Brooks PreciseFlex 100 - Page 6

PreciseFlex 100 Robot
Part Number: 603988 Rev. A
System Schematics, Diagram, and Power Supplies 49
Robot Inputs and Outputs 61
Robot Interfaces 61
MCP/E-Stop Interface 62
Digital Input Signals 63
Digital Output Signals 64
Gripper Controller Digital Inputs and Outputs 66
RS485 Remote IO Module (GIO) 67
Ethernet Interface 69
RS-232 Serial Interface 69
5. Software Reference 70
Accessing the Web Server 70
Loading a Project (Program) or Updating PAC Files 72
Updating GPL (System Software) or FPGA (Firmware) 73
Recovering from Corrupted PAC Files 74
Controller Software Extensions 76
Controlling the PreciseFlex Servo Gripper 77
Overview 77
Software Revision 77
Controlling the Gripper 77
Gripper Squeeze (Simple Method) 78
Gripper Squeeze (Asymmetric Method) 78
Grip Test and Squeeze Check 79
Servo Gripper Controller Digital Inputs and Outputs 80
Optional Pneumatic or Vacuum Gripper 81
Control of Status Lamp on Theta Cover 81
6. Service Procedures 82
Recommended Tools 82
Troubleshooting 82
Encoder Operation Error 84
Replacing the Encoder Battery 85
Calibrating the Robot: Setting the Encoder Zero Positions 87
Replacing Belts and Motors 90
General Belt Tensioning 90
Tensioning the X-axis Belt 91
Replacing the X-axis Motor Assembly 93
Replacing the X-axis Timing Belt 94
Replacing the Y-axis Motor or Belt Assembly 97
Replacing the Y-axis Belt Assembly (For XY robots only) 99
Tensioning the Z-axis Output Belt 100
Tensioning or Replacing the Z-axis Motor and Timing Belt 101
Replacing the Theta Axis Motor 102
Replacing the Power Supplies or Controller 104
Replacing the Main Harness 106
Replacing the Servo Gripper Controller 107
Wiring for Pneumatic Gripper 109
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