test command or execute an additional program on a robot in production. In this case, the pressure can be estimated with a slightly lower accuracy.

 

(2)   Set “Gas Pressure Estimation in Stop State” in the gas spring pressure test setting dialog.

 

(3)   If the robot waits for 60 s or more after the raising and stopping of the H-axis, the pressure estimation starts automatically. (Estimation condition: H ≥ 120°, H≤30°)

The automatically estimated pressure is displayed in the “Stop” item in the monitoring window.

 

(4)   If the robot is out of the waiting state, the “Stop” item of the monitoring window turns gray, with the last estimated value maintained.

 

(5)   If the last estimated value comes out with a warning reference when the robot exits the waiting state, warning occurs but the robot continues to operate.

 

(6)   The output of the abnormal gas pressure signal can be released with [R..]+[R..] or [R..]+[ENTER].

 

 

 

◆【Note】◆

 

An estimated pressure in the stop state is less accurate than that in the command type. If an abnormal pressure is detected in the stop state, estimate it in the command type or measure the actual pressure using a pressure meter.

If the estimated pressure in the stop state is continuously far different from the command-type estimated pressure, set "Gas Pressure Estimation in the Stop State" to "Estimate" or "Invalid."