PEITIAN ROBOTICS inCube22 User manual

V1.1.0

inCube22 Control Cabinet Manual
Introduction
I
Introduction
About this manual
This manual is for technicians to quickly, correctly and safely install and use the inCube22
control cabinet, familiarize themselves with relevant precautions and do regular routine
maintenance of the control cabinet.
Operating prerequisites
Before operating the robot, please read the general safety instructions and safety precautions of
the product carefully. The user must understand the safety knowledge and basic operating
knowledge before operating the robot.
Please refer to:
◼"AIR10-1420 Industrial Robot Manipulator Manual"
◼"AIR20-1700A/AIR25-1700B Industrial Robot Manipulator Manual"
◼"AIR-TP Teach Pendant Operation Manual"
◼"ARL Programming Manual"
Target groups
◼Operator
◼Product technicians
◼Technical service personnel
◼Teachers
Common logo meaning
The signs and their meanings in the manual are shown in Table 1 below.
Table 1 Identifiers used in this article
Sign
Meaning
If you do not follow the instructions, accidents may
occur, resulting in serious or fatal personal injury
If you do not follow the instructions, accidents may
occur, resulting in moderate injuries or minor injuries, or
only material damage may occur
Prompt you to pay attention to environmental conditions
and important matters, or quick operation methods
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Danger
危险
Warning
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Notice

Introduction
inCube22 Control Cabinet Manual
II
Sign
Meaning
You are prompted to refer to other documents and
instructions for additional information or more detailed
operating instructions
Manual description
The content of this manual will be supplemented and modified. Please pay attention to the
"Download Center" of our company website regularly to obtain the latest version of the manual
in time.
My company website URL:http://robot.peitian.com/
Revision record
The revision record accumulates the description of each document update. The latest version of
the document contains the updated content of all previous versions of the document.
Table 2 Document revision history
Version
Release time
Modify the description
V1.0.0
2021.08.20
1st official release
V1.0.1
2021.10.20
2nd official release
Fix known bugs
V1.1.0
2022.03.22
3rd official release
Fix known bugs
V1.1.1
2022.07.22
4th official release
Fix known bugs
Document number and version
See Table 3 for document number and version information.
See Table 3 for document number and version information.
Name
"inCube22 Control Cabinet Manual"
Document number
UM-P05110000033-001
Document version
V1.1.1
Declaration of applicable safety standards
The requirements that the industrial robot system design meets are shown in Table 4.
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inCube22 Control Cabinet Manual
Introduction
III
Table 4 Declaration of applicable safety standards
Standard
Description
Version
2006/42/EC
Machinery directive:
Machinery Directive 2006/42/EC (new edition) released
by the European Parliament and Council on May 17,
2006, including changes to 95/16/EC
2006
2014/30/EU
EMC directive:
Directive 2014/30/EU released by the European
Parliament and Council on February 26, 2014 to balance
EMC regulations among member states
2014
2014/68/EU
Pressure equipment directive:
Directive 2014/68/EU released by the European
Parliament and Council on May 15, 2014 to balance the
pressure equipment regulations among member states
(Only applicable for robots with hydro-pneumatic
balance weights.)
2014
ISO 13850
Safety of machinery:
Emergency stop function - Principles for design
2015
ISO 13849-1
Safety of machinery:
Safety-related parts of control systems; Part 1: General
principles for design
2015
ISO 12100
Safety of machinery:
General principles for design - Risk assessment and risk
reduction
2010
ISO 10218-1
Safety requirements for industrial robots:
Part 1: Robots
(tip: The content complies with ANSI/RIAR.15.06-2012,
Part 1)
2011
61000-6-2
Electromagnetic compatibility (EMC):
Part 6-2: Professional basic standards; Immunity for
industrial environments
2005
61000-6-4 + A1
Electromagnetic compatibility (EMC):
Part 6-4: Generic standards; Radiated interference for
industrial environments
2011
60204-1 + A1
Safety of machinery:
Electrical equipment of machines; Part 1: General
requirements
2009
IEC 60529
Degrees of protection provided by enclosures (IP code):
This standard applies to the classification of degrees of
protection provided by enclosures for electrical
equipment with a rated voltage above 72.5kv.
2001

inCube22 Control Cabinet Manual
General safety instructions
V
General safety instructions
Thanks very much for your purchase of the manipulator made by the company. The information
described is necessary for safely using the manipulator. Please read associated manual carefully
before using the manipulator, and properly use it under the premise of understanding its
contents.
Please adequately understand the manipulator specifications through available instructions for
detailed function.
Safety precautions
In general, the manipulator cannot be operated singly, but it is efficient when fitting with end
effector, and constructed with peripheral equipment and system.
In consideration of security, the manipulator cannot put into separate consideration, while it
shall be placed in the system environment.
Please take corresponding measures for safety barriers during the manipulator operation.
Warning, caution and notices
This manual contains various attentions including operating personnel safety and preventing
manipulator damage. The significance of safety is described in form of "Warning" and "Caution",
and other supplementary instructions are stated in form of "Notices".
Please thoroughly read these matters described in "Warning", "Caution" and "Notices".
Faulty operation may lead to death or serious injury of operator or other operating
personnel.
Faulty operation may lead to minor injury of operator or other operating personnel
or equipment damage.
General cautions
◼When connecting or disconnecting related peripheral devices (such as safety
fences, etc.) and various signals of the manipulator, be sure to confirm that
the manipulator is in a stopped state to avoid incorrect connections.
◼Do not use the manipulator in the following situations. Otherwise, it will not
only cause adverse effects on the manipulator and peripheral equipment, but
also may cause injury or death to operators:
⚫Use in flammable environment
⚫Use in explosive environment
⚫Use in environments with a lot of radiation
⚫Use in water or high humidity environment
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General safety instructions
inCube22 Control Cabinet Manual
VI
⚫Use for the purpose of transporting people or animals.
⚫Use as a tripod (such as climbing on top of the manipulator, or hanging
below)
◼Operators who use the manipulator should wear the following safety
equipment before performing work:
⚫Work clothes suitable for the content of the job
⚫Safety shoes
⚫Safety helmet
Personnel performing programming and maintenance operations must receive
appropriate training through relevant training provided by the company.
Installation attentions
◼Please follow the methods shown in the manual for proper operation during
carrying and installing the manipulator. Any operation in wrong methods may
lead turnover of the manipulator and then result in injury and death of
operating personnel.
◼Please operate the manipulator in low speed, and then increase the speed
gradually to ensure whether it is abnormal when the manipulator is used for
the first time upon installation.
Attentions during the operation
◼During the manipulator operation, please ensure there is no one in the safety
barriers for subsequent operation. Accordingly, check whether there are
potential risks; when the potential risks are verified, operate it after
eliminating the risks.
◼During the demonstrator operation, wearing gloves may cause errors in
operation, thus, taking the gloves off is necessary for subsequent operation.
Program, system variables and other information can be saved in the storage card
and other storage medium. To prevent data loss from unexpected accidents, the
users are recommended to backup data regularly.
Attentions during the programming
◼Operate outside safety barrier as far as possible during the programming. If it
is required to operate in the safety barrier for unavoidable conditions,
following precautions shall be noticed:
⚫Carefully view the conditions in the safety barrier, and then enter the
barrier after ensuring there is no danger;
⚫Make sure the emergency stop button can be pressed at any time;
⚫Operate the manipulator in low speed;
⚫Operate it after ensuring the whole system state to prevent the
operating personnel from caught in danger due to the remote-control
command or motion for peripheral equipment.
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Warning
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inCube22 Control Cabinet Manual
General safety instructions
VII
◼Operators who use the manipulator should wear the following safety
equipment before performing work:
⚫Work clothes suitable for the content of the job
⚫Safety shoes
⚫Safety helmet
◼When programming, it should be carried out outside the safety fence as much
as possible. When it is necessary to carry out inside the safety fence due to
unavoidable circumstances, the following matters should be paid attention to:
⚫Check the situation inside the safety fence carefully and confirm that
there is no danger before entering the inside of the fence.
⚫You can press the emergency stop button at any time.
⚫The manipulator should be operated at a low speed.
⚫The operation should be performed after confirming the status of the
entire system to prevent operators from falling into dangerous
situations due to remote control commands or actions for peripheral
equipment.
After programming, be sure to perform the test operation in accordance with the
prescribed steps. At this time, the operator must operate outside the safety fence.
Those who perform programming and maintenance operations must pass the
relevant training of our company.
Attentions during the maintenance
◼Some maintenances have electric shock hazard when powered on, thus it
shall be carried out under the disconnection of the manipulator and system
power supply. Professional maintenance personnel shall be designated to
take maintenance as required; other personnel shall be avoided to switch on
power in the maintenance, if it is required, the personnel shall press the
emergency stop button for subsequent operation.
◼Please consult the company if it is necessary to replace the parts.
◼If customers replace the parts by themselves, unexpected accidents may
occur, and then it will cause damage and injury to the manipulator and
operating personnel respectively.
◼When entering into the safety barrier, the whole system shall be checked to
ensure there is no danger. If there is dangerous situation and there is no
choice but to enter the barrier, the system state shall be grasped, and
extremely careful.
◼If it is necessary to replace any part , please use the one specified by the
company. But beyond this, it may cause damage to the manipulator.
◼When dismounting motor or brake, it shall be dismantled after crane lifting
and other measures are taken to prevent manipulator arm, etc. from falling.
◼If the manipulator is moved for unavoidable reasons during the maintenance,
the following matters shall be noticed:
⚫Make sure the escape routes are unobstructed, and operate it after
grasping the whole system operation conditions to avoid manipulator
and peripheral equipment blocking the route of retreat.
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General safety instructions
inCube22 Control Cabinet Manual
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⚫Constantly notice whether there is danger around, and make
preparations for pressing emergency stop button at any time when
needed.
◼When mobile motor, reducer, etc. equipped with parts unit with a certain
weight, crane and other auxiliary equipment shall be used to prevent
overlarge operation burden for operating personnel. Meanwhile, any mistake
shall be avoided; otherwise, it will cause injury and death of operating
personnel.
◼Don't tumble due to the lubricating oil scattered on the floor, and wipe it off
for ruling out the possibility of danger.
◼During the operation, any part of the body cannot be put on the manipulator,
and climb on the top of the manipulator to avoid unnecessary damage or
adverse effects on the manipulator.
◼Note that the following section will become hot. Well prepare heat-resistant
gloves and other protective tools when the equipment is required to touch
under heating circumstance for unavoidable reasons.
⚫Servo motor;
⚫Reducer;
⚫Components near motor / reducer;
⚫Interior control cabinet.
◼The parts dismantled from components (such as bolts, etc.) shall be installed
in the original position. If the parts are not sufficient or surplus, ensure it again
and install it normally.
◼When maintaining pneumatic system and hydraulic system, internal pressure
shall be released to 0 at first for subsequent operation.
◼Testing and operation shall be carried out in accordance with prescribed
methods after components replacement. At this moment, the operating
personnel shall operate outside the safety barrier.
◼After maintenance ends, lubricating oil, debris, water, etc. scattered on the
floor around the manipulator and in the safety barriers shall be swept
thoroughly.
◼Dust and other foreign matters are not allowed in the manipulator during the
components replacement.
◼Operating personnel who are in charge of maintenance and repair shall accept
the company's training and pass the examination.
◼During the maintenance, appropriate luminaire shall be equipped, but note
that this cannot be the sources to cause new danger.
◼Take periodic maintenance with reference to this instruction; if not, it will
cause the service life of the manipulator and may result in accidents.

inCube22 Control Cabinet Manual
Safety precautions
IX
Safety precautions
Before operating the manipulator, peripheral equipment and its manipulator system, sufficiently
study the safety precaution for operating personnel and system. Figure 1 is a diagram of the safe
work of industrial robots.
Figure 1 Diagram of the safe work of industrial robots
Definition of operating personnel
Operators of the manipulator are mainly divided into three types: operators, teachers, and maintenance
engineers. The conditions that these three types of operators need to meet are described as follows:
Operator
◼Carry out the operation of manipulator power ON/OFF;
◼Start the manipulator program through the operation panel;
◼No right to work in the safety fence.
Teacher
◼Have the functions of an operator;
◼The operation machine can be taught in the safety fence.
Maintenance engineer
◼Have the function of a demonstrator;
◼The operation machine can be maintained (repair, adjustment, replacement, etc.) operations.
Safety of operating personnel

Safety precautions
inCube22 Control Cabinet Manual
X
When operating, programming, and maintaining the manipulator, operators, instructors, and maintenance
engineers must pay attention to safety and at least wear the following items for work:
◼Appropriate working clothes;
◼Safety shoes;
◼Safety helmet.
When applying the automatic system, the safety of operating personnel shall be guaranteed. Since the
motion range is very dangerous, measures for preventing the operating personnel from entering into the
manipulator motion range shall be applied.
General cautions are shown as below. Proper available measures shall be applied to ensure the safety of
operating personnel:
◼Operating personnel who are in charge of operating the manipulator system shall accept the
company's training and pass the examination.
◼During the equipment operation, even the manipulator seems to be shut down, it may be because the
manipulator may be in motion state waiting for start signal. This state shall be treated as operation
state. To ensure the safety of operating personnel, warning lamps and other equipment display or
sound shall be applied to ensure the manipulator is in the operation state;
◼Safety barriers and safety door around the system shall be set, so as to make operating personnel
cannot enter into the safety barriers if the safety door is not opened. Interlock switch, safety latch,
etc. shall be set on the safety door, so as to stop the manipulator when operating personnel open the
safety door;
◼Electrical grounding shall be applied for peripheral equipment;
◼Peripheral equipment shall be set outside the manipulator motion range as far as possible;
◼The motion range of the manipulator shall be marked with a line on the ground and other ways, thus,
the operator knows clearly about the motion range, including mechanical arm and other tools fitted on
the manipulator;
◼The ground shall be set with cushion switch or fitted with photoelectric switch, etc. so as to sound
alarm through buzzer or to glows, etc. when operating personnel enter into the motion range of the
manipulator;
◼One lock shall be set as required; no one can connect the manipulator power except the operating
personnel;
◼When taking single commissioning of peripheral equipment, the manipulator power shall be
disconnected.
The safety of operator
Operator is not entitled to operate in the safety barriers:
◼If the manipulator motion is not required, its control cabinet power shall be disconnected or the
emergency stop button shall be pressed;
◼Manipulator system shall be operated outside the safety barrier;

inCube22 Control Cabinet Manual
Safety precautions
XI
◼To prevent irrelevant personnel from spraying into manipulator motion range or to prevent operator
from entering into hazardous area, protective fence and safety door shall be set;
◼Emergency stop button shall be set in arm's reach for operator.
Manipulator control device can connect external emergency stop button.
Thus, once the emergency stop button is pressed, the manipulator will be shut
down through this connection.
Safety of teachers
When taking manipulator demonstration operation, if entering into manipulator motion range is required in
some cases, please pay particular attention to safety:
◼Please operate outside the manipulator motion range in case that there is no need to operate in its
range;
◼Please ensure the manipulator or peripheral equipment is in safety state before demonstration
operation;
◼Please confirm location, state, etc. of safety device (such as emergency stop button, emergency stop
switch of demonstrator, etc.) in advance if the demonstration is operated in the manipulator range for
unavoidable reasons;
◼Programmer shall pay special attention to keep other personnel from entering into manipulator motion
range;
◼Please fully confirm that there is no one in the manipulator range and no abnormal sign before
starting;
◼Please follow the following procedures to carry out testing and operation after demonstration ends:
◼Programmer shall evacuate to the outer place of the safety barrier during automatic operation of the
manipulator.
The safety of maintenance engineer
To ensure the safety of maintenance engineer, the following items shall be fully noticed:
◼During the manipulator operation, don't enter into its motion range;
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Safety precautions
inCube22 Control Cabinet Manual
XII
◼Take maintenance when the power supply of control device is disconnected. Apply lock, etc. to lock
on main circuit breaker to prevent other personnel from connecting the power;
◼Press control cabinet or demonstrator emergency stop button if entering into the manipulator motion
range is required for unavoidable reasons in an energized state. In addition, operating personnel shall
put up the sign of "under maintenance", and remind the other personnel of not operating the
manipulator arbitrarily;
◼Please ensure the manipulator or peripheral equipment is in safety state before maintenance;
◼Don't execute automatic operation when there is someone in the manipulator motion range;
◼Don't block the escape routes of the operating personnel when operating near wall, tool, etc. or the
distance between personnel is close;
◼When the manipulator is equipped with the tool and there are movable appliances such as band
carrier, etc. except manipulator, attentions shall be fully paid for these devices;
◼One person who is familiar with manipulator system and can easily observes dangers shall be
assigned around the manipulator during the operation to ensure that the emergency button can be
pressed at any time;
◼When replacing the parts or reassembling, attentions shall be paid in case of foreign material
adhesion or foreign material invasion;
◼When maintaining internal control device, in case of contacting unit, printed circuit board, etc., to
prevent electric shock, power supply of main circuit breaker of control device shall be disconnected
firstly before the operation;;
◼Use parts specified by the company when replacing the parts;
◼Fully ensure that there is no one within operation scope of the manipulator and the manipulator and
peripheral equipment are in good conditions when restarting the manipulator system after the
maintenance.
Safety of peripheral equipment
Attentions on relevant program
◼Checkout equipment such as limit switch, etc. shall be used in order that dangerous condition is
detected, and the manipulator shall be shut down as appropriate according to the signal of checkout
equipment;
◼Applicable measures such as stopping the manipulator, etc. shall be taken against abnormality in
other manipulators or peripheral equipment even if there are no problems in this manipulator;
◼Mutual interference shall be avoided on system in which the manipulator and peripheral equipment
operate synchronously;
◼In order to control status of all equipment from manipulator, the manipulator and peripheral
equipment can be mutually locked and the operation of manipulator can be stopped according to the
needs.
Attentions on machinery

inCube22 Control Cabinet Manual
Safety precautions
XIII
◼Keep the system of the manipulator clear and use it under environment without influence from
grease, water, dust, etc.;
◼Cutting fluid and cleaning agent are not allowed to use;
◼Control the operation of the manipulator with limit switch and mechanical brake in case of mutual
collision between manipulator and peripheral equipment;
◼Subscriber cable, hose, etc. are not allowed to be put inside the manipulator;
◼Mechanical movement shall be avoided when installing the cable outside the manipulator;
◼As for the model of exposed cables in the manipulator, operation for exposed cable shall not be
modified;
◼Interference in other parts of the manipulator shall be fully avoided when installing peripheral
equipment on the manipulator;
◼Any frequent outage and shutdown through emergency stop button, etc. on operating manipulator
can lead to manipulator fault.
Machinery safety of the manipulator
Attentions during the operation
Operators shall be on high alert and quickly respond to occurrence of all problems when operating the
manipulator through slow feeding mode under any condition.
Attentions on relevant program
Mutual interference between manipulators shall be fully avoided during operational scope from multiple
manipulators.
Set a specified work origin for manipulator program and create a program starting from work origin and
ending at this one to see clearly whether operation of the manipulator is finished or not from the outer
edge.
Attentions on mechanism
Keep operating environment of the manipulator clear and use it under environment without influence from
grease, water and dust, etc..
Safety for end effector
Time difference before the command reaches the actual operation shall be fully considered and exercise the
control with some extension and contraction after sending control command out when controlling all
actuators (pneumatic, hydraulic and electric).
Set the detection unit on end effector to monitor status of end effector and control operation of the
manipulator.

inCube22 Control Cabinet Manual
Contents
i
Contents
Introduction ...................................................................................................................................................................... I
General safety instructions .............................................................................................................................................. V
Safety precautions .......................................................................................................................................................... IX
Contents ............................................................................................................................................................................i
Product specification ...............................................................................................................................................1
Range of applications for general functions and intended purposes .............................................................................................. 1
Environmental conditions and restrictions on work and storage..................................................................................................... 1
1.2.1 Installation environment requirements ................................................................................................................................................................. 1
1.2.2 Storage environmental conditions ........................................................................................................................................................................ 1
Basic specifications.......................................................................................................................................................................... 1
Definition .................................................................................................................................................................3
Introduction to industrial robots....................................................................................................................................................... 3
Basic composition of control cabinet ............................................................................................................................................... 3
Product label and meaning .............................................................................................................................................................. 6
Preparation before product use................................................................................................................................9
Unpack.............................................................................................................................................................................................. 9
3.1.1 Unpacking method ................................................................................................................................................................................................ 9
3.1.2 Repacking to prevent shipping damage.............................................................................................................................................................. 10
3.1.3 Safe disposal of packaging materials.................................................................................................................................................................. 10
3.1.4 Disposal of waste materials ................................................................................................................................................................................ 10
Transportation and handling .......................................................................................................................................................... 11
3.2.1 Handling posture ................................................................................................................................................................................................. 11
3.2.2 Forklift handling................................................................................................................................................................................................... 11
Preparation before installation....................................................................................................................................................... 11
Installation and assembly............................................................................................................................................................... 11
3.4.1 Installation size.................................................................................................................................................................................................... 11
3.4.2 Installation method.............................................................................................................................................................................................. 12
3.4.3 Connect the control cabinet ................................................................................................................................................................................ 13
3.4.4 Control cabinet electrical connection definition ................................................................................................................................................. 17
Safe use of the product..........................................................................................................................................21
Control cabinet interface................................................................................................................................................................ 21
Control cabinet interface instructions............................................................................................................................................ 22
4.2.1 Control cabinet indicator light description.......................................................................................................................................................... 22
4.2.2 Control cabinet operation button description ..................................................................................................................................................... 23
4.2.3 Instructions for the external interface of the control cabinet............................................................................................................................. 25
Control cabinet grounding.............................................................................................................................................................. 37
Robot stop method ......................................................................................................................................................................... 38
Robot system safety ....................................................................................................................................................................... 38
Control cabinet start....................................................................................................................................................................... 39

Contents
inCube22 Control Cabinet Manual
ii
Preventive maintenance.........................................................................................................................................41
Maintenance process ..................................................................................................................................................................... 41
Replace the dust filter .................................................................................................................................................................... 41
Fault finding, diagnosis and repair.........................................................................................................................43
Indicator light ................................................................................................................................................................................. 43
Heavy duty connector..................................................................................................................................................................... 43
Fan.................................................................................................................................................................................................. 43
Fuse ................................................................................................................................................................................................ 43
Appendix A inCube22 accessories list.............................................................................................................................45
Appendix B inCube22 accessories description ................................................................................................................47

inCube22 Control Cabinet Manual
Product specification
1
Product specification
Range of applications for general functions and intended purposes
Industrial robot systems are used to move tools and devices, or process and transport workpieces or products. It is
allowed to be used only under the specified climate and environmental conditions. For specific storage conditions and
working environment requirements, see Chapter 1.2.
All use that does not comply with the regulations is considered illegal use and is prohibited. Examples include:
◼Use in an explosive environment.
◼Use outside the permitted range of motion.
◼Transport people or animals.
◼Used as an auxiliary tool for climbing.
Changing the structure of the robot, such as punching holes, can cause damage to the components.
This is regarded as improper use, which will result in loss of warranty and eligibility for claims.
Environmental conditions and restrictions on work and storage
1.2.1 Installation environment requirements
◼The ambient temperature is required to be 0℃~45℃.
◼The relative humidity requirement is 20%~80%RH.
◼Keep dust, oil mist, and water vapor in the installation environment to a minimum.
◼The environment must be free of flammable and corrosive liquids or gases.
◼The equipment installation must be far away from impact and seismic source.
◼Keep a heat dissipation distance of at least 20cm between the control cabinet and the surrounding installation
environment.
1.2.2 Storage environmental conditions
The control cabinet should be placed in a cool place away from direct sunlight and waterproof during long-term storage.
The specific environmental requirements are as follows:
Table 1-1 Long-term storage environmental conditions of the control cabinet
Parameter
Value
Minimum ambient temperature
-25°C
Maximum ambient temperature
+60°C
Maximum humidity
90% non-condensing under constant temperature conditions
Basic specifications
The basic specifications of inCube22 control cabinet are shown in Table 1-2:
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Product specification
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2
Table 1-2 Basic specifications of inCube22 control cabinet
Name
Characteristic
Cabinet type
19 inches cabinet
Colour
Black
Weight
20kg
Noise
50dB (A)
Rated supply voltage
AC220V±10%
Power frequency
49Hz~61Hz
Full load power
2.2KVA
Fusing current
16A
Vibration conditions
At work
In transit
Vibration acceleration
0.5g
6g
Vibration frequency
4Hz~120Hz
5Hz~500Hz
Shock acceleration
2.5g
300g
Impact waveform/period
Half sine /11ms
Sawtooth wave /9ms
Operating temperature
0℃~45℃
Temperature change rate
<1.1K/min
Storage temperature
-25℃~60℃
Working humidity
≤80%RH
Storage humidity
≤90%RH
Altitude
Work normally at an altitude of 1000m
Use at altitude 1000-4000m with derating 5%/1000m
86~106kPa 大气压下正常工作