Brooks PreciseFlex 3400 User Manual

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PreciseFlex

3400 Robots

User Manual

Part Number 615248, Revision A

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Page 1 PreciseFlex 3400 Robots User Manual Part Number 615248, Revision A...
Page 2 © 2024 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 +86 21-5131-7066 +886 080-003-5556 (Toll Free) Taiwan +886 3-5525258 (Local) Korea 1800-5116 (Toll Free) +65 1-800-4-276657 (Toll Free) Singapore +65 6309 0701 (Local) General Emails Division Email Address Sales sales_preciseflex@brooksautomation.com Technical Support support_preciseflex@brooksautomation.com Technical Publications Technical.Publications@brooksautomation.com Copyright © 2024, Brooks Automation...
Page 4 Fax: +82-31-287-2111 Nisso Bldg. No 16, 9F Carretera Huinalá km 2.8 3-8-8 ShinYokohama, Kohoku-ku Parque Industrial Las Américas Brooks Technology (Shanghai) Brooks Automation (S) Pte Ltd Yokohama, Kanagawa 222-0033 66640 Apodaca, NL Mexico Limited 51-18-C1 Menara BHL, Tel: +81-45-477-5570 Tel: +52 81 8863-6363 2nd Floor, No.
Page 5 Brooks Automation Part Number: 615248 Rev. A Revision History Revision Date Action Author Released manual at Rev. A to xxxx March 7, 2024 follow standard Brooks technical M. Ashenfelder publication styles. Copyright © 2024, Brooks Automation...
Page 6: Table Of Contents
Emergency Stop 4. Introduction to the Hardware System Description and Overview Mounting of Robot and Linear Axis Module Guidance 1400B Controller Low-Voltage Power Supplies Energy Dump Circuit Remote Front Panel, E-Stop Box, and Manual Control Pendant Copyright © 2024, Brooks Automation...
Page 7 ISO TS 15066 Test Results, Transient Contact ISO TS 15066 Test Results, Quasi-Static Contact Appendix E: Table A2 from ISO/TS 15066: 2016, Biomechanical Limits Appendix F: Safety Circuits for PreciseFlex 3400 3 kg Payload Appendix G: Torque Values for Screws Copyright © 2024, Brooks Automation...
Page 8: 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 9: Explanation Of Hazards And Alerts
Notice indicates a situation or unsafe practice which, if not avoided, may result in equipment damage. The Notice signal word is white on blue background with no icon. Copyright © 2024, Brooks Automation...
Page 10: Alert Example
Part Number: 615248 Rev. A 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 Signal Word Type of Hazard Hazard Symbol(s) Copyright © 2024, Brooks Automation...
Page 11: General Safety Considerations
Using parts with different inertial properties with the same robot application can cause the robot’s performance to decrease and potentially cause unplanned robot motion that could result in serious personal injury. Do not use unauthorized parts. Confirm that the correct robot application is being used. Copyright © 2024, Brooks Automation...
Page 12 Use of this product in a manner or for purposes other than for what it is intended may cause equipment damage or personal injury. Only use the product for its intended application. Do not modify this product beyond its original design. Always operate this product with the covers in place. Copyright © 2024, Brooks Automation...
Page 13: Mechanical Hazards
Do not operate the product without its protective covers in place. While the collaborative robotics system is designed to be safe around personnel, gravity and other factors may present hazards and should be considered. Copyright © 2024, Brooks Automation...
Page 14: Electrical Hazards
Improper electrical connection or connection to an improper electrical supply can result in electrical burns resulting in equipment damage, serious injury, or death. Always provide the robot with the proper power supply connectors and ground that are compliant with appropriate electrical codes. Copyright © 2024, Brooks Automation...
Page 15: Ergonomic Hazards
This product has a high center of gravity which may cause the product to tip over and cause serious injury. Always properly restrain the product when moving it. Never operate the robot unless it is rigidly mounted. Copyright © 2024, Brooks Automation...
Page 16 Part Number: 615248 Rev. A Trip Hazard Cables for power and communication and facilities create trip hazards which may cause serious injury. Always route the cables where they are not in the way of traffic. Copyright © 2024, Brooks Automation...
Page 17: 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 of the product and its components when disposal is required.
Page 18: Overview
3400 to ensure a smooth and productive integration into your workspace. NOTE: See Robot Anatomy for additional detailed illustrations. The PreciseFlex 3400 Robot is a 4-axis robot that may optionally include an electric or pneumatic gripper. PreciseFlex 3400 Robot Copyright © 2024, Brooks Automation...
Page 19: Product Specifications
+100° to +470° (±960° with servo gripper) 588 mm Horizontal Reach (666 mm with servo gripper) Communications 100 Mb Ethernet, TCP/IP EtherNet/IP (optional) General RS232 Modbus/TCP RS232, at end-of-arm E-stop Dual-channel E-stop Operator Interface Web-based operator interface Copyright © 2024, Brooks Automation...
Page 20 General 60 N Servo Gripper Gripper Fingers Remote I/O (RIO) 1.0, 1.5, and 2.0 M travel Linear Rail Speed up to 750 mm/sec Repeatability: ±0.05 mm PreciseVision Gripper, 23 N Vision PreciseVision Gripper, 60 N Copyright © 2024, Brooks Automation...
Page 21: Environmental Specifications
The Product Label is on the robot interface panel at the base of the robot. Use the following sections to decode the Part Number and Serial Numbers . Product Label at the Base of the Robot Copyright © 2024, Brooks Automation...
Page 22: Example Sections From The Product Label
P/N - Part Number table for detailed information about the Product Number naming scheme. In the example above, the second line of the label -- Serial Number (S/N) -- describes these properties of its product: Copyright © 2024, Brooks Automation...
Page 23 The symbol for the CSA Group Standards Organization. See Standards Compliance and Agency Certifications for more information. Brooks Automation's Contract ID within the CSA Group CE Marking affirms compliance with relevant EU legislation. See Standards Compliance and Agency Certifications for more information.
Page 24: P/N - Part Number
PrecisePlace 100 PP0S PrecisePlace 100 (w/ Servo Gripper) PF0S PreciseFlex 400 PF30 PreciseFlex 3400 PFD0 Direct Drive Robot PFC0 C-Series PF0X Linear Rail CODE TYPE Machine Assembly CCCC CODE TYPE PF0S 0040 = PreciseFlex 400 Copyright © 2024, Brooks Automation...
Page 25: Serial Number (Sn)
Brooks Automation 2. Overview Part Number: 615248 Rev. A Explanation of the Product Label PF30 0040 = PreciseFlex 3400 0040 = Direct Drive 4 PFD0 0060 = Direct Drive 6 CODE ARM LENGTH 0 / S Standard X / L...
Page 26: World Coordinates, Joint Directions, And Tool Coordinates
Z Column and the X axis Pointing Forward in the same direction as the Shoulder. Note this may change when the robot is on a linear rail. See the Linear Rail User Manual for more information. World Coordinates for X, Y, and Z Axes Copyright © 2024, Brooks Automation...
Page 27 Joint 1 (J1). The postive (+) stroke moves up the robot column, and the Z column negative (-) stroke moves down the robot column. The distance depends on the robot model. Shoulder Joint 2 (J2). Rotates. Elbow Joint 3 (J3). Rotates. Copyright © 2024, Brooks Automation...
Page 28 Z axis when the brake release button is pushed as the axis will fall due to gravity. For the tool coordinates (see the image below), whatever direction the fingers point is the tool Z direction, while the tool X direction is pointing in the same direction as the world Z axis. Copyright © 2024, Brooks Automation...
Page 29: Compatible Accessories
Tool Coordinates Compatible Accessories Compatibility 23N Servo Gripper 23N Dual Servo Gripper 60N Servo Gripper 23N Vision Servo Gripper 60N Vision Servo Gripper Linear Rail – 1M Linear Rail – 1.5M Linear Rail – 2M Copyright © 2024, Brooks Automation...
Page 30: Optional Linear Axis Module
Part Number: 615248 Rev. A Optional Linear Axis Module The PreciseFlex 3400 robot may be attached to an optional Linear Axis Module. The Linear Axis Module may be ordered in 1000 mm, 1500 mm and 2000 mm travel distances. See the Linear Axis User Manual for more information.
Page 32: Appendix A: Robot Anatomy
2. Overview PreciseFlex™ 3400 Robots Appendix A: Robot Anatomy Part Number: 615248 Rev. A Appendix A: Robot Anatomy Joints Belt Drives Copyright © 2024, Brooks Automation...
Page 35: Quick Start Guide
2. Mount the robot. 3. Add or remove a gripper (optional). See the PreciseFlex Gripper user manual. 4. Connect the power. 5. Connect the PreciseFlex 3400 to a PC or tablet, and open the interface. 6. Run the robot. See "Accessing the Web Server."...
Page 36: Tool Mounting
For robots where support for a pneumatic gripper or pneumatic tooling has been ordered, one or two (for the PreciseFlex 3400 robot) 1/8 in OD air hoses are routed from the connector plate in the base through the robot and out to the outer link. These air hoses can be connected to one or two solenoids mounted in the outer link for tooling control.
Page 37: Iso Flange For End-Of-Arm Tooling
Brooks Automation 3. Quick Start Guide Part Number: 615248 Rev. A ISO Flange for End-of-Arm Tooling ISO Flange for End-of-Arm Tooling ISO-9409-1-31.5-4-M5 Copyright © 2024, Brooks Automation...
Page 40: Accessing The Robot Controller
PDF format and are also contained in the PreciseFlex Library. Power Requirements The PreciseFlex 3400 power supplies have an input range of 100 to 240 VAC, +/- 10%, 50/60 Hz. The robots are equipped with an IEC electrical socket that accepts country specific electrical cords.
Page 41: Introduction To The Hardware
Robot Anatomy for detailed illustrations. The PreciseFlex 3400 Robot is a four-axis robot that includes an embedded Guidance 1400B four- axis motion controller, a 48 VDC motor power supply, and a 24 VDC logic power supply located inside the base of the robot. In addition, it may optionally include an electric gripper and electric gripper controller.
Page 42: Mounting Of Robot And Linear Axis Module
The PreciseFlex 3400 and has a rated payload of 3 kg grams without a gripper. The 3 kg payload includes the gripper. For example, the optional 60 N Electric Gripper weighs 1 kg, so with this gripper the workpiece payload is 2 kg.
Page 43: Guidance 1400B Controller
1000A/B Controllers user manual. Low-Voltage Power Supplies The PreciseFlex 3400 Robot has an integrated 125 Watt, 24 VDC Power Supply that accepts a range of AC input from single-phase 90 V to 264 V and an integrated 500 W, 48 VDC Power Supply for the motors.
Page 44: Energy Dump Circuit
60 Volts. Rapid deceleration of the robot motors can generate a Back EMF voltage that can pump up the motor voltage bus. In order to avoid bus pump up, an Energy Dump Circuit is connected to the 48 VDC bus. Energy Dump Circuit Copyright © 2024, Brooks Automation...
Page 45: Remote Front Panel, E-Stop Box, And Manual Control Pendant
Remote Front Panel, E-Stop Box, and Manual Control Pendant The PreciseFlex 3400 has two optional safety accessories: an E-Stop Box and a portable Manual Control Pendant that includes an E-Stop button. The E-Stop box can be plugged into the green Phoenix connector in the connector panel in the base of the robot.
Page 46: Machine Vision Software And Cameras
Cameras must be connected via Ethernet or USB. Vendors such as DALSA already offer a variety of Ethernet machine vision cameras. In addition, other vendors offer USB cameras that are supported in PreciseVision. Brooks offers an Arm-Mounted Camera Option for certain robots. Contact sales_ preciseflex@brooksautomation.com for details.
Page 47: Standards Compliance And Agency Certifications
In addition to the above standards, the PreciseFlex 3400 robots have been designed to comply with the FCC Class A emissions requirements and ANSI/RIA R15.06 Safety Standards, and they carry the CE and CSA certification marks.
Page 48: Moving Machine Safety
AC line power is turned on. The PreciseFlex 3400 power supplies have an input range of 100 to 240 VAC, +/- 10%, 50/60 Hz. Inrush current can be as high as 100 Amps at 240 VAC for short periods of time. The power supplies are protected against voltage surge to 2000 Volts.
Page 49: Mechanical And Software Limit Stops
267 to the desired delay. If this delay is set to 0, the high-power relay will be disabled within 1ms. For the PreciseFlex 3400 robot, the shoulder, elbow, and wrist axes do not have mechanical brakes. Therefore, leaving the motor power enabled for 0.5 sec allows the servos to decelerate the...
Page 50: Releasing A Trapped Operator: Brake Release Switch
To release the Z brake, the operator may press the brake release switch, under the inner link, as long as 24 VDC is present. It is not necessary for motor power to be on for the brake release to work. Copyright © 2024, Brooks Automation...
Page 51: Installation Information
The Facilities Panel ( and Table 5-1) at the base of the robot (and optional linear axis end cap) includes: System AC input power receptacle Lighted AC on/off power switch Connectors for controller input and output signals Copyright © 2024, Brooks Automation...
Page 52 For attaching air lines for optional pneumatic gripper. See the PreciseFlex Ports Servo Grippers user manual. Power Entry For IEC plug. Contains dual fuse drawer. Module Power Switch Lighted power switch Ethernet For ethernet to computer cable Connector Copyright © 2024, Brooks Automation...
Page 53: System Dimensions
System Dimensions Figure 5-2 shows the right-side view. Table 5-2 shows the robot height and Z travel dimensions. All dimensions are in millimeters. NOTE: For more dimensions or details, email support_preciseflex@brooksautomation.com. Figure 5-2: System Dimensions Copyright © 2024, Brooks Automation...
Page 54 400 mm 1062 mm 750 mm 1472 mm 1160 mm Figure 5-3 shows the working volume. Figure 5-3: Working Volume Figure 5-4 shows mounting dimensions. Screws can be M6 or 1/4" socket head cap screws. Copyright © 2024, Brooks Automation...
Page 55 Brooks Automation 5. Installation Information Part Number: 615248 Rev. A System Dimensions Figure 5-4: Robot Mounting Figure 5-5: Gripper Flange Mount Height from PreciseFlex 3400 Also see the PreciseFlex Servo Grippers user manual. Copyright © 2024, Brooks Automation...
Page 56 5. Installation Information PreciseFlex™ 3400 Robots System Dimensions Part Number: 615248 Rev. A Figure 5-6: ISO Flange, ISO-9409-1-31.5-4-M5, Installation PreciseFlex 3400 Copyright © 2024, Brooks Automation...
Page 57: Hardware Reference
Brooks Automation 6. Hardware Reference Part Number: 615248 Rev. A Facilities Panel 6. Hardware Reference Facilities Panel The Facilities Panel (Figure 6-1 Table 6-1) is located at the base of the robot. Figure 6-1: Facilities Panel Copyright © 2024, Brooks Automation...
Page 58 The Guidance 1400B controller, and the 24 VDC and 48 VDC power supplies are all open frame electrical devices that contain unshielded high voltage pins, components and surfaces. The main AC power should always be disconnected before the Facilities Panel is removed. Copyright © 2024, Brooks Automation...
Page 59: E-Stop Connector
E-Stop, it should be wired to a relay that closes the circuit between pins 1 and 2. When the robot is mounted on a Linear Axis, the MCP Interface is extended to the end cap of the Linear Axis. Figure 6-2: E-Stop Pins on the MCP Interface Copyright © 2024, Brooks Automation...
Page 60: Mcp / E-Stop Interface
RS-232 TXD RS-232 RXD RS-485- E-Stop1 E-Stop Daisy Chain 48 VDC RS-485+ Interface Panel Connector Part No DB9 Female Connector AMP 5747150-7 User Plug Part No DB9 Male Plug Amp 1658655-1 (crimp) Pins 22-26AWG 745254-6 Copyright © 2024, Brooks Automation...
Page 61: Digital Input And Output Signals
Digital Input and Output Signals Digital Input Signals The standard PreciseFlex 3400 robot provides one general-purpose optically isolated digital input signal at the Facilities Panel (in addition to those signals that are available at the base of the robot and at the GSB controller). This line is accessed in the Phoenix 5-pin E-Stop connector and is connected to Digital Input 3 in the controller.
Page 62: Digital Output Signals
Alternately, the output signals can be configured as "sourcing," i.e. the external equipment must pull down an output pin to ground, and the controller pulls this pin to 24 VDC when the signal is asserted as true. Copyright © 2024, Brooks Automation...
Page 63: Io In Base Of Robot (Gio)
All outputs are sourcing and cannot be changed. Inputs are set to sinking in the factory and can be changed in blocks of four by moving J12 and J13 to connect pins 1 and 2, instead of 2 and 3. Figure 6-8, Figure 6-9, and Table 6-4 Copyright © 2024, Brooks Automation...
Page 64 Table 6-4: Pin Out & GPL Numbers GPL Signal Number Description 810001 Digital Input 1 810003 Digital Input 3 810005 Digital Input 5 810007 Digital Input 7 Not used Not used 24 VDC 800013 Digital Output 1 Copyright © 2024, Brooks Automation...
Page 65: Ethernet Interface
However this port is only available on the G1400B controller in the inner link of the robot and is not brought out to any outside connector on this robot. This port can be used to Copyright © 2024, Brooks Automation...
Page 66 The connector for this interface is a standard RJ11 serial interface connector that has pin assignments compatible with standard PC "com" ports. For this robot it is only used for debugging and special service procedures. Copyright © 2024, Brooks Automation...
Page 67: Software Reference
7. Software Reference Accessing the Web Server Many OEM customers run the PreciseFlex 3400 using a PC to provide an application-specific operator interface. In order to update software in the controller, and view certain error messages, it is necessary to access the Web Server Interface embedded in the controller.
Page 68 This will stop the application from running. Click Disable Power to be sure motor power is off. To load a new project (for example CAL_PP), click Unload and then Perform Operation before loading the new project into RAM. Copyright © 2024, Brooks Automation...
Page 69: Loading A Project (Program) Or Updating Pac Files
If CAL_PP or a different program needs to be loaded into the controller from an external computer, this may be done using the Web Interface. Step Action In the Operator Interface, select Utilities > System Utilities > Backup and Restore. Click Start File Manager to connect to an FTP utility. Copyright © 2024, Brooks Automation...
Page 70 Once the appropriate project (for example CAL_PP) has been loaded into flash memory, it must then be loaded into dynamic memory in order to execute. See "Calibrating the Robot: Setting the Encoder Zero Positions" on page 1 for an example on how to load and execute the CAL_PP program. Copyright © 2024, Brooks Automation...
Page 71: Recovering From Corrupted Pac Files
Brooks maintains a record of PAC files shipped with each robot Serial Number. If the PAC files have been corrupted, it is possible to get a back up copy from Brooks. The backup copy will contain the factory configuration and calibration data, but will not contain any changes, including any new calibration data, made after the robot has left the factory.
Page 72 Click on Start File Manager to connect to an FTP utility. Open the Config folder and paste the backup copy of the PAC files into this folder. Wait until the console prompt stops flashing, about 10-15 seconds. Copyright © 2024, Brooks Automation...
Page 73: Command Server
Replace the Inner Link Cover. Command Server Brooks offers a Command Server software package that allows a PC to send high level commands to the PreciseFlex 3400 robot. This package is available upon request. Email support_ preciseflex@brooksautomation.com.
Page 74: G1400B Dedicated Digital Outputs
Outer Link status lamp. Set to 1 to turn on the lamp. Normally parameter “Power State DOUT” (DataID 235) is set to this signal number so that the Outer Link lamp displays the robot power state. Copyright © 2024, Brooks Automation...
Page 76: Appendix B: Spare Parts List
J2 Cam Follower for 12 mm belt (set of 2) (Rev B) PF00-MA-00024 J3 Motor Assembly PF00-MA-00030 J3 Belt, Extended Reach PF00‐MC‐X0066 J4 50 W Motor Assembly (PreciseFlex 3400) PF04-MA-00023 J4 Belt - LR 3 MM PITCH GT2,TRUMOTION,232G PF00-MC-X0065 23 N Servo Gripper - without fingers PF0S-MA-00001-1...
Page 77: Appendix C: Preventative Maintenance
For units with electric gripper shipped before April 2015, replace the slip ring. For units shipped after April 2015, replace the slip ring every third inspection test. Table 8-2: PreciseFlex 3400 PM Schedule by Revision Level & Date Component Expected Life Action Revision A, Serial Numbers F0X...
Page 78 Teflon replacement 10 years For example, if rail operates at 50% duty cycle, expected life is 12,000 hours NOTE: See the PreciseFlex 3400 Service Procedures manual for detailed instructions on how to perform each inspection and maintenance operation. Copyright © 2024, Brooks Automation...
Page 79: Appendix D: Verification Of Preciseflex 3400 Collision Forces
Brooks Automation Appendices Part Number: 615248 Rev. A Appendix D: Verification of PreciseFlex 3400 Collision Forces Appendix D: Verification of PreciseFlex 3400 Collision Forces ISO TS 15066 Test Results, Transient Contact Quasi-static contact testing with 1, 4, and 8 kg payloads. Forces in green mean that they are within specification.
Page 80 To keep the robot's Z forces within specification, keep the speed less than or equal to 40% For J3 in the 8 kg payload example below, to keep the robot's forces within specification maintain the speed at or below 144 degrees per second or 879 mm per second. Copyright © 2024, Brooks Automation...
Page 81: Appendix E: Table A2 From Iso/Ts 15066: 2016, Biomechanical Limits
Brooks Automation Appendices Part Number: 615248 Rev. A Appendix E: Table A2 from ISO/TS 15066: 2016, Biomechanical Limits Appendix E: Table A2 from ISO/TS 15066: 2016, Biomech- anical Limits Copyright © 2024, Brooks Automation...
Page 83: Appendix F: Safety Circuits For Preciseflex 3400 3 Kg Payload
Part Number: 615248 Rev. A Appendix F: Safety Circuits for PreciseFlex 3400 3 kg Payload Appendix F: Safety Circuits for PreciseFlex 3400 3 kg Pay- load Figure 8-1: Safety Circuits for PreciseFlex 3400 3 kg Payload, Checklist Copyright © 2024, Brooks Automation...
Page 84 Appendices PreciseFlex™ 3400 Robots Appendix F: Safety Circuits for Pre- Part Number: 615248 Rev. A ciseFlex 3400 3 kg Payload Figure 8-2: PreciseFlex 3400 3 kg Safety Circuit Copyright © 2024, Brooks Automation...
Page 85: Appendix G: Torque Values For Screws
0.31 0.00 0.00 0.00 0.00 0.77 0.64 0.00 0.00 0.00 0.00 1.34 1.12 0.56 0.51 0.83 0.75 3.16 2.63 1.31 1.17 1.53 1.38 6.48 5.40 2.66 2.39 3.11 2.79 10.96 9.14 4.50 4.05 5.40 4.86 Copyright © 2024, Brooks Automation...

Brooks PreciseFlex 3400 User Manual

1 Safety

2 Overview

Appendix A: Robot Anatomy

3 Quick Start Guide

4 Introduction to the Hardware

5 Installation Information

6 Hardware Reference

7 Software Reference

Appendices

Appendix B: Spare Parts List

Appendix C: Preventative Maintenance

Appendix D: Verification of Preciseflex 3400 Collision Forces

Appendix E: Table A2 from ISO/TS 15066: 2016, Biomechanical Limits

Appendix F: Safety Circuits for Preciseflex 3400 3 Kg Payload

Appendix G: Torque Values for Screws

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