Brooks Automation 7. Service Procedures
Part Number: PF40-DI-00010 Rev. A Replacing Servo Gripper with Pneumatic or Vacuum Gripper
Step Action
2.
After removing the servo gripper, install the new PAC files in the robot to correctly configure it as
a 4-axis robot, or 4-axis robot on a linear rail. Unless the correct PAC files are installed, the
software will be looking for the missing gripper controller (GSB) and will generate an error.
See Updating GPL (System Software) or FPGA (Firmware).
3.
After the new PAC files are installed, or after unplugging the J4 motor/encoder interface board,
the robot must be re-calibrated.
See Calibrating the Robot: Setting the Encoder Zero Positions.
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