Calibrating The Robot: Setting The Encoder Zero Positions - Brooks PreciseFlex DD 6-Axis Service Manual

2. Service Procedures
Calibrating the Robot: Setting the
Encoder Zero Positions
Step
2.
Replace the two batteries.
3.
Replace the cover.
If the"Encoder Battery Down" error is generated, the robot must be re-calibrated after this
procedure. See Calibrating the Robot: Setting the Encoder Zero
necessary to re-calibrate the robot.

Calibrating the Robot: Setting the Encoder Zero Positions

Cal_PP is a service program that must be run to set the zero positions of the absolute encoders on
each motor. The zero positions must be re-established if any of the motors are replaced, their
cables disconnected for a long duration, or the encoder backup battery has been disconnected.
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
Tools Required
Calibration Kit with M6 X 40 mm dowel
l
(2) M5 X 45 mm Socket Head Cap Screws
l
(2) M5 jam nuts
l
To define the zero positions of the PFDD robot axes using Cal_PP, perform the procedure in
2-6:
Step
Enable power to the robot's controller, but do not turn on power to the motors. (This procedure should
1.
be executed with motor power off. The robot does not move.)
17
"Appendix D: Preventative Maintenance" on page
Table 2-6: Defining Axes Zero Positions
Action
PreciseFlex™ Direct Drive Robots - Service Manual
Action
Positions. Otherwise it is not
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Part Number: 628651 Rev. A
1).
Table