Brooks Automation
Part Number: PF40-DI-00010 Rev. A
Maximum Allowable Forces to Prevent Operator Injury 28
Types of Forces 29
Robot Testing and Safety Circuits 30
Controller Requirements 31
Possible PreciseFlex Controller Faults and Controller Testing 31
Test Procedure for the PF400 34
Robot Workcell Design 35
4. Installation Information 37
Environmental Specifications 37
Facilities Connections 37
System Dimensions 38
Linear Axis Mounting Dimensions 44
Unpacking and Handling Instructions 45
Mounting Instructions 45
Tool Mounting 45
Accessing the Robot Controller 46
Power Requirements 46
Emergency Stop 46
5. Hardware Reference 47
System Schematics 47
System Diagram and Power Supplies 47
Facilities Panel 65
E-Stop Connector 67
MCP / E-Stop Interface 67
Digital Input and Output Signals 68
Gripper Controller Digital Inputs and Outputs 71
RS-485 Remote IO Module (GIO) 72
Ethernet Interface 72
RS-232 Serial Interface 73
Gripper Serial Interface (for Bar Code and other RS-232 devices in Gripper) 73
6. Software Reference 75
Accessing the Web Server 75
Loading a Project (Program) or Updating PAC Files 77
Updating GPL (System Software) or FPGA (Firmware) 79
Recovering from Corrupted PAC Files 80
Controller Software Extensions 82
Adding or Removing the Optional Linear Axis 82
Controlling the PreciseFlex Servo Grippers 83
Overview 83
Software Revision 84
Controlling the Gripper 84
Gripper Squeeze (Simple Method) 84
Gripper Squeeze (Asymmetric Method) 85
End of Travel Sensor 86
Grip Test and Squeeze Check 86
Servo Gripper Controller Digital Inputs and Outputs 86
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