Brooks Automation 2. Introduction to the Hardware
Part Number: 603988 Rev. A
System Diagram and Coordin-
ate Systems
The first axis of the robot is the X-axis. When the carriage is closest to the right end, the X-axis is at
its 0 position in the Joint Coordinate system and in the World Coordinate system. As the robot arm
moves to the left, both its joint position and the World X Coordinate increase in value.
The X Extrusion also contains the 24VDC and 48VDC power supplies and the controller, as well as
a connector panel in the end cap. When the gripper is installed, the gripper controller is located on
the Z extrusion.
The second axis of the robot is the Y-axis. When the carriage is closest to the X-axis, the Y-axis is at
its 0 position in both the Joint Coordinate system and in the World Coordinate system.
The third axis of the robot is the Z-axis. Note for the Z-axis, the positive direction is upwards in the
World Coordinate system and downwards in the Joint Coordinate system.
The fourth axis is the theta axis and rotates the gripper about the World Z-axis. A positive change in
the axis angle results in a positive rotation about the World Z-axis following the right-hand rule.
The robot may include an optional electric gripper, along with a gripper controller. It is also possible
to order the robot with a pneumatic gripper, in which case the outer link will house a solenoid to
control air to the pneumatic gripper. A light bar is mounted at the top of the theta cover and blinks at
a rate of once per second to indicate that the controller is operational and at a rate of 4 times a
second when power is being supplied to the motors.
The Z-axis includes a fail-safe brake. This brake must be released to move the Z-axis up and down
manually. There is a manual brake release button at the back of the Z-axis drive cover. Depressing
this button when 24VDC power is on will release the Z-axis brake while the button is depressed. It is
not necessary for the control system to be operating for the brake release to function; the only
requirement is providing 24VDC to the controller. Care should be taken to support the Z-axis when
the brake release button is pushed, as the axis will fall due to gravity.
Copyright © 2023 Brooks Automation, Inc.
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