Brooks Automation 2. Introduction to the Hardware
Part Number: PF40-DI-00010 Rev. A System Description and Overview
The Z column also contains the 24 VDC and 48 VDC power supplies and the connector panel. The
Guidance controller is located inside the inner link of the robot, and the gripper controller is located
inside the outer link.
When the Inner Link is centered on its range of motion the J2 axis is at its 0 joint angle. A positive
change in the axis angle results in a positive rotation about the World Z-axis.
The J3 rotary axis (elbow) rotates the outer link about the world Z-axis. A positive change in the axis
angle results in a positive rotation about the World Z-axis. When the link is centered, it is at its 0 joint
angle, however there is a hard stop at 10 degrees, so the link cannot reach the center position. The
outer link can rotate underneath the inner link, allowing the robot to change configuration from a “left
hand” robot to a “right hand” robot without swinging the J3 axis (elbow) through the zero position.
This allows the robot to work in very compact workcells.
The J4 rotary axis (wrist) rotates the gripper about the World Z-axis. A positive change in the axis
angle results in a positive rotation about the World Z-axis.
The outer link may include a gripper controller that provides control of the optional electric gripper. It
is also possible to order the robot with a pneumatic gripper, in which case the outer link will house a
solenoid to control air to the pneumatic gripper. A light bar is mounted at the top of the shoulder
cover (or column for some robots) and blinks at a rate of once per second to indicate that the
controller is operational and at a rate of 4 times per second when power is being supplied to the
motors.
The Z-axis includes a fail-safe brake. This brake must be released to move the Z-axis up and down
manually. There is a manual brake release button on the bottom of the inner link near the Z-axis.
Depressing this button when 24 VDC power is on will release the Z-axis brake while the button is
depressed. It is not necessary for the control system to be operating for the brake release to
function; the only requirement is providing 24 VDC to the controller. Care should be taken to support
the Z-axis when the brake release button is pushed, as the axis will fall due to gravity.
Copyright © 2023, Brooks Automation
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