Brooks PreciseFlex 400 User Manual

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Part Number: PF40-DI-00010 Rev. A
Optional Pneumatic or Vacuum Gripper 88
G1400B Dedicated Digital Outputs 90
7. Service Procedures 92
Recommended Tools 92
Troubleshooting 92
Encoder Operation Error 94
Replacing the Encoder Battery 95
Calibrating the Robot: Setting the Encoder Zero Positions 97
Replacing Belts and Motors 100
General Belt Tensioning 100
Tensioning the J1 (Z Column) Belts 101
Tensioning the 1st Stage Belt 101
Tensioning the 2nd Stage Belt 102
Tensioning the J2 Belt 103
Tensioning the J3 Belt (Before 2014) 105
Tensioning the J4 Belt (Before 2014) 106
Tensioning the J3 and J4 Belts (2014) 108
Tensioning the Belt on the Optional Linear Axis 109
Replacing the Power Supplies, Energy Dump PCA, or J1 Stage Two (Output) Timing Belt 110
Replacing the Robot Controller 113
Replacing the Servo Gripper Controller 116
Replacing the Agilent Servo Gripper Finger Pads 118
Replacing the Gripper Spring or Cable 119
Adjusting the Gripper Backlash or Centering Fingers 120
Adjusting the Gripper Brake (for Grippers with Brake) 122
Replacing the Electric Grippers or Slip Ring Harness 123
Replacing the Linear Axis Controller 125
Installing the Optional GIO Board 127
Replacing the Main Harness 130
Replacing the Outer Link Harness 130
Replacing the Z-axis Motor Assembly 133
Replacing the J2 (Shoulder) Axis Motor or Timing Belt 136
Replacing the J3 (Elbow) Axis Motor or Timing Belt 140
Replacing the J4 (Wrist) Axis Motor or Timing Belt 143
Replacing Servo Gripper with Pneumatic or Vacuum Gripper 146
Appendices 157
Appendix A: Product Specifications 157
Appendix B: Environmental Specifications 159
Appendix C: Spare Parts List 160
Appendix D: Preventative Maintenance 162
Appendix E: Belt Tensions, Gates Tension Meter 164
Appendix F: Example Performance Level Evaluation 166
Example Workcell Description 166
Normal Operator Interaction with Robot 166
Possible Low Frequency (rare) Interaction with Robot 166
Appendix G: TUV Verification of PF400 Collision Forces 167
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Brooks PreciseFlex 400 Specifications

General

Brand	Brooks
Model	PreciseFlex 400
Category	Robotics
Language	English