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Brooks Automation
Part Number: 628651 Rev. A
Step
A dialogue box will display that allows the J4 and J5 brake to be released for PFDD6 to allow it to be
positioned correctly for CALPP.
20.
After the robot is correctly positioned, execute CALPP. The CALPP application takes about one
minute to run.
After calibration is complete, use the brake release button and move the Z-axis a few millimeters away
21.
from the hard stop. Failing to do this will produce an error as the robot is outside of the soft stop limits.
22.
Ensure that the pin is removed from the base rotation plate.
23.
Enable power and home the robot. Calibration does not take effect until the robot is homed.
Replacing Belts and Motors
The timing belts and harmonic drives may need service after 20,000 hours, depending on the
payload and duty cycle. The motors are designed to last the life of the robot. It is not expected that
they will need to be replaced in the field. In most cases, if a belt or a motor needs to be replaced, the
robot should be returned to the factory. While there are procedures in this manual for replacing belts
and motors, only experienced service technicians should attempt these procedures.
General Belt Tensioning
The PFDD robots have been designed to make belt tensioning very simple. See
Preventative Maintenance" on page 1
Tensioning or Replacing the J2 (Z Column) Belts
Tensioning the 1
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
for belt tension specifications.
st
Stage Belt
Action
2. Service Procedures
Replacing Belts and Motors
"Appendix D:
22
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