Brooks Automation 6. Software Reference
Part Number: PF40-DI-00010 Rev. A Controller Software Extensions
Step Action
9.
Turn off robot power.
10.
Restore Jumper J8 to its previous position.
11.
Reboot the robot. The PAC files should be restored and the robot should run.
12.
If the robot has ever been recalibrated since the back up PAC files were created, it will be necessary to
recalibrate the robot, as the calibration files will be out of date.
13.
Replace the Inner Link Cover.
Controller Software Extensions
This section discusses extensions to the standard Guidance Controller software that are specific to
the PreciseFlex
TM
400 Robot. Brooks offers a Command Server software package that allows a PC
to send high level commands to the PF400 robot. This package is available upon request.
Adding or Removing the Optional Linear Axis
The optional Linear Axis may be added to existing PF400 robots by simply placing the robot on the
Linear Axis and plugging in the connectors from the Linear Axis stage. However, the GPL version
must be 3.2.H4 or later and the PAC files must be changed to support the robot with Linear Axis. If a
robot is installed on, or removed from, a linear axis new PAC files must be obtained from Brooks
and installed in the robot controller and the robot must be re-calibrated, using CALPP_Rev21 or
later.
In addition, when adding a linear axis to a robot with a servo gripper for the first time, the J6 RS-485
termination jumper on the robot controller in the inner link of the robot (see Figure 6-1) must be
removed, as the RS-485 bus is now extended to the end of the linear rail, where an RS-485 jumper
is installed. Failing to remove this jumper can result in RS-485 communication errors as there will be
too many loads on the RS-485 bus.
NOTE: For robots with a pneumatic gripper, this jumper should not be removed as the
controller will form one end of the RS-485 chain and the GSB controller in the linear
rail or the GIO IO board in the end of the linear rail should provide the second
termination.
If the GIO is installed, J6 should be installed on the GIO and J6 should be removed from the GSB on
the linear rail carriage. (See Replacing the Linear Axis Controller and Installing the Optional GIO
Board for pictures.)
Copyright © 2023, Brooks Automation
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