Brooks Automation 4. Hardware Reference
Part Number: 603988 Rev. A
System Schematics, Diagram,
and Power Supplies
4. Hardware Reference
System Schematics, Diagram, and Power Supplies
The robot has a 24VDC and 48VDC power supply located in the X-axis. The robot controller and
electric gripper are powered by the 24VDC supply. The four main robot motors are powered by the
48VDC supply. The 48VDC supply is protected against over voltage bus pump up by an energy
dump function, which connects a 25 Watt dump resistor across the 48VDC supply output when the
voltage reaches 56 Volts, and disconnects the dump resistor when the voltage drops to 52 Volts.
This protects the power supply during high speed motor deceleration when the motor generates
Back EMF voltage that adds to the power supply voltage.
The DC power is routed from the power supplies to the controller via an electrical harness.
Four digital input and four digital output signals along with 24VDC and Ground from the main robot
controller are connected to a 15-pin Dsub connector on the connector end cap.
The ESTOP circuit is also connected from the controller to the 9-pin Dsub connector on the end cap.
The ESTOP pins on this connector must have either a jumper or ESTOP switch installed that
completes the ESTOP circuit or motor power cannot be enabled.
The gripper controller (GSB) is connected to the main controller through an RS485 cable that is
routed through the robot. The RS485 cable also supplies 24VDC power for the gripper controller.
The gripper motor has a single ended incremental encoder and therefore the gripper controller is
configured for a single ended encoder and the GSB board has an “SE” label on it to indicate single
ended.
The X motor and Y motor, if installed, plug into the G1400D controller in the back of the X extrusion.
The Z motor and Theta motor signals are also connected to slave controllers (GSB) located on the
Z-axis. However, the Z motor and Theta motors have absolute differential encoders and therefore
the GSBs for both these motors have “Diff” label to indicate the controller is configured for a
differential encoder.
NOTE: The “SE” and “Diff” GSBs are not Interchangeable.
The cable from the brake release button at the rear of the Z motor housing plugs into the GSB
controller located near the Z motor. This button provides a ground return from the Z-axis brake to
Copyright © 2023 Brooks Automation, Inc.
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