Brooks PreciseFlex DD 6-Axis Service Manual page 25

Brooks Automation
Part Number: 628651 Rev. A
Step
The CALPP program is typically installed at the factory and should be loaded into flash memory. Using
the web-based Operator Control Panel, click UnLoad to unload any currently loaded programs. This
ensures that no GPL project is currently selected for execution.
2.
3.
Click Load. This displays a list of projects that are in the flash disk and available for execution.
4.
In the window, click CALPP_RevXX.
5.
When ready to execute the project, click Start.
If CALPP is not loaded in the robot, first Load Cal_PP into the controller's memory from a PC, using the
6.
web Operator Control Panel, as described in the Software Reference section.
7.
Manually move the robot into the configuration shown below.
Ensure Z-axis is resting on the lower hard stop by releasing the Z axis brake by pushing on the brake
8.
release button under the inner link while supporting the robot arm with your hand, and lowering the
robot arm gently until it rests on the lower hard stop.
9.
Install an M6 X 40mm Calibration Pin in the base platter.
10.
Rotate J3 counter-clockwise when viewed looking down until its hard stop.
11.
Start CAL_PP_XX.
12. For the PFDD4, rotate J4 counter-clockwise when viewed looking down until its hard stop.
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Calibrating the Robot: Setting the Encoder Zero Positions
Action
2. Service Procedures
18