Brooks Automation 2. Introduction to the Hardware
Part Number: PF40-DI-00010 Rev. A System Components
Annotation Name Description
4 Inner Link Inner Link
5 Elbow Joint between Inner and Outer Links
6 Outer Link Outer Link
7 Wrist Joint between Outer Link and Gripper
8 Gripper Gripper mechanism
9 Fingers Fingers for grasping Titer Plates
Optional Linear Axis Module
The PF400 may be attached to an optional Linear Axis Module. The Linear Axis Module may be
ordered in 1000 mm, 1500 mm and 2000 mm travel distances. The module length is about 380 mm
longer than the travel distance. All cables and controls are contained inside the Linear Axis Module,
which is equipped with drip proof covers and tape seals. Power entry, a power switch, Pendant, and
IO connectors are extended from the base of the robot to the end cap of the Linear Axis Module.
The Linear Axis Module is driven by a servo amplifier located in the carriage. This servo amp gets
both power and commands from the controls in the robot, so the Linear Axis Module must be slaved
to a robot in order to work, and cannot be purchased as a standalone module at this time.
Figure 2-3 shows a 750 mm vertical travel PF400 on a 1000 mm Linear Axis Module. The robot is
positioned in the middle of travel, which is defined as the zero position in the linear axis. The robot
may be mounted in this orientation, in which case the linear axis moves along the Y-axis in the
robot’s coordinate system with the linear axis extending the robot’s Y-axis by plus or minus 500 mm.
The robot may also be rotated 90 degrees so that it faces the connector end cap of the Linear Axis.
In this case the Linear Axis extends the robot’s X-axis travel, if the appropriate SW parameter is
changed. See Software Reference for more information.
Copyright © 2023, Brooks Automation
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