Page 1 Robotic System for Autonomous Plant Inspection Maintenance Manual Original instructions L5-59EU025 R01...
Page 3: Table Of Contents
Contents Chapter 1 EX ROVR Overview .................1-1 1.1 Introducing EX ROVR ........................1-1 1.2 System Components and Their Functions ................. 1-3 1.3 Inspection Targets ........................1-4 1.4 ASCENT Driving Performance ..................... 1-6 1.4.1 Driving route conditions ......................1-10 1.4.2 Obstacle detection function ....................1-12 1.5 Introduction Sequence and Manual Composition ..............
Page 4 Contents Chapter 7 Ordinary and Detailed Inspections ............7-1 7.1 Ordinary Inspection Overview ..................... 7-1 7.2 Detailed Inspection Overview ...................... 7-2 7.3 Contents ............................7-3 Chapter 8 Disposal ....................8-1 8.1 Battery Removal ........................... 8-2 8.1.1 ASCENT battery removal ....................... 8-3 8.1.2 Teleop terminal battery removal ..................... 8-6 8.2 Gas Detector Removal .........................
Page 5: Revision History
Revision History Version number Issue date Revision history Edition 1 (R00) May 2022 First edition Edition 2 (R01) April 2025 Throughout the manual Some part names of the product in this manual have been updated. Chapter 1 Added one sentence regarding regulatory compliance. (page 1-1) Changed the description of information to be retrieved for inspection targets.
Page 6 Revision History Version number Issue date Revision history Edition 2 (R01) April 2025 Chapter 7 Added a new chapter, “Chapter 7 Ordinary and Detailed Inspections”. Chapter 8 Increased the chapter number of Chapter 7 in Edition 1 (R00) while keeping the same contents. L5-59EU025 R01...
Page 7: Chapter 1 Ex Rovr Overview
Chapter 1 EX ROVR Overview 1.1 Introducing EX ROVR The EX ROVR Robotic System for Autonomous Plant Inspection is designed to monitor the interior of plants and factories where there is a risk of fire due to handling of flammable materials, such as in oil and gas plants.
Page 8 Chapter 1 EX ROVR Overview Reference: Classification of Hazardous Areas Category Description Zone 0 Places of normal use where a hazardous atmosphere is continuously present, present for long periods of time, or frequently present. Applicable locations include places where flammable gases are constantly present, such as inside a flammable liquid container or above a flammable liquid surface.
Page 9: System Components And Their Functions
Chapter 1 EX ROVR Overview 1.2 System Components and Their Functions ■ ASCENT patrol robot Robot that autonomously patrols inside a factory or plant to collect internal information. The system provides explosion-proof performance so that it cannot cause ignition in factories and plants where ignition is a hazard. ■...
Page 10: Inspection Targets
Chapter 1 EX ROVR Overview 1.3 Inspection Targets ASCENT is equipped with multiple optical and thermal imaging cameras, microphones, and gas detectors. The following information can be obtained from each device Target Device Information obtained Instruments, etc. Hand camera Video (displays images captured by the camera during teleoperation or retrieves them by scenario) Still images (acquired manually or by scenario) Entire area to be inspected...
Page 11 Chapter 1 EX ROVR Overview ■ Notes on the on-board gas detection function ASCENT detects four types of gases: oxygen (O ), combustible gas (COMB), hydrogen sulfide (H and carbon monoxide (CO). z Gas detection results do not guarantee safety within the patrol area. z Gases other than those targeted and solvent vapor may also be detected, so please take the measurement environment into account.
Page 12: Ascent Driving Performance
Chapter 1 EX ROVR Overview 1.4 ASCENT Driving Performance Driving speed: Max. 1.2 km/h during horizontal travel Driving time: 1 to 2 hours when fully charged (varies according to operation) Time required for full charge: 2 hours (from empty battery) ■...
Page 13 Chapter 1 EX ROVR Overview A: Slope that can be navigated during automatic patrol Ramps: Up to 1 m high Slope: Up to 15° 15° B: Inclination of stairway that can be navigated during automatic patrol Step height (mm) 46° Stairs EX ROVR 22.7°...
Page 14 Chapter 1 EX ROVR Overview ■ Places where driving is not possible Driving is not possible on ice, sand, fine gravel (less than 5 mm in diameter), or mud. In addition, puddles (2 cm or more deep), snow, weeds that were not present at time of map or route setting, and heavy rain or snowfall may make determinination of position difficult, although driving is possible.
Page 15 Chapter 1 EX ROVR Overview WARNING z On gravel, beware of gravel entrapment and do not drive on it forcibly. If gravel ranging from 20 to 30 mm in size becomes lodged and trapped in the gaps between the track belt’s grousers, it can get jammed between the belt and the main frame. This may result in motor overloading, causing accidents and damage.
Page 16: Driving Route Conditions
Chapter 1 EX ROVR Overview 1.4.1 Driving route conditions ASCENT cannot travel through aisles that are narrower than its own external dimensions. Allow enough space around ASCENT for a person to stand (approx. 900 mm). 1485.2 mm 540 mm 450 mm 900 mm 700 mm 1200 mm...
Page 17 Chapter 1 EX ROVR Overview Unit: mm 7004 1284.1 876.8 1115.3 1-11 L5-59EU025 R01...
Page 18: Obstacle Detection Function
Chapter 1 EX ROVR Overview 1.4.2 Obstacle detection function ASCENT is equipped with obstacle detection that uses front-mounted 3D-LiDAR. During scenario execution, ASCENT stops immediately when an obstacle is detected. This obstacle detection function is active only during scenario execution, not during teleoperation. The obstacle detection function, based on 3D-LiDAR data, predicts ASCENT's position one second ahead and stops operation if an obstacle is detected at the predicted position.
Page 19: Introduction Sequence And Manual Composition
Chapter 1 EX ROVR Overview 1.5 Introduction Sequence and Manual Composition The EX ROVR introduction sequence is as follows. Refer to the appropriate manuals for tasks and operations required for introduction.  Transportation of the Charging Station Charging Station to the installation place Installation ...
Page 20: Intended User
Chapter 1 EX ROVR Overview 1.5.1 Intended user This product has been designed and developed for use by personnel who possess knowledge of explosion protection; that is, the knowledge required to work properly in Zone 1 hazardous areas. Work should be carried out under the supervision of a safety administrator with whom work details have been discussed in advance.
Page 21: Chapter 2 Safety Precautions
Chapter 2 Safety Precautions The precautions presented here are intended to ensure safe and correct use of the equipment and to prevent injury to people and damage to property. These precautions are marked “DANGER”, “WARNING”, “CAUTION”, or “NOTE”, and must be observed. Indicates a hazardous situation which, if handled improperly, presents immediate risk of DANGER death or serious injury.
Page 22 If an abnormality is found, contact the manufacturer or your maintenance provider without attempting repairs yourself. Failure to maintain safety may lead to accidents. Use only replacement parts and accessories recommended by Mitsubishi Heavy Industries. Using a non-recommended product may result in accidents or malfunctions. L5-59EU025 R01...
Page 23 Chapter 2 Safety Precautions WARNING Those who use a pacemaker or defibrillator should note the following. z Do not allow body parts containing implanted devices to come within 15 cm from the ASCENT radio module or teleop terminal. z Keep body parts containing implanted devices at least 30 cm away from the contactless power reception unit while charging is in progress.
Page 24 Chapter 2 Safety Precautions CAUTION Do not look directly at the laser beam emitted by the 3D-LiDAR and rear obstacle proximity sensor or magnify it by a lens or other means. It may cause short-term visual impairment or afterimages. If ASCENT stops unexpectedly during operation, check the status LED on the rear of the ASCENT.
Page 25 Chapter 2 Safety Precautions ■ About the teleop terminal WARNING Do not carry the teleop terminal into hazardous areas. The teleop terminal is not explosion-proof. Carrying it into a hazardous area would present a risk of ignition of flammable gases. Do not disassemble the teleop terminal (except to remove the battery during disposal).
Page 26: Before Doing Inspection Work
Chapter 2 Safety Precautions 2.1 Before Doing Inspection Work In accordance with the national industrial safety and health regulations of each country, the employer should give appropriate instructions and training to personnel (teleoperators and inspectors). When an inspector has to work near ASCENT while it is being driven, establish and comply with work rules to avoid danger due to unexpected or erroneous operation.
Page 27: Warning Labels
Chapter 2 Safety Precautions 2.2 Warning Labels Warning labels are attached to the following parts of the system to indicate hazards or warnings. ASCENT Warning labels Description This symbol indicates that there is a heat danger due to high-temperature parts. Be sure to confirm that all parts are at a safe temperature.
Page 28 Chapter 2 Safety Precautions Charging Station L5-59EU025 R01...
Page 29: Chapter 3 Part Names And Functions
Chapter 3 Part Names and Functions 3.1 ASCENT ■ Top left front view (with sub track lowered) Manipulator arm LED lighting Manipulator hand Hand camera 360° optical camera 3D-LiDAR Thermal imaging camera (laser range finder) (left) Power-on section Sub track (front) ■...
Page 30 Chapter 3 Part Names and Functions ■ Top right rear view Wireless Microphone and speaker antennas (Wi-Fi, LTE) Rear obstacle proximity sensor Thermal imaging camera (right) Relief valve (Inside enclosure) Protective gas filling port Body camera (rear) Contactless power reception unit Sub track (rear) Torque off button...
Page 31 Chapter 3 Part Names and Functions ■ Status LED indications and their meanings Status LED color Status LED state Description ASCENT powered on in one of the following states. y Standby mode y Self-check in progress y Preparing for power shut-down Flashing An anomaly has occurred, and one of the following conditions is present.
Page 32 Chapter 3 Part Names and Functions ■ Information regarding ASCENT’s Class 1 laser Lasers are emitted from ASCENT’s 3D-LiDAR and rear obstacle proximity sensor. Rear 3D-LiDAR obstacle proximity sensor The laser complies with 21CFR1040.10 and 1040.11 and IEC 60825-1. Caution: Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.
Page 33: Charging Station
Chapter 3 Part Names and Functions 3.2 Charging Station ■ View from front upper right Control panel POWER switch (ON/OFF) MODE switch (RUN/PURGE) CHARGING lamp PRESSURIZING lamp PURGING lamp RUNNING lamp 2PI2/Purge supply pressure 3PI1/Exhaust pressure 1PI1/Supply pressure Pneumatics panel 1V2/Supply flow control valve 2V5/Purge flow rate control valve 3V1/Exhaust pressure regulator...
Page 34 Chapter 3 Part Names and Functions ■ View from front upper left Stopper Cylinder Auto oiler Protective gas filling port Exhaust hose Contactless power transmission section Entry/Exit guide plate ■ Lamp indications and their meanings Lamp State Description CHARGING lamp Flashing (0.5 sec.
Page 35 Chapter 3 Part Names and Functions ■ Explosion-proof structure of the Charging Station The Charging Station has explosion-proof construction in its main body and individual parts. For details on explosion proofing, see “Installation and Setup Manual”. Control panel: Pressure switch barrier Ex d (Flameproof enclosure) Ex i (Intrinsic safety) Limit switch...
Page 36: Teleop Terminal
Chapter 3 Part Names and Functions 3.3 Teleop Terminal The teleop terminal is housed in a dedicated case. External monitor (optional) 4G/LTE antennas Notebook computer Indicators Gamepad Power Power switch jack ■ Case The pockets on the cover of the case can be used for storage of a mouse and cables. Remove the cover from the case when using the teleop terminal.
Page 37 Chapter 3 Part Names and Functions ■ External monitor (optional) The following cables are provided when the optional external monitor is included at the time of purchase. z HDMI cable: Connects to the notebook PC. z USB cable: Used as a power cable for the external monitor. ■...
Page 38: Delivered Equipment And Options
Chapter 3 Part Names and Functions 3.4 Delivered Equipment and Options 3.4.1 Delivered equipment The equipment delivered by our company is indicated in the following table. Materials other than those delivered must be provided by the customer. Name Quantity Exterior ASCENT (Weight: 70 kg) Charging Station...
Page 39 Chapter 3 Part Names and Functions Name Quantity Exterior 2S-V socket Teleop terminal (Weight: 12 kg) Magnet-operated power switch key Mode selector key Positioning marker Heat source teaching marker 3-11 L5-59EU025 R01...
Page 40 Chapter 3 Part Names and Functions Name Quantity Exterior Stainless steel bundling bands EX ROVR Installation and Setup Manual EX ROVR Maintenance Manual Robotic System for Autonomous Plant Inspection Robotic System for Autonomous Plant Inspection (Included in the same binder) Installation and Setup Manual Maintenance Manual Operation Manual...
Page 41: Scope Of Delivery
Chapter 3 Part Names and Functions When not in use, the magnet-operated power switch key can be mounted on the side of the Charging Station in the position shown below. 3.4.2 Scope of delivery Regarding installation of EX ROVR, the figure below illustrates the respective scopes of preparation by our company and the customer.
Page 42: Options
Chapter 3 Part Names and Functions 3.4.3 Options The following are available as options. Please contact your distributor for information on obtaining or installing these after purchase. z Positioning marker z Teleop terminal external monitor 3.4.4 Consumables Please contact your distributor for information on obtaining or installing these. Target Consumables Charging Station...
Page 43: Chapter 4 Maintenance Overview
Chapter 4 Maintenance Overview In order to maintain the performance of this product, maintenance is performed by means of periodic inspections at regular intervals. When the product is no longer needed, it must be disposed of by appropriate procedures. 4.1 Types of Periodic Inspections Periodic inspections are required to ensure the safety of this product and to maintain its performance.
Page 44: When Disposing Of The Product
Chapter 4 Maintenance Overview 4.2 When Disposing of the Product Before disposal by a decommissioning agent, it must be prepared for disposal by the proper procedures, such as by removing some parts. See “Chapter 8 Disposal” (page 8-1) for details. L5-59EU025 R01...
Page 45: Chapter 5 Inspection Items
Chapter 5 Inspection Items The following items are inspected during the daily and initial inspections. If the details of the inspection procedure are described in a “Check method”, perform the inspection according to the referenced procedure. ASCENT Check Item Note Exterior Are there any scratches, cracks, dents, stains, or Check visually.
Page 46 Chapter 5 Inspection Items Check Item Note Performance Does the battery life seem shorter? See “6.2.1 Battery check” (page 6-9). Are camera images out of focus, too dark or too See “6.2.2 Camera check” (page 6-10). bright, or out of position? Checking can be performed using a self- diagnosis scenario.(page 6-12) Is the temperature recorded in the images taken...
Page 47 Chapter 5 Inspection Items Charging Station Check Item Note Exterior Are there any scratches, cracks, dents, stains, or Check visually. For part locations, see abrasion marks? “Chapter 3 Part Names and Functions” (page 3-1). Are any fastening bolts and washers loose, Check the rollers when ASCENT has missing or significantly corroded? exited.
Page 48 Chapter 5 Inspection Items Teleop terminal Check Item Note Cable Are there any scratches or cracks? Check visually. Gamepad Do the buttons work properly? Diagnose with checking software. See “6.4 Gamepad Button Check” (page 6-27). If inspection reveals any abnormality, consult your distributor or maintenance provider. L5-59EU025 R01...
Page 49: Chapter 6 Inspection Procedure
Chapter 6 Inspection Procedure Inspection work may be performed in hazardous areas. Make sure that the explosion proofing of ASCENT and the Charging Station is being maintained before starting work. WARNING z If inspection work is performed when explosion proofing has not been maintained, flammable gas may ignite.
Page 50: Ascent's Moving Parts Checks
Chapter 6 Inspection Procedure 6.1 ASCENT’s Moving Parts Checks 6.1.1 Operation when checking moving parts Since each part of ASCENT cannot be checked while it is in the Charging Station, follow the procedure below to move it out of the Charging Station. For details on teleoperation, see “Operation Manual”. WARNING z Check the safety of the surroundings before starting work.
Page 51: Track Checks
Chapter 6 Inspection Procedure 6.1.2 Track checks Sub tracks Main track (left and right pairs) Main track Sub track Belt Belt Grouser Grouser z Are any tracks dirty, dusty or muddy? If the tracks are dirty, dusty or muddy, use a soft cloth moistened with water and well wrung out to remove the dirt.
Page 52 Chapter 6 Inspection Procedure ■ Guidelines for sub track replacement Replacement of the sub track is recommended when the sub track grousers are severely damaged or missing or when there are any cuts in the belts. The criteria for determining whether sub track replacement is necessary are listed below.
Page 53: Manipulator Checks
Chapter 6 Inspection Procedure 6.1.3 Manipulator arm checks ■ Manipulator arm attitude changes Teleoperate ASCENT to change the attitude of the manipulator arm by the following procedure. Perform up to step 3 in “6.1.1 Operation when checking moving parts” (page 6-2) to undock ASCENT from the Charging Station, then do the following.
Page 54 Chapter 6 Inspection Procedure ■ Check Items Cables run from the base to the tip of the manipulator arm. Visually trace the cables exposed in the gaps and joints from the manipulator base to check the condition of the cables and pulleys. z Check for abrasion, fraying, kinking, deformation, corrosion, or looseness of the cables.
Page 55: Exposed Control Cable Check
Chapter 6 Inspection Procedure 6.1.4 Exposed control cable check ■ Check the control cable for the hand camera and LED lighting The control cables for the hand camera and LED lighting at the tip of the manipulator arm are in a single aluminum-sheathed control cable routed from ASCENT’s body along the manipulator arm.
Page 56 Chapter 6 Inspection Procedure ■ Gas detector cable check Open the lid on the back of ASCENT and check whether the gas detector cable is loose or unplugged. Gas detector L5-59EU025 R01...
Page 57: Ascent Performance Checks
Chapter 6 Inspection Procedure 6.2 ASCENT Performance Checks These checks ensure that ASCENT works and runs without any problems. Examine the results of automatic patrols according to the self-diagnostic scenarios registered as standard in the cloud. Self-diagnostic scenarios are scheduled and executed in the same way as normal scenarios.
Page 58: Camera Check
Chapter 6 Inspection Procedure 6.2.2 Camera check Check that the images taken by the cameras are not out of focus, too dark or too bright, or significantly out of position. Create a scenario to shoot with the cameras, then run an automatic patrol, and check the shot images. The screen appears as follows when viewing scenario inspection history in the cloud.
Page 59: Thermal Imaging Camera Check
Chapter 6 Inspection Procedure 6.2.3 Thermal imaging camera check Check that the temperature recorded in the images taken by the thermal imaging cameras is the same as the actual temperature of the subject. Create a scenario for shooting with the thermal imaging cameras, run an automatic patrol, and check the shot images.
Page 60: Checking By Self-Diagnosis Scenario
Chapter 6 Inspection Procedure 6.2.4 Checking by self-diagnosis scenario By executing an automatic inspection scenario prepared in advance, you can check whether the cameras, microphone, and speaker are operating normally, and whether ASCENT and the Charging Station are functioning normally. When a self-diagnosis scenario is executed, ASCENT performs the self-diagnosis operation from the entry/exit guide plate after exiting the Charging Station until it automatically re-enters and docks.
Page 61 Chapter 6 Inspection Procedure Target name Operation Contents Self Capture images with the Is image capture normal with the 360° optical camera? diagnostic 9 360° optical camera and Is image capture normal with the thermal imaging the left thermal imaging camera? camera.
Page 62 Chapter 6 Inspection Procedure Examples of self-diagnosis scenario results 6-14 L5-59EU025 R01...
Page 63: Checking Operation, Vibration, Abnormal Noise, And Heat Generation While Driving
Chapter 6 Inspection Procedure 6.2.5 Checking operation, vibration, abnormal noise, and heat generation while driving DANGER z When ASCENT is traversing stairs, stay away from the bottom of the stairs. If ASCENT slips and hits you, there is a danger of serious injury, such as broken bones. WARNING z At least two people should accompany ASCENT.
Page 64: Internal Pressure Interlock Check
Chapter 6 Inspection Procedure 6.2.6 Internal pressure interlock check ASCENT is equipped with an interlock mechanism that automatically cuts power off when the internal pressure of the main unit drops to the point where the explosion-proof performance cannot be maintained. This mechanism automatically cuts power off when the internal pressure of ASCENT’s explosion-proof container drops below 3 kPa while driving.
Page 65 Chapter 6 Inspection Procedure Move ASCENT’s front sub tracks by hand so they are almost horizontal. Leave open for work access. Lower both sub tracks (front) to horizontal. Make sure that front of ASCENT is as close as possible to the charging station's pneumatics panel.
Page 66 Chapter 6 Inspection Procedure Adjust the main track so that, when viewing ASCENT from the side, you can see the plug for attaching the interlock check jig through the gap between grousers. Plug Grouser The plug is located in the recess between the remote control camera (front) and the 3D-LiDAR as viewed from the front of ASCENT.
Page 67 Chapter 6 Inspection Procedure On the Pneumatics panel, ensure that the “5V1/Pressure supply valve for operation check jig” switch is in the “Close” position. Adjust the “5V2/Supply pressure regulator for operation check jig” so that the “5PI1/ Operation check jig pressure” is approximately 8 kPa. Connect the hose of the interlock check jig to the pressure supply port for differential pressure sensor operation.
Page 68 Chapter 6 Inspection Procedure Insert the interlock check jig between and parallel to the main track grousers. Insert the interlock check jig through the gap where the plug is visible so that it is parallel to the grouser. Insert here 6-20 L5-59EU025 R01...
Page 69 Chapter 6 Inspection Procedure Hook the concave tip of the interlock check jig onto the plug. Plug Set the “5V1/Pressure supply valve for operation check jig” switch to “Supply”. Air is discharged from the interlock check jig outlet, and the “5PI1/Operation check jig pressure” reading drops.
Page 70 Chapter 6 Inspection Procedure With the concave tip of the interlock check jig hooked on the plug, gently lift the jig (until the rubber sheet touches the housing) and press the air outlet into ASCENT. A differential pressure sensor is located at the point of contact with the jig's rubber sheet.
Page 71 Chapter 6 Inspection Procedure After checking the differential pressure sensor on the opposite side, return ASCENT to the Charging Station, purge it, and turn it on again. If the pressure does not rise z Air could be leaking in the middle of the system. With the “5V1/Pressure supply valve for operation check jig”...
Page 72: Charging Station Cylinder Check
Chapter 6 Inspection Procedure 6.3 Charging Station Cylinder Check WARNING z Keep fingers away from the vicinity of the cylinder. If fingers are trapped, there is a risk of fracture or other serious injury. 6.3.1 Cylinder operation Check whether the cylinder moves without varying or cogging (does it extend and retract smoothly?), Also, since the protective gas filling port and the contactless power transmission unit can move left and right, ensure that they connect to ASCENT near the center of the range of movement.
Page 73: Grease Condition Of The Protective Gas Filling Port O-Ring
Chapter 6 Inspection Procedure 6.3.2 Grease condition of the protective gas filling port O-ring Check the protective gas filling port O-ring as shown in the figure below for cracks or breaks. Also check that it is moist with grease, not dripping, and free of any foreign matter. If there is too much grease on the O-ring, wipe off the excess grease with a dry cloth.
Page 74: Purging Operation Check
Chapter 6 Inspection Procedure 6.3.3 Purging operation check By purging ASCENT while docked in the Charging Station, you can check whether the Charging Station’s cylinder, installed internal pressure supply device, and the explosion-proofing equipment (limit switch, solenoid valve, and pressure switch) operate correctly. It is not necessary to check the purging operation in daily inspections, but be sure to check it during the initial inspection.
Page 75: Gamepad Button Check
Chapter 6 Inspection Procedure 6.4 Gamepad Button Check Use the check tool installed on the teleop terminal to check whether the gamepad buttons, D-pad keys, and joysticks work properly. ■ Precautions when checking the gamepad Ensure that the changeover switch on the back of the gamepad is set to the X side. If it is on the D side, switch it to the X side.
Page 76 Chapter 6 Inspection Procedure ■ Check method If Scenario Maker and the teleop screen are running on the teleop terminal, close both. WARNING z Note that if you start the check tool while Scenario Maker and the teleop terminal are running, ASCENT will be teleoperated by the gamepad buttons, D-pad keys, and joystick in the following steps.
Page 77 Chapter 6 Inspection Procedure Click [Properties]. A screen that detects and displays the inputs from the gamepad is displayed. 6-29 L5-59EU025 R01...
Page 78 Chapter 6 Inspection Procedure Press each button on the gamepad and check whether the display of the corresponding item on the screen changes. Depending on operation of the buttons, joysticks, and D-pad keys, the display of [Axis 0] to [Axis 7] in [Axes] and [0] to [10] in [Buttons] changes as follows.
Page 79 Chapter 6 Inspection Procedure You can also check if the left and right joysticks and the D-pad keys are working properly in the charts under [Axes]. Left joystick chart: D-pad key chart: The cursor should move when operating The cursor should move when operating Right joystick charts and bars: Tilting it left and right should move the chart cursor up and down Tilting it up and down should increase and decrease the bar...
Page 80 Chapter 6 Inspection Procedure MEMO 6-32 L5-59EU025 R01...
Page 81: Chapter 7 Ordinary And Detailed Inspections
Chapter 7 Ordinary and Detailed Inspections Ordinary and detailed inspections are performed by professionals with specialized skills and special equipment. The following inspections are performed on some or all of the equipment. Device Ordinary inspection Detailed inspection ASCENT Target Target Charging Station Target Not applicable...
Page 82: Detailed Inspection Overview
Chapter 7 Ordinary and Detailed Inspections 7.2 Detailed Inspection Overview Performance frequency When one of the following time periods is reached (every 1 to 2 years, depending on operating conditions) z Two years after product installation or two years after the last detailed inspection z When cumulative operating time reaches 2000 hours or more since product delivery or since the last detailed inspection.
Page 83 Chapter 7 Ordinary and Detailed Inspections 7.3 Contents Items to be checked during inspection are listed below. If an abnormality or other problem is found during inspection, we will investigate the cause and take the necessary action, such as adjusting or replacing parts.
Page 84 Chapter 7 Ordinary and Detailed Inspections Check Item Ordinary Detailed inspection inspection Performance Is there any abnormality in insulation resistance? –  Is the regulator pressure setting correct?   Are the differential pressure sensor values normal?   Are there any abnormalities in robot docking or undocking ...
Page 85 Chapter 7 Ordinary and Detailed Inspections Check Item Ordinary Detailed inspection inspection Operation Is the manipulator arm’s repetitive positioning accuracy –  normal and reproducible? Is manipulator arm braking operation normal?   Is the current value normal while raising and lowering the ...
Page 86 Chapter 7 Ordinary and Detailed Inspections Check Item Ordinary Detailed inspection inspection Performance Is air pressure within the specified range? –  When the robot is docked, is there any air leakage from –  the protective gas filling port? Are there any abnormalities in the operation of explosion- –...
Page 87: Chapter 8 Disposal
Chapter 8 Disposal Properly dispose of the product in accordance with local regulations when no longer used. ■ Parts to be removed for disposal When disposing of the product, remove the following parts for sorting. Target Parts to remove ASCENT Battery, gas detector Charging Station Auto oiler...
Page 88: Battery Removal
Chapter 8 Disposal 8.1 Battery Removal WARNING Do not remove the battery except when disposing of ASCENT. Removing the battery in the presence of flammable gases may result in ignition. Further, improper battery installation may result in loss of explosion proofing. When disposing of it, move ASCENT to a non-hazardous area before removing the battery.
Page 89: Ascent Battery Removal
Chapter 8 Disposal 8.1.1 ASCENT battery removal ASCENT’s battery is housed in a battery case attached to the main body. Remove the battery case from ASCENT. Battery case compartment Move ASCENT to a non-hazardous area, and press the emergency stop button on the back of ASCENT to ensure that it is powered down.
Page 90 Chapter 8 Disposal Remove the lid. Disconnect the two connectors between the battery and ASCENT’s main unit. First, disconnect the large connector while pressing the tabs on both sides of the connector. Next disconnect the smaller connector while pressing the tab on one side. L5-59EU025 R01...
Page 91 Chapter 8 Disposal Pull the battery case straight out horizontally, being careful not to pinch the cables or fingers. Dispose of the removed battery case properly according to local regulations. L5-59EU025 R01...
Page 92: Teleop Terminal Battery Removal
Chapter 8 Disposal 8.1.2 Teleop terminal battery removal Disconnect the power cable from the teleop terminal. Place the teleop terminal on a stable surface, and remove the case lid. Remove the screws in the brackets that secure the notebook PC, then remove the brackets. Remove the brackets (two places) shown in gray below.
Page 93: Gas Detector Removal
Chapter 8 Disposal 8.2 Gas Detector Removal Follow the procedure below to remove the gas detector attached to the rear of the ASCENT. Move ASCENT to a non-hazardous area and open the rear lid. Remove the two bolts that secure the L-bracket inside ASCENT. Bolts (2 places) L5-59EU025 R01...
Page 94 Chapter 8 Disposal Remove the gas detector with the L-bracket, and cut the cable connecting the gas detector to the unit using wire cutters. Cable Do not dispose of the removed gas detector as is, but contact your supplier to request disposal.
Page 95: Auto Oiler Removal
Chapter 8 Disposal 8.3 Auto Oiler Removal Remove the auto oiler from inside the Charging Station. Read the Grease Safety Data Sheet and work accordingly. WARNING z Do not remove the auto oiler except when disposing of the Charging Station. If static electricity has accumulated on the surface of the grease container when removing it from inside the housing, flammable gas may ignite.
Page 96 Chapter 8 Disposal Remove the auto oiler cover. Auto oiler cover Remove the tube connected to the bottom of the auto oiler. Pull the tube downward to remove it 8-10 L5-59EU025 R01...
Page 97 Chapter 8 Disposal Remove the auto oiler from the Charging Station. Use a wrench to loosen the hex nut that secures the bottom of the auto oiler, and then remove the auto oiler from the Charging Station. Loosen the hex nut with a wrench Remove the washer on the grease container.
Page 98: Built-In Sim Disabling
Chapter 8 Disposal 8.4 Built-in SIM Disabling ASCENT and teleop terminals have built-in SIM cards for LTE communication. When disposing of these products, have the built-in SIMs disabled. Contact your distributor to request disabling the built-in SIMs. 8-12 L5-59EU025 R01...
Page 99: Appendix A Inspection Checklist
Appendix A Inspection Checklist ASCENT Inspection Type Daily Inspection Initial Inspection   Visual Check Item Check Exterior Are there any scratches, cracks, dents, stains, or abrasion marks? Good - Bad Are any fastening bolts and washers loose, missing or significantly corroded? Good - Bad Are the switches or antennas wobbly or deformed? Good - Bad...
Page 100 Appendix A Inspection Checklist Charging Station Inspection Type Daily Inspection Initial Inspection   Visual Check Item Check Exterior Are there any scratches, cracks, dents, stains, or abrasion marks? Good - Bad Are any fastening bolts and washers loose, missing or significantly corroded? Good - Bad Are the rollers free of dirt, dust, rubbish, or entangled with thread waste? Good - Bad...
Page 101 Appendix A Inspection Checklist Teleop Terminal Inspection Type Daily Inspection Initial Inspection   Visual Check Item Check Cable Are there any scratches or cracks? Good - Bad Gamepad Do the buttons work properly? Good - Bad Inspector record column Inspection date (Year/Month/Day) L5-59EU025 R01...
Page 102 Appendix A Inspection Checklist MEMO L5-59EU025 R01...
Page 104 L5-59EU025 R01 1-1, Wadasaki-cho 1-chome, Hyogo-ku, Kobe, Hyogo, 652-8585, Japan B-mars@nu.mhi.com www.mhi.com...