Brooks Automation 5. Hardware Reference
Part Number: PF40-DI-00010 Rev. A System Schematics
The E-Stop circuit is also connected from the controller to MIDS Power Interface Board and down
through the P1 cable to two E-Stop connectors: the green Phoenix connector (J24) and the 9 pin
Dsub connector (J30). The E-Stop pins on these connectors are wired in series so that both
connectors must have either a jumper or E-Stop switch installed that completes the E-Stop circuit.
The gripper controller is connected to the main controller through an RS-485 cable routed through
the elbow along with the power and encoder cables for the J4 motor. The RS-485 cable also
supplies power for the gripper controller.
The motors for the Z column, the shoulder, and the wrist all plug into an interconnect board that
converts the signals from the motor cables to the flat ribbon cables. The motor for the elbow plugs
directly into the controller amplifier board in the inner link.
The cable from the brake release button under the shoulder plugs into the amplifier board in the
inner link. This button provides a ground return from the Z column brake to ground bypassing the
transistor that performs this function under computer power so that the brake can be released
manually without motor power being enabled.
Figure 5-1 through Figure 5-19 show the schematics.
Copyright © 2023, Brooks Automation
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