Brooks PreciseFlex DD 6-Axis Service Manual page 19

Brooks Automation
Part Number: 628651 Rev. A
Symptom
E-Stop not Enabled Check 9 pin Dsub for Estop jumpers.
Encoder Battery Low" Replace absolute encoder battery on back of column or outer link.
If encoder cable has been disconnected, recalibrate robot. If battery voltage has dropped
Encoder Battery Down
below 2.5V replace encoder battery and recalibrate robot.
Encoder Operation
Joint rotated too quickly with power off. See
Error
Encoder cable may be damaged and encoder is getting intermittent communication,
Encoder Data,
causing apparent jumps in position. Check encoder connectors. Replace motor/encoder
Accel/decel Limit Error
or encoder only on DD axes.
Encoder
Check encoder connectors. Replace encoder cable or motor/encoder.
Communication Error
Encoder quadrature
Replace slip ring. Replace motor/encoder (only Gripper motor ).
error
Missing zero index See
Motor duty cycle
Reduce speed or acceleration of robot. Check for instability.
exceeded
Motor power supply has reached current limit and shutdown. Slow down the robot. Check
Amplifier under voltage
the Energy Dump PCA. Replace the 48V supply.
Amplifier Fault Check harness and motor for shorts.
Amplifier Over Voltage
Check energy dump resistor is connected. Check harness for shorts.
Make sure robot not pressing against surface. If this occurs on the gripper repeatedly,
Soft Envelope Error
replace slip ring.
Hard Envelope Error Typically means robot has crashed into something.
Pneumatic Gripper Check continuity of cable through wrist. Check green lights on sensor to see if sensor is
Sensor not working triggering.
Check that joint is free to move with brake off. Check that joint is not vibrating or unstable.
Time Out Nulling Error
If unstable check belt tension. If Gripper, check for free motion, if OK replace slip ring.
The joint actual or commanded position may be beyond the software limit stop. Move joint
Joint Out of Range back into range while monitoring virtual pendant or check program for commanded
position.
PAC Files Corrupted See
Physical or audible
problem
Brown streaks on linear Clean with alcohol and add grease to bearing blocks. This should not be required sooner
bearing than 20,000 hours of run time. Grease is Alvania Grease EP2 from Shell.
Mechanical noise from
Check joint bearings for failure. Re-tension the belt.
any joint
Loud buzzing or
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
Encoder quadrature error.
"Recovering from Corrupted PAC Files" on page
Recommended Action
"Encoder Operation Error" on
1.
2. Service Procedures
Troubleshooting
page 1.
12