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PreciseFlex 100
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4.
Hardware
Reference
PreciseFl
ex
100
Robot
System
Schematics,
Diagram,
and
Power
Supplies
Part
Number:
603988
Rev.
A
Figure
4-13:
Assembly,
Gripper
Motor
with
Pigtail
60
Copyright
©
2023
Brooks
Automation,
Inc.
59
61
Table of Contents
Main Page
Table of Contents
5
Safety
8
Safety Setup
8
Authorized Personnel Only
8
Explanation of Hazards and Alerts
9
Safety Text
9
Safety Icons
9
Signal Words and Color
9
Alert Example
10
General Safety Considerations
11
Mechanical Hazards
13
Electrical Hazards
14
Ergonomic Hazards
15
Emergency Stop Circuit (E-Stop)
17
Recycling and Hazardous Materials
17
Introduction to the Hardware
18
Overview
18
System Diagram and Coordinate Systems
20
System Components
22
Optional Gripper
22
Guidance 1400A Controller
22
Low Voltage Power Supplies
23
Energy Dump Circuit
23
Remote Front Panel, E-Stop Box and Manual Control pendant
24
Optional RS485 IO Module (GIO)
25
Remote IO Module (Ethernet Version)
26
Machine Vision Software and Cameras
26
Machine Safety
27
Safety and Agency Certifications
27
Standards Compliance and Agency Certifications
27
Moving Machine Safety
27
Safety Zones
28
Voltage and Power Considerations
33
Installation Information
36
Environmental Specifications
36
Facilities Connections
36
Specifications and System Dimensions
36
Unpacking and Handling Instructions
46
Mounting Instructions
46
Tool Mounting
47
Accessing the Robot Controller
47
Power Requirements
47
Emergency Stop
48
Hardware Reference
49
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
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
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
Replacing the Gripper Spring or Cable
111
Adjusting the Gripper Backlash
112
Replacing the Gripper Harness
113
Replacing the Gripper
114
Installing the Optional GIO Board
116
Appendices
118
Appendix A: Product Specifications
118
Appendix B: Environmental Specifications
120
Appendix C: Spare Parts List
121
Appendix D: Preventive Maintenance
122
Appendix E: Belt Tensions, Gates Tension Meter
123
Appendix F: Facilities Panel
125
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