Brooks PreciseFlex DD 6-Axis Service Manual page 48

2. Service Procedures
Replacing the Gripper and Slip Ring in
PFDD4
Table 2-18: Replacing the 23N Servo Gripper or Slip Ring
Step
1.
Turn off the robot power and remove the AC power cord.
2.
Remove the foam side cover from the outer link. It is attached with Velcro.
3.
Remove the foam top cover from the outer link. It is attached with Velcro.
4.
Remove the sheet metal cover from the outer link.
5.
Remove cover, slip ring and mount, and slip ring.
6. Remove the (6) M2 X 10 mm SHCS to release gripper, then unplug slip ring connectors in gripper.
7.
At this point, the gripper or the slip ring can be replaced.
8.
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.
9.
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PreciseFlex™ Direct Drive Robots - Service Manual
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Part Number: 628651 Rev. A