Brooks PreciseFlex 100 - Page 92

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6. Service Procedures PreciseFlex 100 Robot

Tensioning the X-axis Belt Part Number: 603988 Rev. A

Step Action

Tighten the M4 screws to lock down the yoke and replace the end cap and tape seals.

Main Page

Table of Contents5
Safety8
Safety Setup8
Authorized Personnel Only8
Explanation of Hazards and Alerts9
Safety Text9
Safety Icons9
Signal Words and Color9
Alert Example10
General Safety Considerations11
Mechanical Hazards13
Electrical Hazards14
Ergonomic Hazards15
Emergency Stop Circuit (E-Stop)17
Recycling and Hazardous Materials17
Introduction to the Hardware18
Overview18
System Diagram and Coordinate Systems20
System Components22
Optional Gripper22
Guidance 1400A Controller22
Low Voltage Power Supplies23
Energy Dump Circuit23
Remote Front Panel, E-Stop Box and Manual Control pendant24
Optional RS485 IO Module (GIO)25
Remote IO Module (Ethernet Version)26
Machine Vision Software and Cameras26
Machine Safety27
Safety and Agency Certifications27
Standards Compliance and Agency Certifications27
Moving Machine Safety27
Safety Zones28
Voltage and Power Considerations33
Installation Information36
Environmental Specifications36
Facilities Connections36
Specifications and System Dimensions36
Unpacking and Handling Instructions46
Mounting Instructions46
Tool Mounting47
Accessing the Robot Controller47
Power Requirements47
Emergency Stop48
Hardware Reference49
System Schematics, Diagram, and Power Supplies49
Robot Inputs and Outputs61
Robot Interfaces61
MCP/E-Stop Interface62
Digital Input Signals63
Digital Output Signals64
Gripper Controller Digital Inputs and Outputs66
RS485 Remote IO Module (GIO)67
Ethernet Interface69
RS-232 Serial Interface69
Software Reference70
Accessing the Web Server70
Loading a Project (Program) or Updating PAC Files72
Updating GPL (System Software) or FPGA (Firmware)73
Recovering from Corrupted PAC Files74
Controller Software Extensions76
Controlling the Preciseflex Servo Gripper77
Overview77
Software Revision77
Controlling the Gripper77
Gripper Squeeze (Simple Method)78
Gripper Squeeze (Asymmetric Method)78
Grip Test and Squeeze Check79
Servo Gripper Controller Digital Inputs and Outputs80
Optional Pneumatic or Vacuum Gripper81
Control of Status Lamp on Theta Cover81
Service Procedures82
Recommended Tools82
Troubleshooting82
Encoder Operation Error84
Replacing the Encoder Battery85
Calibrating the Robot: Setting the Encoder Zero Positions87
Replacing Belts and Motors90
General Belt Tensioning90
Tensioning the X-Axis Belt91
Replacing the X-Axis Motor Assembly93
Replacing the X-Axis Timing Belt94
Replacing the Y-Axis Motor or Belt Assembly97
Replacing the Y-Axis Belt Assembly (for XY Robots Only)99
Tensioning the Z-Axis Output Belt100
Tensioning or Replacing the Z-Axis Motor and Timing Belt101
Replacing the Theta Axis Motor102
Replacing the Power Supplies or Controller104
Replacing the Main Harness106
Replacing the Servo Gripper Controller107
Wiring for Pneumatic Gripper109
Replacing the Gripper Spring or Cable111
Adjusting the Gripper Backlash112
Replacing the Gripper Harness113
Replacing the Gripper114
Installing the Optional GIO Board116
Appendices118
Appendix A: Product Specifications118
Appendix B: Environmental Specifications120
Appendix C: Spare Parts List121
Appendix D: Preventive Maintenance122
Appendix E: Belt Tensions, Gates Tension Meter123
Appendix F: Facilities Panel125

Brooks PreciseFlex 100 - Page 92

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