4.2. Inspection Item and Period

4.2. Inspection Item and Period

 

Table 4‑2 Inspection Items and Periods

No.	Inspection Intervals				Inspection Items	Inspection method		Standards	Remark
	Daily	3 months	6 months	1 year
Robot Manipulator and Axes common
1	○				Cleaning	Examine dirt and dust with naked eyes
2		○			Inspection wiring	Examine any cable damages Examine cable fixing bracket tightening bolts paint marking with naked eyes Examine any cable cover damages with naked eyes
3		○			Main bolts	Examine paint marking with naked eyes
4				○	Limit Switch/ Dog	Check the ON-OFF function of limit switch	Check if the emergency stop lamp is on when the limit switch is ON.
5	○				Motor	Check the abnormal heating Check the abnormal sound
6				○	Brake	Check the ON/OFF operation of brake release switch Note) Turn the switch off in a second because the ARM of working axis may be dropped when the brake release switch is on	When the brake release switch is OFF, ARM of End Effect will not be dropped.
Axis S, H, V
7	○				Reducer	Leakage check Check the abnormal sound Check the shaking(vibrating)
8	○		○		Gas spring	Leakage check Filter check Pressure check	125 ~ 140bar.
9			○		Gas Spring Bearing	Leakage check Abnormal heat generation check Foreign substance/noise check	Maintain the appropriate amount of grease
Axis R2, B, R1
10		○			Reducer	Leakage check Check the abnormal sound Check the vibrating
11		○			End Effect tightening bolts	Examine paint marking with naked eyes
12		○			Diversion	there is any diversion by rotating each axis to the right and reverse direction	should not feel diversion by touch

 

 

n  If the robot is used in adverse conditions (for example, spot welding, grinding, etc.), you need to shorten the inspection cycle to secure the performance of the robot system.

 

n  Inspect all cables that can be seen, and replace damaged ones.

 

n  Check the mechanical bumpers for any deformation or damage. If a bumper is damaged or a dog is bent, replace it immediately.

 

n  Check the tightening torques of the main bolts shown in [Figure 4.1].

 

n  Check for an abnormal sound in auto mode and teaching mode to check the power transmission systems (motors, reducers, etc.) for any abnormality.

 

n  Inspect the gas spring periodically to maintain the proper working pressure, and inject gas when the pressure drops.

 

n  Replace the gas spring after using it for a certain period of time.

 

n  Replace the gas spring every 20,000 hours or when the proper working pressure (125 bar–140 bar) cannot be maintained even after gas is injected.

 

n  If the load estimation has been performed correctly, the gas spring pressure can be checked from the teaching pendant. Therefore, use the gas spring pressure test function by referring to the controller function manual

There are two pressure test methods: “Command-based gas spring pressure test” and “Gas spring pressure test at stop position.”

It is recommended to use the “Command-based gas spring pressure test” method, which has higher accuracy.

 

n  If the teaching pendant generates an error or warning related to the gas spring pressure drop, you must check the gas spring pressure.