PreciseFlex Robot
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TableofContents
Introduction to the Hardware ___________________________________________________ 1
System Overview 1
System Description 1
Release History 1
PF3400: 3kg Version 2
System Diagram and Coordinate Systems 3
System Components 4
PreciseFlex 400 Robot 4
Optional Linear Axis Module 5
Mounting of Robot and Linear Axis Module 5
Optional Gripper 6
Guidance 1400B Controller 6
Low Voltage Power Supplies 6
Energy Dump Circuit 7
Remote Front Panel, E-Stop Box and Manual Control Pendant 7
Optional RS485 IO Module (GIO) 8
Remote IO Module (Ethernet Version) 8
Machine Vision Software and Cameras 9
Machine Safety 9
Safety and Agency Certifications 9
Standards Compliance and Agency Certifications 10
Moving Machine Safety 10
Voltage and Power Considerations 10
Collaborative Robot Safety ____________________________________________________ 13
Robot Testing and Safety Circuits 17
Robot Workcell Design 22
Appendix A: Example Performance Level Evaluation for PF400 23
Appendix B: TUV Verification of PF400 Collision Forces 24
Appendix C: Table A2 from ISO/TS 15066: 2016 29
Appendix D1: Safety Circuits for PF400 500gm Payload 31
Appendix D2: Safety Circuits for PF3400 3kg Payload 32
Installation Information _______________________________________________________ 34
Environmental Specifications 34
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