Brooks PreciseFlex DD 6-Axis Service Manual

Direct drive robots

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PreciseFlex DD 6-Axis

PreciseFlex DD 4-Axis

PreciseFlex

Direct Drive Robots

Service Manual

Part Number 628651, Revision A

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Page 1 PreciseFlex DD 6-Axis PreciseFlex DD 4-Axis PreciseFlex Direct Drive Robots Service Manual Part Number 628651, 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: 628651 Rev. A Revision History Revision Date Action Author Released manual at Rev. A EC154071 4/19/2024 to follow standard Brooks M. Ashenfelder technical publication styles. Copyright © 2024, Brooks Automation...
Page 6: Table Of Contents
Replacing the J4 to Gripper Controller Harness in the PFDD4 Replacing the J4 slave controller in the PFDD6 Replacing the J4 to J5 or J5 to J6 Controller Harness, J5 or J6 slave controller in the PFDD6 Replacing the J6 Motor Pigtail Harness Appendices Copyright © 2024, Brooks Automation...
Page 7 Appendix J: Table A2 from ISO/TS 15066: 2016 Appendix K: ISO TS 15066 Test Results, Transient Contact Appendix L: ISO TS 15066 Test Results, Quasi-Static Contact Appendix M: Comparison of Plastic and Foam Covers Impact Force Arm Dimensions 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: 628651 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: 628651 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
PreciseFlex Library to search for a specific error message and cause. Listed below in Table 2-1 are a few errors that may be generated by hardware failures. Table 2-1: Hardware Failure Errors Symptom Recommended Action System error message generated Copyright © 2024, Brooks Automation...
Page 19 Re-tension the timing belts. If the timing belt will not hold tension, replace it. vibration from any joint Apply thick grease to front and rear edges of belt, (Mobile 222 XP). Belt can get stiff over Squeaking from Z belt time and squeak against pulley flanges. Copyright © 2024, Brooks Automation...
Page 20: Encoder Operation Error
Access the Web Operator Interface to the robot with either “Maintenance” or “Administrator” privileges. In the “Setup” menu, select “Hardware Tuning and Diagnostics”, then select “Absolute Encoder”. A screen similar to that shown below should display. Copyright © 2024, Brooks Automation...
Page 21: Replacing The Encoder Batteries
However, in this case the encoder battery does not need to be replaced. It is only necessary to re- calibrate the robot (see Calibrating the Robot: Setting the Encoder Zero Positions. See the battery locations in Figure 2-1, Figure 2-2, and Figure 2-3. Copyright © 2024, Brooks Automation...
Page 22 PreciseFlex™ Direct Drive Robots - Service Manual Replacing the Encoder Batteries Part Number: 628651 Rev. A Figure 2-1: Location of the Z Axis Encoder Battery Figure 2-2: Location of the Four-Axis Encoder Batteries Figure 2-3: Location of the Six-Axis Encoder Batteries Copyright © 2024, Brooks Automation...
Page 23 Table 2-5: Replacing the Encoder Battery in the Six-Axis Outer Link Step Action Remove the outer link foam cover from the side of the of the outer link with the cable grommet. It is attached with Velcro. Copyright © 2024, Brooks Automation...
Page 24: Calibrating The Robot: Setting The Encoder Zero Positions
Cal_PP is supplied on the flash drive of the robot and is available in the Support area of the Brooks website. To run Cal_PP, the controller must be configured to run GPL programs and Cal_PP must be loaded into the controller's memory (See "Appendix D: Preventative Maintenance"...
Page 25 Install an M6 X 40mm Calibration Pin in the base platter. Rotate J3 counter-clockwise when viewed looking down until its hard stop. Start CAL_PP_XX. For the PFDD4, rotate J4 counter-clockwise when viewed looking down until its hard stop. Copyright © 2024, Brooks Automation...
Page 26 PreciseFlex™ Direct Drive Robots - Service Manual Calibrating the Robot: Setting the Part Number: 628651 Rev. A Encoder Zero Positions Step Action For the PFDD6, position the robot as follows. CALPP Position PFDD4 CALPP Position PFDD6 Step One Copyright © 2024, Brooks Automation...
Page 27 Brooks Automation 2. Service Procedures Part Number: 628651 Rev. A Calibrating the Robot: Setting the Encoder Zero Positions Step Action CALPP Position PFDD6 Step Two CALPP Position PFDD6 Step Three CALPP Position PFDD6 With Gripper Copyright © 2024, Brooks Automation...
Page 28 Calibrating the Robot: Setting the Part Number: 628651 Rev. A Encoder Zero Positions Step Action With the CALPP application loaded, click Start. An application should start and prompt the user to confirm the correct robot position for calibration. Copyright © 2024, Brooks Automation...
Page 29: Replacing Belts And Motors
Tensioning the 1 Stage Belt Electrical Shock Before tensioning the timing belts or replacing any motors, the AC power should be disconnected. Removing the rear cover allows access to the AC power terminals. Tools Required Copyright © 2024, Brooks Automation...
Page 30: Tensioning The 2Nd Stage Belt
Removing the rear cover allows access to the AC power terminals. Tools Required Gates Sonic Belt Tension Meter, Model 508C 2.0 mm hex driver or hex L wrench 3.0 mm hex driver 4.0 mm ball end hex Copyright © 2024, Brooks Automation...
Page 31 Z carriage is 500 mm, in order to get a higher frequency on the belt, which can be easier to measure with the tension meter. Use the 500 mm span in this case. Copyright © 2024, Brooks Automation...
Page 32: Replacing The Z Column Stage One Timing Belt
Remove the curved rear cover from the Z column. Remove the Z motor heat sink if it is installed. Loosen the M5 Z motor bracket clamping screws and release the tension on belt with the M5 tension screw. Copyright © 2024, Brooks Automation...
Page 33: Replacing The Z Column Stage Two Timing Belt
Move the Z carriage to 640 mm height for the 1000 mm and 1420 mm Z travel robots, or 380 mm height for the 500 mm Z travel robot. Turn off the robot power and remove the AC power cord. Copyright © 2024, Brooks Automation...
Page 34 Remove the Z belt clamp which should be accessible through the access cutout in the Z extrusion, change the Z belt, and replace the clamp. Tension the Z belt per above. Replace the parts. Recalibrate the robot. Copyright © 2024, Brooks Automation...
Page 35: Tensioning Or Replacing The Belts In The Pfdd4
Remove the sheet metal bottom cover. For stage 1, loosen the (3) M4 clamping screws, and the locknut on the tension set screw, adjust tension per Appendix E: Belt Tensions, Gates Tension Meter, and tighten the screws. Copyright © 2024, Brooks Automation...
Page 36: Replacing The Belts In The Pfdd4 Outer Link
Pulley the Stage Two Belt up over the idler pulley shaft, and then remove by pulling out through the top of the outer link over the output pulley. Replace the parts, re-tension the belts, and replace the covers. Copyright © 2024, Brooks Automation...
Page 37: Replacing The Outer Link Motors Or Harmonic Drives In The Pfdd6
DD6 outer link. These are the J5/J6 assembly and the J4 assembly. These are factory replacement items. In order to replace one of these assemblies in the PFDD6, follow the procedure in Table 2-13. Copyright © 2024, Brooks Automation...
Page 38 Unplug the J4 to J5 harness from the J4 slave amplifier, and pull the harness through J4 into the J5 housing. Remove the J5/J6 axes from J4 by removing the (8) M4 X 8 SHCS. At this point the J5/J6 assembly may be returned to the factory and a new assembly attached. Copyright © 2024, Brooks Automation...
Page 39: Replacing The Robot Main Controller
Prior to replacing the controller, if the controller will boot up, the user may wish to make copies of both the robot PAC files (config directory), any project files (projects directory), and the “Sys” files Copyright © 2024, Brooks Automation...
Page 40 Remove main robot controller, PFD0-EA-00001 by removing the (3) M3 X 8 mm SHCS and the D-Sub standoffs from the connector side of the panel. Replace the controller and connect the wires as shown above. Replace the connector panel. Copyright © 2024, Brooks Automation...
Page 41: Replacing The Z-Axis Slave Controller
Turn off the robot power and remove the AC power cord. Remove the curved read cover from the Z column. Remove the gripper controller by removing the (4) M3 X 10 mm SHCS and unplugging the cables. Copyright © 2024, Brooks Automation...
Page 42 Replacing the Z-axis Slave Controller Part Number: 628651 Rev. A Step Action Replace the slave controller and re-attach the harness. Set the jumpers correctly for the address and termination. Replace the curved rear cover. Recalibrate the robot. Copyright © 2024, Brooks Automation...
Page 43: Replacing The J3 Axis Slave Controller
Remove the LED light tower body by removing the (4) M3 X 40 mm SHCS. Unplug LED pigtail. Replace the slave controller and re-attach the harness. Set the jumpers correctly for the address and termination. Replace the LED light tower parts. Copyright © 2024, Brooks Automation...
Page 44 2. Service Procedures PreciseFlex™ Direct Drive Robots - Service Manual Replacing the J3 Axis Slave Controller Part Number: 628651 Rev. A Step Action It is not necessary to recalibrate the robot if only this controller is replaced. Copyright © 2024, Brooks Automation...
Page 45: Replacing The J4 Or Gripper Slave Controller In Pfdd4
Remove the foam top cover from the outer link. It is attached with Velcro. Remove the sheet metal cover from the outer link. Replace the slave controller (GSBP). Set the jumpers correctly for the address and termination. Recalibrate the robot. Copyright © 2024, Brooks Automation...
Page 46 2. Service Procedures PreciseFlex™ Direct Drive Robots - Service Manual Replacing the J4 or Gripper Slave Con- Part Number: 628651 Rev. A troller in PFDD4 Step Action Replace the covers. GSBP for J4 Axis, PFDD4 Copyright © 2024, Brooks Automation...
Page 47: Replacing The Gripper And Slip Ring In Pfdd4
Before replacing any Controller, the AC power should be removed. Tools Required 1.5 mm hex driver 2.0 mm hex driver 2.5 mm hex driver Spare Parts Required: 23N Servo Gripper with Spring Return PF0S-MA-00001 Slip Ring for 23N Servo Gripper with Spring Return PF04-MA.00010 Copyright © 2024, Brooks Automation...
Page 48 Reassemble the parts. Be careful not to pinch the slip ring cable, it fits in the notch in the flange. The robot does not need to be re-calibrated after changing the slip ring or gripper. Copyright © 2024, Brooks Automation...
Page 50: Replacing The Main Harness
J3 spacer by removing the (6) M5 X 12 mm SHCS. For the PFDD4 remove the harness clamp from the J3 output flange to release the outer link end of the harness. Copyright © 2024, Brooks Automation...
Page 51 For the PFDD6, simply remove the J4 foam end cover and unplug the J4 end of the clockspring harness from the J4 slave amp (GSBP). Remove the air hose clamp plate and thru hole bushing and pull the air hose up through J3. Copyright © 2024, Brooks Automation...
Page 52: Replacing The J4 To Gripper Controller Harness In The Pfdd4
J3 slave amp does not require an external battery. Replacing the J4 to Gripper Controller Harness in the PFDD4 Tools Required 2.0mm hex driver 2.5mm hex driver Spare Parts Required: Harness PN PFD0H-MA-00017 Copyright © 2024, Brooks Automation...
Page 53: Replacing The J4 Slave Controller In The Pfdd6
Remove the J4 controller mount plate from the bottom of J4. Unplug the J3 to J4 harness and the J4 to J5 harness and the motor connectors. Replace the J4 slave controller (GSBP). Replace the parts. Copyright © 2024, Brooks Automation...
Page 54: Replacing The J4 To J5 Or J5 To J6 Controller Harness, J5 Or J6 Slave Controller In The Pfdd6
Replacing the J4 to J5 or J5 to J6 Controller Harness, J5 or J6 slave controller in the PFDD6 Tools Required 2.0 mm hex driver 2.5 mm ball end hex driver Spare Parts Required Harness PN PFD0H-MA-00016 Slave controller PN G6X0-EA-00202-3A for J4 axis (20A, differential encoder) Copyright © 2024, Brooks Automation...
Page 55 Replacing the J4 to J5 or J5 to J6 Controller Harness, J5 or J6 slave controller in the PFDD6 Table 2-22: Replacing the Controller Harness or Slave Controller Step Action Remove the foam side cover from J5, the foam end cover from J4, and the J5 cover plate Copyright © 2024, Brooks Automation...
Page 56 2. Service Procedures PreciseFlex™ Direct Drive Robots - Service Manual Replacing the J4 to J5 or J5 to J6 Con- troller Harness, J5 or J6 slave controller Part Number: 628651 Rev. A in the PFDD6 Step Action Copyright © 2024, Brooks Automation...
Page 57 Fish the new harness through the housing from the J5 side. There is a cutout in the rotating wall of the J4 output housing that the harness must be fished through. This is easier if a small tie wrap is placed around the J4 end of the harness for this operation, then removed. Copyright © 2024, Brooks Automation...
Page 58: Replacing The J6 Motor Pigtail Harness
Remove the foam side cover from J5, the IO harness bracket, and the J5 cover plate, threading the J6 motor pigtail harness thru the 25 mm bearing. Remove the J6 cover plate, replace the harness, tie wrap per below, and replace the parts. Recalibrate the robot. Copyright © 2024, Brooks Automation...
Page 61: Appendix A: Dd6 Product Specifications
70-175 watts typical operation DC power option available Two 6 mm airlines provided for end-of-arm-tooling Pneumatics 4.9 bar max (71 PSI) Flow rate of 70 L/min (2.5 SCFM) E-Stop Dual channel Controller Mounting Embedded into robot base Copyright © 2024, Brooks Automation...
Page 62 TCP Command Server (TCS) Enhanced Functions Hand Guiding (standard) PERIPHERALS AND ACCESSORIES 23N Servo Gripper Dual 23N Servo Gripper General 60N Servo Gripper Remote I/O (RIO) PreciseVision Gripper, 23 N Vision PreciseVision Gripper, 60 N Copyright © 2024, Brooks Automation...
Page 63: Appendix B: Dd4 Product Specifications
90 to 264 VAC, auto selecting, 50-60 Hz Power 70-175 watts typical operation DC Power Option Available Two 6 mm airlines provided for end-of-arm-tooling Pneumatics 4.9 bar max (71 PSI) Flow rate of 70 L/min (2.5 SCFM) Copyright © 2024, Brooks Automation...
Page 64 SOFTWARE Guidance Motion (web interface) Programming Guidance Programming Language (GPL) TCP Command Server (TCS) Enhanced Functions Hand Guiding (standard) PERIPHERALS AND ACCESSORIES General Remote I/O (RIO) PreciseVision Gripper, 23 N Vision PreciseVision Gripper, 60 N Copyright © 2024, Brooks Automation...
Page 65: Appendix C: Environmental Specifications
16AWG, 3 conductor, 10 Amps min Pollution Degree Approved Cleaning Agents IPA, 70% Ethanol/30% water, H2O2 Vapor up to 1000 ppm IP Rating with Tape Seal Option IP Rating without Tape Seal Option IK Impact Rating IK08: 5 Joule Copyright © 2024, Brooks Automation...
Page 66: Appendix D: Spare Parts List
J6 Motor and Encoder Pigtail PFD0-MA-00010-X3 24VDC Supply PS10-EP-24150 48VDC Motor Supply PS10-EP-481000 Slip Ring Harness Assembly, 23 N Spring Gripper PF04-MA-00010-E7 Solenoid Valve PF05-MC-X0001 Energy Dump Resistor Assembly PFD0-MA-00024 O-Rings for Front Cover dowel pins (2) 0000-HC-X0051 Copyright © 2024, Brooks Automation...
Page 67: Appendix E: Preventative Maintenance
Replace slip ring in DD4 if For units with 23 N electric replace the slip ring every third inspection test, or present. 20,000 hours of operation. Copyright © 2024, Brooks Automation...
Page 68: Appendix F: Belt Tensions, Gates Tension Meter
Place the microphone near the belt, typically within 3 mm or so. Gently pluck the belt so that it vibrates. 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. Adjust the belt tension preload screws if necessary. Copyright © 2024, Brooks Automation...
Page 70: Appendix G: System Diagram And Power Supplies
24 VDC is turned on. Care should be taken to support the links of the robot when this button is pushed as the links weigh 14 kg and will drop under gravity when this button is pushed. Copyright © 2024, Brooks Automation...
Page 72 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies PDDO BC - Block Diagram Copyright © 2024, Brooks Automation...
Page 74 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Base Controller Connectors Gripper and Joint Axis Controller Connectors Copyright © 2024, Brooks Automation...
Page 75 Brooks Automation Appendices Part Number: 628651 Rev. A Appendix G: System Diagram and Power Supplies Slip Ring for 23N Gripper, Ass., Harness with Sensor Copyright © 2024, Brooks Automation...
Page 76 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Assy., Battery Holders, AA, BCAAL, PFDO Copyright © 2024, Brooks Automation...
Page 78 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Harness, Motor Pigtail, J1, J3, PFDO Harness, Motor Pigtail, J1, J3, PFDO Copyright © 2024, Brooks Automation...
Page 79 Brooks Automation Appendices Part Number: 628651 Rev. A Appendix G: System Diagram and Power Supplies Motor and Encoder Pigtails, J6 PFDO Harness, Signal and DC Power, Base, PFDO Copyright © 2024, Brooks Automation...
Page 80 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Harness, AC Power, PFDO Harness, AC Power, PFDO Copyright © 2024, Brooks Automation...
Page 81 Brooks Automation Appendices Part Number: 628651 Rev. A Appendix G: System Diagram and Power Supplies Harness, Column and Inner Link, PFDO Harness, J3 Renishaw Encoder, PFDO Copyright © 2024, Brooks Automation...
Page 82 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Harness, J4 to J5, PFDO Harness, J5 to J6, PFDO Copyright © 2024, Brooks Automation...
Page 83 Brooks Automation Appendices Part Number: 628651 Rev. A Appendix G: System Diagram and Power Supplies Harness, DC Interconnect, PFDO Harness, J3 Clockspring, PFDO Copyright © 2024, Brooks Automation...
Page 84 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies >Harness, Brake Release Cable Extension, PFDO Harness, Single and Dual Valve, PFDO Copyright © 2024, Brooks Automation...
Page 85 Brooks Automation Appendices Part Number: 628651 Rev. A Appendix G: System Diagram and Power Supplies Harness, Dump Resistor with Pigtail, PFDO Assy, J2 Motor with Pigtail, PFDO Copyright © 2024, Brooks Automation...
Page 86 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Assy, J4 Motor with Pigtail, 4-axis, PFDO Assy, J4 Motor with Pigtail, 6-axis Copyright © 2024, Brooks Automation...
Page 87 Brooks Automation Appendices Part Number: 628651 Rev. A Appendix G: System Diagram and Power Supplies Wiring for J5, J6 motors, 6-axis PFD0(Note J6 motor is 50WT, no brake) Copyright © 2024, Brooks Automation...
Page 88 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix G: System Diagram and Power Part Number: 628651 Rev. A Supplies Assy, Gripper Motor with Pigtail Copyright © 2024, Brooks Automation...
Page 89: Appendix H: Safety Circuits For Pfdd Robots
Brooks Automation Appendices Part Number: 628651 Rev. A Appendix H: Safety Circuits for PFDD Robots Appendix H: Safety Circuits for PFDD Robots Safety Circuits for PFDD Robots Copyright © 2024, Brooks Automation...
Page 90 Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix H: Safety Circuits for PFDD Part Number: 628651 Rev. A Robots Safety Circuits for PFDD Robots Copyright © 2024, Brooks Automation...
Page 91: Appendix I: Example Performance Level Evaluation For The Pfdd
P is P1 as the robot does not make unexpected motions So PL is “a,” and even a Category B controller is sufficient given the low speeds and small possible collisions forces involved which cannot injure an operator. (See 5.2.3 under EN/ISO 10218-1:2011). Copyright © 2024, Brooks Automation...
Page 92: Appendix J: Table A2 From Iso/Ts 15066: 2016
Appendices PreciseFlex™ Direct Drive Robots - Service Manual Appendix J: Table A2 from ISO/TS 15066: Part Number: 628651 Rev. A 2016 Appendix J: Table A2 from ISO/TS 15066: 2016 Biomechanical Force & Pressure Limits Copyright © 2024, Brooks Automation...
Page 94: Appendix K: Iso Ts 15066 Test Results, Transient Contact
Appendix K: ISO TS 15066 Test Results, Transient Contact Quasi-static contact testing with 1, 4, and 8 kg payloads. Forces in green, below, mean that they are within specification. ISO TS 15066 Test Results, Transient Contact Copyright © 2024, Brooks Automation...
Page 95: Appendix L: Iso Ts 15066 Test Results, Quasi-Static Contact
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. TS 15066 Test Results, Quasi-Static Contact Copyright © 2024, Brooks Automation...
Page 96: Appendix M: Comparison Of Plastic And Foam Covers
Appendix M: Comparison of Plastic and Foam Covers Impact Force Brooks updated the PreciseFlex Direct Drive covers from foam to plastic and conducted comparison impact tests. Here are the test results, which will help users design applications to avoid collisions against a rigid surface that might injure a person.
Page 97 Foam covers Plastic covers (edge) Payload Acc/dec (%) 300/25 300/25 Distance (deg) Distance (mm) Par. 2707 Speed (%) Speed (deg/s) Speed (mm/s) Impact force (N) Impact force (N) 1099 1319 1539 1758 1978 2198 234* Copyright © 2024, Brooks Automation...
Page 98: Arm Dimensions
ISO flange position. See the graphics and table below. Plastic Covers Foam Covers Arm Dimensions Plastic Covers Foam Covers Dimensioned Part Version Version Bottom of Base Plate Bottom of Finger Mounts 78.21 89.21 Bottom of Gripper Frame 81.40 92.40 Copyright © 2024, Brooks Automation...
Page 99 125.90 136.90 Bottom of Outer Link Cover 127.05 137.80 Top of Outer Link Cover 256.05 245.30 Bottom of Inner Link Cover 289.52 289.56 Top of Inner Link Cover 425.52 425.48 Top of LED Tower 477.95 477.95 Copyright © 2024, Brooks Automation...

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