Brooks Automation 5. Software Reference
Part Number: 603988 Rev. A
Controlling the PreciseFlex
Servo Gripper
Controlling the PreciseFlex Servo Gripper
Overview
The PreciseFlex Servo Gripper with spring return contains a brushless servo motor with an
incremental encoder with both counting and motor phase tracks. At power up, the encoder provides
motor commutation information for a brief period, and then switches the incremental encoder A, B
and Z signals onto the same set of wires. This allows the motor commutation to be initialized at start-
up without any motion.
The motor has a 12-tooth pinion gear cut directly on the motor shaft. This pinion drives a pair of
opposing racks to open and close a set of finger mounts which are attached to linear ball slides.
Various fingers can be attached to the finger mounts.
One finger mount is also attached to a spring return, which applies a continuous closing force to the
finger mounts as they are coupled together by the pinion. Therefore, if power is lost, the gripper will
close and maintain a closing force so that it does not drop parts.
In order to avoid the gripper slamming closed from the spring force when motor power is disabled,
there is a 500 ms delay after an E-Stop or power disable command is sent before the motor power is
cut off. During this period, the servo slowly closes the gripper.
In order to support “free” mode, in which the fingers can be moved back and forth freely by hand, in
free mode the servo counterbalances the spring by applying an opposing force based on finger
position.
Software Revision
The Spring Gripper functionality is fully supported by GPL version 3.1.P11 or later and PAC files
PrecisePlace130S 140901 or later.
Controlling the Gripper
Brooks has created a GPL software routine that controls the spring gripper. This routine includes
features for controlling the gripper squeeze force and detecting if a plate is present during a grip.
Brooks makes this routine available to customers upon request; email support_
preciseflex@brooksautomation.com. This routine is also available in the PreciseFlex Command
Server Software for the PF400 and PP100.
Copyright © 2023 Brooks Automation, Inc.
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