I'm looking for any information on how to properly, safely depressurize and recharge the counterbalancing system's gas cylinder for servicing. Manuals, videos, written step-by-step procedure by someone who's done it, anything. Regular maintenance manuals (the ones labeled "Maintenance, Manipulator without Wrist") that I was able to find don't go beyond "check the gauge, look for leaks".
The counterbalance on my KR200 blew the gland seal and ejected most of the oil. I can handle seal and wiper replacement on hydraulics just fine, I should be able to figure out and fabricate the tooling needed to remove the mounting pins, but before I start working on the thing, I'd like to know what the official procedure is just to keep on the safe side. I've done some quite sketchy repairs in the past, but over 100bar of stored pressure is probably where I want to draw the line and have more than just experience and intuition to go by when draining it.
Some additional info that I would be glad to have is:
- what type and brand of hydraulic oil is recommended, if there's a specific recommendation at all
- what's the correct amount of oil in the system
- what type of quick-connect couplings are used on the recharge ports
The robot is a VKR200/1A, floor mounted, mechanically appears to be as standard and normal as it gets for a KR200.