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Brooks 609638 Quick Start Manual

Guidance controller
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Guidance Controller Quick Start Guide
User Manual
Part Number 609638, Revision A

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  • Page 1 Guidance Controller Quick Start Guide User Manual Part Number 609638, Revision A...
  • Page 2 © 2023 Brooks Automation. All rights reserved. The information included in this manual is proprietary information of Brooks Automation, and is provided for the use of Brooks customers only and cannot be used for distribution, reproduction, or sale without the express written permission of Brooks Automation.
  • Page 3 Brooks Automation Part Number: 609638 Rev. A Worldwide Headquarters 15 Elizabeth Drive Chelmsford, MA 01824 U.S.A. Brooks Automation, PreciseFlex Collaborative Robots 201 Lindbergh Avenue Livermore, CA 94551 U.S.A For Technical Support: Location Contact Website +1-800-447-5007 (Toll-Free) +1-978-262-2900 (Local) North America...
  • Page 4 Guidance Controller Quick Start Guide Part Number: 609638 Rev. A Revision History Revision Date Action Author Released manual at Rev. A to follow standard EC147327 August 4, 2023 M. Ashenfelder Brooks technical publication styles. Copyright © 2023 Brooks Automation, Inc.

  • Page 5: Table Of Contents

    Brooks Automation Part Number: 609638 Rev. A Table of Contents 1. Safety Safety Setup Authorized Personnel Only Explanation of Hazards and Alerts Safety Text Safety Icons Signal Words and Color Alert Example General Safety Considerations Mechanical Hazards Electrical Hazards Ergonomic Hazards...
  • Page 6 Guidance Controller Quick Start Guide Part Number: 609638 Rev. A Programming the Second MotionBlock Programming the Third MotionBlock Programming the Fourth Motion Block Additional Exercises 6. Guidance Programming Language (GPL) Overview of the Guidance Programming Language (GPL) Configuring a GPL Project...

  • Page 7: Safety

    1. Safety Safety Setup Brooks uses caution, warning, and danger labels to convey critical information required for the safe and proper operation of the hardware and software. Read and comply with all labels to prevent personal injury and damage to the equipment.

  • Page 8: Explanation Of Hazards And Alerts

    1. Safety Guidance Controller Quick Start Guide Explanation of Hazards and Alerts Part Number: 609638 Rev. A Explanation of Hazards and Alerts This manual and this product use industry standard hazard alerts to notify the user of personal or equipment safety hazards. Hazard alerts contain safety text, icons, signal words, and colors.

  • Page 9: Alert Example

    Brooks Automation 1. Safety Explanation of Hazards and Part Number: 609638 Rev. A Alerts Alert Example The following is an example of a Warning hazard alert. Number Description How to Avoid the Hazard Source of Hazard and Severity General Alert Icon...

  • Page 10: General Safety Considerations

    1. Safety Guidance Controller Quick Start Guide General Safety Considerations Part Number: 609638 Rev. A General Safety Considerations                Software Software is not safety rated. Unplanned motion can occur as long as power is supplied to the motors. Maximum torque could be momentarily applied that may cause equipment damage or personal injury.
  • Page 11 Brooks Automation 1. Safety Part Number: 609638 Rev. A General Safety Considerations                Magnetic Field Hazard This product contains magnetic motors that can be hazardous to implanted medical devices, such as pacemakers, and cause personal harm, severe injury, or death. Maintain a safe working distance of 30 cm from the motor when with an energized robot if you use a cardiac rhythm management device.

  • Page 12: Mechanical Hazards

    1. Safety Guidance Controller Quick Start Guide Mechanical Hazards Part Number: 609638 Rev. A              Seismic Restraint The use of this product in an earthquake-prone environment may cause equipment damage or personal injury. The user is responsible for determining whether the product is used in an earthquake prone environment and installing the appropriate seismic restraints in accordance with local regulations.

  • Page 13: Electrical Hazards

    Brooks Automation 1. Safety Part Number: 609638 Rev. A Electrical Hazards              Vibration Hazard As with any servo-based device, the robot can enter a vibratory state resulting in mechanical and audible hazards. Vibration indicates a serious problem. Immediately remove power. Before energizing, ensure the robot is bolted to a rigid metal chamber or stand.

  • Page 14: Ergonomic Hazards

    1. Safety Guidance Controller Quick Start Guide Ergonomic Hazards Part Number: 609638 Rev. A Improper handling of the power source or connecting devices may cause component damage or equipment fire. Connect the system to an appropriate electrical supply. Turn off the power before servicing the unit.

  • Page 15: Emergency Stop Circuit (E-Stop)

    Do not override or bypass the emergency stop circuit. Recycling and Hazardous Materials Brooks Automation complies with the EU Directive 2002/96/EU Waste Electrical and Electronic Equipment (WEEE). The end user must responsibly dispose the product and its components when disposal is required.

  • Page 16: Introduction

    2. Introduction Guidance Controller Quick Start Guide Quick Start Guide Overview Part Number: 609638 Rev. A 2. Introduction Quick Start Guide Overview The Guidance family of motion controllers incorporates a distributed control architecture that utilizes Ethernet for real-time communication. This Quick Start Guide uses the Guidance 1400 Controller for examples.
  • Page 17 Brooks Automation 2. Introduction Part Number: 609638 Rev. A Quick Start Guide Overview The Guidance Controller’s simplified MotionBlocks resource The Guidance Controller’s embedded Guidance Programming Language (GPL) When programmed in the Embedded Language mode, the PC can be removed after programming is completed, and the controller will operate standalone.

  • Page 18: Setup

    Download the GDS from https://www.brooks.com/solutions/collaborative-robotic- solutions/support/latest-software-updates. For the best results, Brooks suggests using the following: A 500 MHz or faster PC running Windows 10 or a later operating system A 10/100 Ethernet interface and a standard Ethernet cable Connect the controller to a computer directly or via a hub or switch. If connecting to a robot or Guidance Controller, plug the cable into the RJ45 port on the Facilities Panel.

  • Page 19: Displaying The Controller Home Screen

    Brooks Automation 3. Setup Displaying the Controller Home Part Number: 609638 Rev. A Screen Displaying the Controller Home Screen Step Action The computer and the controller each have their own IP address. With the controller connected to a computer, open a web browser.

  • Page 20: Changing The Computer's Ip Address And Subnet Mask

    3. Setup Guidance Controller Quick Start Guide Changing the Computer’s IP Address and Subnet Part Number: 609638 Rev. A Mask Changing the Computer’s IP Address and Subnet Mask NOTE: This procedure is applicable to Windows 10. By default the Guidance Controller is factory configured with IP address 192.168.0.1 and subnet mask 255.255.255.0.
  • Page 21 Brooks Automation 3. Setup Changing the Computer’s IP Part Number: 609638 Rev. A Address and Subnet Mask Step Action Select Properties. Select and highlight Internet Protocol Version 4 (TCP/IPv4) and click Properties. Copyright © 2023 Brooks Automation, Inc.
  • Page 22 3. Setup Guidance Controller Quick Start Guide Changing the Computer’s IP Address and Subnet Part Number: 609638 Rev. A Mask Step Action If the PC is using Dynamic Host Configuration Protocol (DHCP) and is not compatible with the controller, select the Use the following IP address option, and enter a compatible IP address and subnet mask.

  • Page 23: Changing The Controller's Ip Address And Subnet Mask

    Brooks Automation 3. Setup Changing the Controller's IP Part Number: 609638 Rev. A Address and Subnet Mask Changing the Controller's IP Address and Subnet Mask To change the controller’s IP address and subnet mask, the user must have the Guidance Development Suite (GDS) installed on their PC, and the controller must use the Guidance Programming Language (GPL) version 2.0 or later.

  • Page 24: More Than One Controller On The Network

    3. Setup Guidance Controller Quick Start Guide Changing the Controller's IP Address and Subnet Part Number: 609638 Rev. A Mask To change the controller IP address, perform the following procedure: Step Action Select the IP address, and click Change. The Set IP Address screen displays. Enter an IP address for the controller into the IP Address field.
  • Page 25 Brooks Automation 3. Setup Changing the Controller's IP Part Number: 609638 Rev. A Address and Subnet Mask The Change Controller IP Address screen displays each controller connected to the PC. If unsure of which controller to change, click Blink Node. An LED will blink on the selected controller.

  • Page 26: Using The Controller Home Screen

    Using the Controller Home Screen Click Maintenance or Admin on the controller's home screen. Figure 3-6: Controller Home Screen Seven buttons display across the top of the screen, as shown below. Figure 3-7: Control Panels Copyright © 2023, Brooks Automation, Inc.
  • Page 27 In the screen’s upper-right corner is a red Disable Power button, shown below, which cuts off power to the robot’s motors. Figure 3-8: Disable Power Button NOTE: Do not confuse the onscreen Disable Power button with a physical hardware E-Stop button, which instantly cuts off power to the motors. Copyright © 2022, Brooks Automation, Inc.

  • Page 28: Operation

    Brooks Automation 4. Operation Part Number: 609638 Rev. A Overview 4. Operation Overview Two types of pendant controls can be used to operate the robot: the Virtual Manual Control Pendant (V_MCP) and the Hardware Manual Control Pendant (H_MCP). See "Hardware Manual Control Pendant"...

  • Page 29: Jog Control

    Guidance Controller Quick Start Guide The Virtual Manual Control Pendant (V_MCP) Part Number: 609638 Rev. A The Position section of the V_MCP screen, shown below, displays each of the robot’s axes’ positions in Cartesian coordinates. Distances display in millimeters and angles display in degrees.

  • Page 30: Enabling Motor Power

    Figure 4-7: System State "GPL ready" Message When motor power is enabled, the LED on the top of the controller or Brooks robot will blink to indicate that motor power is enabled. For some robots, the first time that motor power is enabled after the controller is restarted, the system will also commutate each motor, moving each axis a small distance to determine the alignment of the phases of the motor windings.

  • Page 31: Homing The Robot

    4. Operation Guidance Controller Quick Start Guide The Virtual Manual Control Pendant (V_MCP) Part Number: 609638 Rev. A Homing the Robot Before using the robot, “home” each axis to mark its position. For most robots, each axis must be homed to determine its position relative to a fixed reference point. This permits each axis to be set to an absolute position that allows formerly taught programs to be repeated.
  • Page 32 Brooks Automation 4. Operation The Virtual Manual Control Part Number: 609638 Rev. A Pendant (V_MCP) b. Reduce the normal working volume of the robot to prevent the robot from reaching beyond prescribed boundaries and causing a collision (“stay within zones”).
  • Page 33 4. Operation Guidance Controller Quick Start Guide The Virtual Manual Control Pendant (V_MCP) Part Number: 609638 Rev. A Figure 4-12: Sphere For increased generality, uncertified zones can be arbitrarily positioned and rotated in all three dimensions. Due to implementation limitations, certified zones must be non-rotated rectangular volumes, which can be arbitrarily positioned.
  • Page 34 Brooks Automation 4. Operation The Virtual Manual Control Part Number: 609638 Rev. A Pendant (V_MCP) Certified Speed Restrict Safety Zones While the uncertified safety zones perform conventional tests on just the position of the TCP, there are two certified safety zones and these perform special tests to detect if the speed of the TCP exceeds a limit while the TCP is within the zone.
  • Page 35 4. Operation Guidance Controller Quick Start Guide The Virtual Manual Control Pendant (V_MCP) Part Number: 609638 Rev. A Table 4-2 describes the safety zone DataIDs. When any of these DataIDs are modified, the controller must be rebooted for the change to be put in effect.

  • Page 36: Moving The Robot In Manual Control Mode

    Brooks Automation 4. Operation Moving the Robot in Manual Part Number: 609638 Rev. A Control Mode Moving the Robot in Manual Control Mode After enabling robot power, commutating the motors, and homing the axes, the robot can be manually repositioned. Use the modes in the Jog Control screen to move the robot.
  • Page 37 4. Operation Guidance Controller Quick Start Guide Moving the Robot in Manual Control Mode Part Number: 609638 Rev. A To move a single joint in manual mode, perform the following procedure: Step Action In the Jog Control section, click Joint.

  • Page 38: Hardware Manual Control Pendant

    Hardware Manual Control Pend- Part Number: 609638 Rev. A Hardware Manual Control Pendant A Brooks Hardware Manual Control Pendant (H_MCP) can be used to operate the controller in the same way as the Virtual Manual Control Pendant. See "The Virtual Manual Control Pendant (V_MCP)" on page 28"...
  • Page 39 Hardware Manual Control Pendant Part Number: 609638 Rev. A When the H_MCP is in one of the manual control modes, the buttons described in the following table control the robot’s movement. The selected mode, speed, and robot number display on the LCD.

  • Page 40: Motionblocks Programming

    Brooks Automation 5. MotionBlocks Programming Part Number: 609638 Rev. A Overview 5. MotionBlocks Programming Overview MotionBlocks is the easiest method of programming the Guidance Controller. It is intended for simple applications such as machine loading. Users of MotionBlocks do not need software training.
  • Page 41 5. MotionBlocks Programming Guidance Controller Quick Start Guide Creating a MotionBlocks Program Part Number: 609638 Rev. A When a user selects a block from the Select Motion Block section, its data displays on the right in the Motion Sequence section.
  • Page 42 Brooks Automation 5. MotionBlocks Programming Creating a MotionBlocks Pro- Part Number: 609638 Rev. A gram Scanning and motion execution will continue in the sequence until there are no more blocks with programmed actions. After a motion finishes, if the Go to next motion > No option is selected as part of the instructions for that block, MotionBlocks will stop.
  • Page 43 5. MotionBlocks Programming Guidance Controller Quick Start Guide Creating a MotionBlocks Program Part Number: 609638 Rev. A MotionBlock Description Parameter These values define the motion's speed, acceleration, and deceleration as a percentage of the nominal robot speed, acceleration, and deceleration. Speed2 is a secondary speed specification useful for Cartesian (straight-line) motions when the destination is unpredictable.
  • Page 44 Brooks Automation 5. MotionBlocks Programming Creating a MotionBlocks Pro- Part Number: 609638 Rev. A gram MotionBlock Description Parameter If Inrange dictates that the motion should be stopped at the destination, this defines an optional dwell time before the next motion is executed.

  • Page 45: Executing A Motionblocks Program

    Click Save All to Flash to store this setting in the flash disk. This ensures that the robot’s setting will remain in effect if the controller is restarted. NOTE: Do not turn off the controller while the button is blinking. It may corrupt the flash disk. Copyright © 2023, Brooks Automation, Inc.
  • Page 46 If any errors occur, the error message, error code, and the date and time display. Then, in the System Messages section. Other general non-error system messages also display in this panel. To clear the log of error messages, click Clear Messages. Figure 5-6: Robot Status Copyright © 2022, Brooks Automation, Inc.
  • Page 47 Then, the speed can be increased. Figure 5-8: Select Operation NOTE: This System Speed is independent of the jog speed in the V_MCP. See "Jog Control" on page 29 for more information. Copyright © 2023, Brooks Automation, Inc.

  • Page 48: Changing The State Of The Trigger Signal

    Digital I/O Status Panel displays as shown below. This screen shows the current state of each internal soft digital IO signal. All soft signals are in their OFF (or FALSE) state. If the state of a signal on this panel is changed, the change will take effect immediately. Copyright © 2022, Brooks Automation, Inc.
  • Page 49 A panel displays to the right, allowing the user to force the signal On or Off. Click Force On, and the MotionBlocks program will stop the robot the next time it attempts to execute the selected block. Click Force Off to enable the MotionBlocks program to begin moving the robot again. Copyright © 2023, Brooks Automation, Inc.

  • Page 50: Motionblocks Programming Exercise

    Click the block in the list for each block sequence with a trigger set (other than Block 1) to bring up its data. Zero the Wait for digital input signal number to disable the block. Copyright © 2022, Brooks Automation, Inc.

  • Page 51: Programming The First Motionblock

    Slightly retract the robot’s gripper. In the V_MCP, click Return (Mac) or Enter (PC). Bring up the first MotionBlock for editing. In the browser, select MotionBlocks > MotionBlock Setup > Configuration Panel > 1. Block. Copyright © 2023, Brooks Automation, Inc.
  • Page 52 Continue to the next motion block Click Update memory to save the new values. If the Update memory button is not clicked, the new values will be lost if the user switches to a new block or another screen. Copyright © 2022, Brooks Automation, Inc.
  • Page 53 Position in absolute coordinates Set outputs 0,0,0,0 Do not modify any DOUT Delay after motion 0 sec., No No delay at the end of the motion Goto next motion Continue to the next motion block Copyright © 2023, Brooks Automation, Inc.
  • Page 54 Move the robot arm’s gripper, so it is above the pickup position and approximately at the same height as the first position. Bring up the third MotionBlock for editing. In the browser, click MotionBlocks > MotionBlock Setup > Configuration Panel > 3. Block. Copyright © 2022, Brooks Automation, Inc.
  • Page 55 Do not modify any DOUT Delay after motion 0 sec., No No delay at the end of the motion Goto next motion Continue to the next motion block Click Update memory to save the new values. Copyright © 2023, Brooks Automation, Inc.
  • Page 56 Move the robot arm to a position at approximately the same height as the first and third positions and away from the pickup location. Bring up the fourth MotionBlock for editing. In the browser, click MotionBlocks > MotionBlock Setup > Configuration Panel > 4. Block. Copyright © 2022, Brooks Automation, Inc.
  • Page 57 Delay after motion 0 sec., No motion Goto next motion Final motion Click Update memory to save the new values. To run the MotionBlocks program, See "Executing a MotionBlocks Program" on page 45 for more information. Copyright © 2023, Brooks Automation, Inc.
  • Page 58 Go to Control Panels > Local I/O > Soft Internal DIO Status. Try adding MotionBlocks segments that are triggered by other soft signals. The user can control the executed sequence by turning signals on and off. Copyright © 2022, Brooks Automation, Inc.
  • Page 59 Try adding additional MotionBlocks segments that are triggered by other soft signals. The sequence that is executed can be controlled by turning signals on and off in Control Panels > Local I/O > Soft Internal DIO Status. Copyright © 2023, Brooks Automation, Inc.
  • Page 60 6. Guidance Programming Lan- Brooks Automation guage (GPL) Overview of the Guidance Pro- Part Number: 609638 Rev. A gramming Language (GPL) 6. Guidance Programming Language (GPL) Overview of the Guidance Programming Language (GPL) The Guidance Programming Language (GPL) is a full-featured programming language -- embedded in the controller -- that closely resembles Microsoft Visual Basic.NET with built-in classes...
  • Page 61 6. Guidance Programming Language (GPL) Guidance Controller Quick Start Guide Configuring a GPL Project Part Number: 609638 Rev. A STEP ACTION In the browser, click Setup > Wizards and Setup Tools > Startup Configuration. Click the red Disable Power button. This is required because changes are not permitted when power to the robot is enabled.
  • Page 62 Brooks Automation guage (GPL) Copying a GPL Project to the Part Number: 609638 Rev. A Flash Disk Copying a GPL Project to the Flash Disk NOTE: If the GPL project to execute is already stored in the flash disk, skip the remainder of this section.
  • Page 63 6. Guidance Programming Language (GPL) Guidance Controller Quick Start Guide Copying a GPL Project to the Flash Disk Part Number: 609638 Rev. A STEP ACTION FTP to 192.168.01/flash/. An FTP client window displays the names of the top-level folders in the flash disk. Click and open the Projects folder.
  • Page 64 6. Guidance Programming Lan- Brooks Automation guage (GPL) Loading and Executing a GPL Part Number: 609638 Rev. A Project Loading and Executing a GPL Project After configuring the GPL project (See "Guidance Programming Language (GPL) " on page 60 more information), perform the following procedure to load and execute the project:...
  • Page 65 6. Guidance Programming Language (GPL) Guidance Controller Quick Start Guide Loading and Executing a GPL Project Part Number: 609638 Rev. A STEP ACTION Click Stop to stop the GPL Project. The GPL Project terminates at the end of the currently executing statement or motion.

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