Gas Discharging Procedure - YASKAWA MH180 Operating And Maintenance Manual

Maintenance and inspection
9.5.3
NOTICE
In the following cases, drain all gas from the compensating cylinder.
 When you dismount/remove the compensating cylinder from the robot.
 It is considered as dangerous goods, should you transport the robot by plane and the
compensating cylinder is filled with gas.
 When discharging the gas, the blowdown valve must not be fully opened. Take time and
discharge gas little by little. If the blowdown valve is fully opened with high internal
pressure, the non-return valve in the gas balancer can be damaged.
 If you drain all gas
1. Bring the robot to the home position and turn off the power of the robot controller.
2. Remove the cover and insert the rapid-action coupling 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. Slowly open the needle valve.
5. Discharge gas a small amount at a time by slowly releasing the blowdown valve.
6. Close the needle valve and blowdown valve and then remove the gas filling device from
the quick connector.
7. Remove the quick connector and mount the cover, then tighten the screw with flange
by using a tightening torque shown in table 9.5.2.2 "Adequate gas pressure".
8. Turn on the power to the robot controller.
 When you let off gas to the pressure setting
1. Bring the robot to the home position and turn off the power of the robot controller.
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 temperature of the gas balancer surface.
5. Slowly open the needle valve.
6. Drain gas by opening the valve of the digital pressure gauge, until pressure will reach
the value according to the table 9.5.2.2 "Adequate gas pressure".
NOTICE
When you let off the gas or fill up, wait some minutes to allow for the stabilization of the gas
pressure and then measure the gas pressure.
7. Close the needle valve and blowdown valve and then remove the gas filling device from
the quick connector.
8. Remove the quick connector, then tighten the screw with flange by using the tightening
torque shown in the table 9.4 "Refill/Replace grease.".
9. Mount the cover and tighten the screws by using the tightening torque shown in the
table 9.4 .
10. Turn on the power to the robot controller.
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Gas discharging procedure