Brooks Automation 7. Service Procedures
Part Number: PF40-DI-00010 Rev. A Calibrating the Robot: Setting the Encoder Zero Positions
Step Action
7.
If the Calibration Pins have not already been removed from the robot, it may be necessary to remove
the top cover of the robot by removing the (4) M5 Low Head screws with a 3.0 mm hex driver and
then removing the front cover to access the bag with the Calibration Pins which are inside the front
cover extrusion at the bottom.
8.
Insert an M3 X 30 mm Calibration Dowel Pin into the J4 (wrist) pulley with the gripper positioned
under the outer link and rotate the gripper back and forth until the pin drops into a slot in the outer
link, locating the gripper under the center of the outer link.
9.
Insert a tapered 0.5 in Calibration Dowel Pin into the hole in the bottom of the shoulder. Rotate the
inner link counter-clockwise until it rests against this pin as shown in Step10.
10.
Insert an tapered 0.5 in Calibration Dowel Pin into the hole on inner link as shown below. Rotate
outer link clockwise until it rests against the dowel pin. If the robot is installed on a linear rail, push the
rail carriage all the way to the hard stop at the linear rail connector end cap.
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