Brooks PreciseFlex 3400 Service Manual

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PreciseFlex

3400 Robots

Service Manual

Part Number 628699, Revision A

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Page 1 PreciseFlex 3400 Robots Service Manual Part Number 628699, 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: 628699 Rev. A Revision History Revision Date Action Author Released manual at Rev. A EC154083 4/19/2024 to follow standard Brooks M. Ashenfelder technical publication styles. Copyright © 2024, Brooks Automation...
Page 6: Table Of Contents
Replacing the J3 (Elbow) Axis Motor or Timing Belt Replacing the J4 (Wrist) Axis Motor or Timing Belt Appendices Appendix A: Product Specifications Appendix B: Environmental Specifications Appendix C: Spare Parts List Appendix D: Preventative Maintenance Copyright © 2024, Brooks Automation...
Page 7 Appendix E: Verification of PreciseFlex 3400 Collision Forces Appendix F: Belt Tensions, Gates Tension Meter Appendix G: Table A2 from ISO/TS 15066: 2016, Biomechanical Limits Appendix H: Safety Circuits for PreciseFlex 3400 3 kg Payload Appendix I: Robot Anatomy Appendix J: System Diagram and Power Supplies Appendix K: Torque Values for Screws Copyright ©...
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: 628699 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: 628699 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: Service Procedures
Table 2-1: Hardware Failure Errors Symptom Recommended Action System error message generated “E-Stop not Check both Phoenix plug and 9 pin Dsub for E-stop jumpers. Enabled” Copyright © 2024, Brooks Automation...
Page 19 Re-tension timing belts. If timing belt will not hold tension, replace. any joint Squeaking from Apply thick grease to front and rear edges of belt, (Mobile 222 XP). Belt can get stiff over time and Z belt squeak against pulley flanges. Copyright © 2024, Brooks Automation...
Page 20: Encoder Operation Error
Part Number: 628699 Rev. A Encoder Operation Error The PreciseFlex 3400 robot is equipped with absolute encoders that keep track of the robot position even when AC power to the robot is disconnected. There is a battery in the base of the robot that provides standby power to the encoders.
Page 21: Replacing The Encoder Battery
“Encoder Battery Low” or "Encoder Battery Down” message will be generated. However, in this case, the encoder battery does not need to be replaced. It is only necessary to re-calibrate the robot (see Figure 2-1). Copyright © 2024, Brooks Automation...
Page 22 The Encoder Battery pack is located at the base of the electronics bracket behind the Z column front cover. Disconnect the connector from J1 at the FFC board, insert the battery pack into the clips, and reconnect the connector at J1. Replace the front cover and top plate. Copyright © 2024, Brooks Automation...
Page 23: Calibrating The Robot: Setting The Encoder Zero Positions
2.5 mm and 3.0 mm hex drivers or hex L wrenches Set of (3) Calibration Dowel Pins, located in plastic bag inside the hollow slot in the front cover The following procedure describes the steps for defining the zero positions of the PreciseFlex 3400 robot axes using Cal_PP.
Page 24 UnLoad item in the left scrolling window and click Perform Operation. This ensures that no GPL project is currently selected for execution. Select the Load item and click Perform Operation. This displays a pop-up list of Projects that are in the flash disk and available for execution. Copyright © 2024, Brooks Automation...
Page 25 See the PreciseFlex Servo Gripper user manual. Insert a tapered 0.5 in Calibration Dowel Pin into the hole in the bottom of the shoulder. Rotate the inner link counter-clockwise until it rests against this pin as shown in Step 10. Copyright © 2024, Brooks Automation...
Page 27 For the Dual Gripper, J6 will be in the outwards orientation in the CALPP position. See the PreciseFlex Servo Gripper user manual. With the CALPP application loaded, select Start Application and then click Perform Operation. The application should start and prompt the user to confirm the correct robot position for calibration. Copyright © 2024, Brooks Automation...
Page 28: Replacing Belts And Motors
While there are procedures at the end of this manual for replacing belts and motors, only experienced service technicians should attempt these procedures. General Belt Tensioning The PreciseFlex 3400 has been designed to make belt tensioning very simple. See "Appendix E: Belt Tensions, Gates Tension Meter"...
Page 29: Tensioning The J1 (Z Column) Belts
Loosen the (2) M4 locking screws on the J1 Motor Mount Bracket to allow the Mount Bracket to slide up and down. Adjust the M4 Tension Screw compressing the spring assembly. The tension spring should be compressed until the spring length is 5.5 mm under the washer. Copyright © 2024, Brooks Automation...
Page 30: Tensioning The 2Nd Stage Belt
Remove the Top Plate of the robot by removing the (4) M5 socket head screws from the top plate of the robot that attach the top plate to the Z column. Lift up the Top Plate. Copyright © 2024, Brooks Automation...
Page 31 530 mm, for these longer travel Z strokes, a user can then measure the tension on the right hand side of the belt, and use the values for tension and frequency for the 400 mm Z stroke. Copyright © 2024, Brooks Automation...
Page 32: Tensioning The J2 Belt
Remove the Top Plate of the robot by removing the (4) M5 socket head screws from the top plate of the robot that attach the top plate to the Z column. Lift up the Top Plate. Copyright © 2024, Brooks Automation...
Page 33 Tensioning the J2 Belt Step Action Remove the Front Cover by lifting it out vertically. Remove the Z Carriage Stiffener Plate by removing the M3 X 6 FHCS attaching it to the Z Carriage (shoulder). Copyright © 2024, Brooks Automation...
Page 34 Z carriage (shoulder). Then re-tighten the clamping screws. Replace the tie wrap if it was removed. Replace the Z Carriage Stiffener Plate. Replace the Front Cover. Replace the Top Plate. Copyright © 2024, Brooks Automation...
Page 35: Tensioning The J3 And J4 Belts
M4 SHCS to adjust belt tension. Be sure to measure the belt tension eight times, at 45 increments of the pulley in the axis rotation and set the tension at the position that has the lowest tension. Copyright © 2024, Brooks Automation...
Page 36: Tensioning The Belt On The Optional Linear Axis
"Appendix E: Belt Tensions, Gates Tension Meter." Tighten the clamping screws. Move the carriage back and forth the full length of travel and check the belt tension again. Replace the cover. Copyright © 2024, Brooks Automation...
Page 37: Replacing The Power Supplies, Energy Dump Pca, Or J1 Stage Two (Output) Timing Belt
Remove the Top Plate of the robot by removing the (4) M5 socket head screws from the top plate of the robot that attach the top plate to the Z column. Lift up the Top Plate. Copyright © 2024, Brooks Automation...
Page 38 Clamp from the Z carriage by removing the (2) M4 X 12 mm SHCS and lock washers and replace the belt. Remove the left splash guard by removing the M3 X 8 mm SHCS on the retaining bracket. Copyright © 2024, Brooks Automation...
Page 39 The top of the bearing rail should be about 35 mm below the top of the extrusion and the bottom of the rail should clear the stage one Z timing belt on the large diameter pulley. Copyright © 2024, Brooks Automation...
Page 40 2. Service Procedures PreciseFlex™ 3400 Robots - Service Manual Replacing the Power Supplies, Energy Dump PCA, or J1 Stage Two (Output) Part Number: 628699 Rev. A Timing Belt Step Action Recalibrate the robot. Copyright © 2024, Brooks Automation...
Page 41: Replacing The Robot Controller
Unplug the cables from the lower circuit board. Use a small flat bladed screwdriver to gently release the 3 zero-insertion-force (ZIF) flat flexible cable (FFC) connector compression lids. Check the jumpers on the replacement CPU board (top board) per the photo in Step 13. Copyright © 2024, Brooks Automation...
Page 42 After replacing the Robot Controller the robot must be re-calibrated. See "Calibrating the Robot: Setting the Encoder Zero Positions." After replacing the Robot Controller, install the PAC files on the controller. Move jumpers as shown below in 1 and 2. Copyright © 2024, Brooks Automation...
Page 43 Brooks Automation 2. Service Procedures Part Number: 628699 Rev. A Replacing the Robot Controller Step Action Power amplifier installed in inner link. Controller installed in inner link. Copyright © 2024, Brooks Automation...
Page 44: Replacing The Linear Axis Controller
Replace the Linear Axis Controller Board. Ensure that all jumpers are set as shown below and that the battery wires are re-connected as shown. It will be necessary to recalibrate the robot if this board is replaced and the absolute encoder battery wires are disconnected. Copyright © 2024, Brooks Automation...
Page 45 Brooks Automation 2. Service Procedures Part Number: 628699 Rev. A Replacing the Linear Axis Controller Figure 2-2: Linear Axis Controller (GSB Revision 2) Figure 2-3: Linear Axis Controller Rev2 (GSB Revision 3) Copyright © 2024, Brooks Automation...
Page 46: Replacing The Gio Board
Part Number: 628699 Rev. A Replacing the GIO Board The PreciseFlex 3400 robot has a GIO board integrated into the FFC board in its base with 8 inputs and 8 outputs as a standard feature. A GIO board may also be installed in the Linear Axis extrusion for robots with the Linear Axis option.
Page 47 Set value 8 in Data ID 151 to “GIO_8”, so that this ID reads “<Controller Serial No>”, “GSB_1”, “”,“”,“”,”“”,“”,GIO_8” This parameter may be found in Setup/Parameter Database/Controller/System ID. GIO signals may then be checked under Control Panels/Remote IO/Servo Node 8. Copyright © 2024, Brooks Automation...
Page 48: Replacing The Main Harness
Remove the upper circuit board in the Robot Controller by removing the (4) M2.5 X 6 mm screws and disconnect the harness. Remove the Harness Retaining Clip from the Robot Controller Mount Plate to release the controller end of the harness. Copyright © 2024, Brooks Automation...
Page 49 Pull the clip upwards and remove the M3 X 4 mm BHCS that clamps the harness to release the harness from the clip. Replicate the folds on the controller end of the replacement harness. Copyright © 2024, Brooks Automation...
Page 50 Attach the Harness Retaining Clip near the Robot Controller to retain the Robot Controller end of the Harness. Coil the replacement harness into (3) loops. Fold the ends of the harness down at a right angle to replicate the replaced harness. Copyright © 2024, Brooks Automation...
Page 51: Replacing The Z-Axis Motor Assembly
After replacing the harness the robot must be re-calibrated. See "Calibrating the Robot: Setting the Encoder Zero Positions." Replacing the Z-axis Motor Assembly Electrical Shock Before replacing the Z-axis Motor, the AC power should be removed. Copyright © 2024, Brooks Automation...
Page 52 Remove the Front Cover by sliding it out. Remove the left splash guard by removing the M3 X 8 mm SHCS and M3 star washer. Remove the screws attaching the Electronics Chassis and ground lug to the Bottom Mounting Plate. Copyright © 2024, Brooks Automation...
Page 53 Slide the J1 Motor and Motor Mount Bracket assembly out the bottom of the Z Column. Remove the J1 Motor Assembly from the J1 Motor Mount Bracket and replace with the new motor, using Loctite 243. Replace the components in reverse order. Copyright © 2024, Brooks Automation...
Page 54: Replacing The J2 (Shoulder) Axis Motor Or Timing Belt
Action Unbolt the robot from its mounting surface and set it vertically on the floor or a low surface. Move the robot arm to about 2 inches below the top of the Z Column travel. Copyright © 2024, Brooks Automation...
Page 55 Remove the J2 Motor Interface PCA by removing the (2) M3 X 8 mm SHCS. Cut the tie wrap securing the J2 motor cables to the Z Carriage. Unplug the J2 motor and encoder cable from the J2 Motor Interface PCA. Copyright © 2024, Brooks Automation...
Page 56 Pull the timing belt up over the idler cam follower closest to the large J2 pulley to release belt tension and provide enough slack to remove the motor. If it is necessary to replace the J2 timing belt, replace the belt and reassemble the robot. Otherwise, skip this step and continue on to Step 19. Copyright © 2024, Brooks Automation...
Page 57 Re-assemble the robot except for the front cover and top cover. Remove the Calibration Pins from the inside of the front cover extrusion and re-calibrate the robot following the Calibration Procedure in "Calibrating the Robot: Setting the Encoder Zero Positions." Copyright © 2024, Brooks Automation...
Page 58: Replacing The J3 (Elbow) Axis Motor Or Timing Belt
Remove the Top Plate of the robot by removing the (4) M5 socket head screws from the top plate of the robot that attach the top plate to the Z column. Remove the Front Cover by lifting it out horizontally. Copyright © 2024, Brooks Automation...
Page 59 Detach the inner link from the Z carriage by removing the (6) M3 X 35 mm SHCS and lock washers. Remove round Pulley Mount Plate from the Inner Link by removing the (5) M3 FHCS. Copyright © 2024, Brooks Automation...
Page 61: Replacing The J4 (Wrist) Axis Motor Or Timing Belt
Turn off the robot power and remove the AC power cord. Remove the inner link cover by removing the (4) M3 X 20 mm SHCS and lock washers. Remove the outer link cover by removing (4) M3 X 20 mm SHCS and lock washers. Copyright © 2024, Brooks Automation...
Page 62 Remove the Gripper Controller by unplugging the Gripper harness and removing the (4) M3 X 8 mm SHCS. See the PreciseFlex Servo Gripper user manual. Remove the Outer Link Belt Cover by removing the (4) M3 X 10 mm SHCS. Copyright © 2024, Brooks Automation...
Page 63 Replace the pulley mount plate using Loctite 222 and re-assemble the robot, with the outer link positioned as shown in Step 10 so that the link is correctly oriented with respect to the hard stop. Re-calibrate the robot. Copyright © 2024, Brooks Automation...
Page 65: Appendix A: Product Specifications
Brooks Automation Appendices Part Number: 628699 Rev. A Appendix A: Product Specifications Appendix A: Product Specifications Table 2-2: PreciseFlex 3400 Specifications General Specification Range Performance Payload 3 kg 1500 mm/sec (horizontal) Max Speed at TCP 500 mm/sec2 (vertical) Max Acceleration...
Page 66 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 67: Appendix B: Environmental Specifications
100-240 VAC +/- 10%, 50/60 Hz Mains cord rating, min 18 AWG, 3 conductor, 5 Amps min Pollution Degree Approved Cleaning Agents IPA, 70% Ethanol/30% water, H2O2 Vapor up to 1000 ppm IP rating IK impact rating IK08: 5 Joule Copyright © 2024, Brooks Automation...
Page 68: Appendix C: 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 69: Appendix D: 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 2-5: PreciseFlex 3400 PM Schedule by Revision Level & Date Component Expected Life Action Revision A, Serial Numbers F0X...
Page 70 6,000 hours/duty cycle* Replace component E-chain harnessing 20,000 hours Replace all cables Ethernet cable before May 2017 2-4 years Teflon replacement 10 years For example, if rail operates at 50% duty cycle, expected life is 12,000 hours Copyright © 2024, Brooks Automation...
Page 71: Appendix E: Verification Of Preciseflex 3400 Collision Forces
Brooks Automation Appendices Part Number: 628699 Rev. A Appendix E: Verification of PreciseFlex 3400 Collision Forces Appendix E: Verification of PreciseFlex 3400 Collision Forces Collision Force Table for PreciseFlex 3400 Figure 2-4: Collision Force Table for PreciseFlex 3400 Copyright © 2024, Brooks Automation...
Page 72: Appendix F: Belt Tensions, Gates Tension Meter
2. Click the Mass button and enter the belt mass from the table below. 3. Click the Width button and enter the belt width from the table below. 4. Click the Span button and enter the belt free span from the table below. Copyright © 2024, Brooks Automation...
Page 73 The tension meter will calculate the belt tension from the acoustic vibrations and display the tension in Newtons. Compare the tension to the table below in Figure 2-6 (PreciseFlex 3400). Adjust the belt tension preload screws if necessary. Figure 2-6: Belt Tension Values PreciseFlex 3400 Copyright © 2024, Brooks Automation...
Page 74: Appendix G: Table A2 From Iso/Ts 15066: 2016, Biomechanical Limits
PreciseFlex™ 3400 Robots - Service Manual Appendix G: Table A2 from ISO/TS 15066: Part Number: 628699 Rev. A 2016, Biomechanical Limits Appendix G: Table A2 from ISO/TS 15066: 2016, Biomech- anical Limits Figure 2-7: Biomechanical Limits, Page 1 of 2 Copyright © 2024, Brooks Automation...
Page 75 Brooks Automation Appendices Part Number: 628699 Rev. A Appendix G: Table A2 from ISO/TS 15066: 2016, Biomechanical Limits Figure 2-8: Biomechanical Limits, Page 2 of 2 Copyright © 2024, Brooks Automation...
Page 76: Appendix H: Safety Circuits For Preciseflex 3400 3 Kg Payload
Appendix H: Safety Circuits for Pre- Part Number: 628699 Rev. A ciseFlex 3400 3 kg Payload Appendix H: Safety Circuits for PreciseFlex 3400 3 kg Pay- load Figure 2-9: Safety Circuits for PreciseFlex 3400 3 kg Payload, Checklist Copyright © 2024, Brooks Automation...
Page 77 Brooks Automation Appendices Part Number: 628699 Rev. A Appendix H: Safety Circuits for PreciseFlex 3400 3 kg Payload Figure 2-10: PreciseFlex 3400 3 kg Safety Circuit Copyright © 2024, Brooks Automation...
Page 78: Appendix I: Robot Anatomy
Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix I: Robot Anatomy Part Number: 628699 Rev. A Appendix I: Robot Anatomy Figure 2-11: PreciseFlex 3400 Anatomy – Joints Figure 2-12: PreciseFlex 3400 Anatomy – Belt Drives Copyright © 2024, Brooks Automation...
Page 79 Brooks Automation Appendices Part Number: 628699 Rev. A Appendix I: Robot Anatomy Figure 2-13: PreciseFlex 3400 Anatomy – Power Figure 2-14: PreciseFlex 3400 Anatomy with a Rail Copyright © 2024, Brooks Automation...
Page 80 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix I: Robot Anatomy Part Number: 628699 Rev. A Figure 2-15: PreciseFlex 3400 Anatomy - without a Rail Copyright © 2024, Brooks Automation...
Page 81: Appendix J: System Diagram And Power Supplies
The cable from the brake release button under the shoulder plugs into the amplifier board in the inner link. This button provides a ground return from the Z column brake to ground bypassing the Copyright © 2024, Brooks Automation...
Page 84 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix J: System Diagram and Power Part Number: 628699 Rev. A Supplies Figure 2-18: SFT Board, Part 1 Copyright © 2024, Brooks Automation...
Page 86 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix J: System Diagram and Power Part Number: 628699 Rev. A Supplies Figure 2-20: SFT Board, Part 3 Copyright © 2024, Brooks Automation...
Page 88 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix J: System Diagram and Power Part Number: 628699 Rev. A Supplies Figure 2-22: SFT Board with CPU Copyright © 2024, Brooks Automation...
Page 91 Table 2-7: Controller Power Amplifier Connectors Number Connector Motor 3 Cable Motor 4 FFC Brake Release Switch Encoder 4 FFC Encoder 3 Cable Motor 2 FFC Motor 1 FFC Power 1 FFC Encoder 2 FFC Encoder 1 FFC Copyright © 2024, Brooks Automation...
Page 92 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix J: System Diagram and Power Part Number: 628699 Rev. A Supplies Figure 2-26: Controller Board Connectors Figure 2-27: Gripper & Linear Axis Controller Connectors Copyright © 2024, Brooks Automation...
Page 93 Brooks Automation Appendices Part Number: 628699 Rev. A Appendix J: System Diagram and Power Supplies Figure 2-28: Assembly, Slip Ring Harness with Sensor Copyright © 2024, Brooks Automation...
Page 94 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix J: System Diagram and Power Part Number: 628699 Rev. A Supplies Figure 2-29: Assembly, Slip Ring Harness, 60 N Gripper Copyright © 2024, Brooks Automation...
Page 95 Brooks Automation Appendices Part Number: 628699 Rev. A Appendix J: System Diagram and Power Supplies Figure 2-30: Assembly, Harness, Slip Ring, Dual and Single 23 N Gripper Copyright © 2024, Brooks Automation...
Page 96 Appendices PreciseFlex™ 3400 Robots - Service Manual Appendix J: System Diagram and Power Part Number: 628699 Rev. A Supplies Figure 2-31: Assembly, Slip Ring Harness, 60 N Gripper, PreciseFlex 400 Copyright © 2024, Brooks Automation...
Page 97: Appendix K: 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...

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