Brooks Automation 7. Service Procedures
Part Number: PF40-DI-00010 Rev.
A
Replacing the Power Supplies, Energy Dump PCA, or J1 Stage Two (Output) Timing
Belt
Step Action
10.
Remove the (4) screws that hold the Electronic Chassis to the Z Extrusion and the (2) screws that
attach the Electronic Chassis and ground wire to the Base Plate.
11.
Remove the J1 motor and encoder connectors that plug into the J1 Motor Interface Board.
12.
Remove the Battery connector that plugs into the J1 Motor Interface Board.
13.
Loosen the M4 SHCS screws attaching the Z bearing rail to the Z Extrusion.
14.
Slide the Z Rail and Z Carriage with the robot arm still attached partially out the top of the robot, far
enough to expose the power supplies. It may be more convenient to slide the carriage and Z rail all
the way out of the Z extrusion. Take care the bearing block does not slide off the Z rail. It may be
helpful to wrap some tape around the rail to prevent this. If the bearing block slides off the rail, the
bearing balls may be lost, damaging the bearing. Simultaneously slide the Electronic Chassis out
of the Z Extrusion and lay both assemblies on the table.
15.
Unplug the cables from the failed power supply.
16.
Remove the (4) M3 X 8 mm SHCS and lock washers to replace the power supply or energy dump
PCA. Be careful not to pull the J1 FFC encoder cable (white 14 mm wide flat cable) out of the FFC
connector on the J1 Motor Interface PCA. If this cable is pulled out, carefully release the clamping
lid on the FFC cable connector on the J1 Motor Interface PCA by inserting a small flat bladed
screwdriver in the notch in the clamping lid and very gently prying the lid out of the connector. This
lid is a cam-lock type of lid, which when inserted, clamps the flat white J1 encoder ribbon cable.
Re-insert the J1 flat white encoder ribbon cable into this connector and carefully press the
clamping lid back into the connector.
If the J1 encoder cable is disconnected during this procedure, it will be necessary to re-calibrate
the robot as the absolute encoder backup power will be interrupted to the J1 absolute encoder.
17.
Re-attach the power supply cables and re-assemble the robot.
Ensure that the bearing rail reference edge is tightly pressed against the reference boss in the Z
extrusion.
The top of the bearing rail should be about 35 mm below the top of the extrusion and the bottom of
the rail should clear the stage one Z timing belt on the large diameter pulley.
Copyright © 2023, Brooks Automation
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