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2. Service Procedures
Replacing the J4 to Gripper Controller
Harness in the PFDD4
Step
8.
Remove the clockspring harness as shown in Step 8, and then install the new harness. For the PFDD4
9.
it is important to ensure that the harness is clamped in the notch in the J3 output flange as shown, or
the J4 motor will interfere with the harness.
10.
Replace the parts.
For the PFDD4, it will be necessary to recalibrate the robot, as the J4 encoder was disconnected from
11.
the battery backup when the outer link was removed.
For the PFDD6, it is not necessary to recalibrate the robot as the J3 encoder is a single turn absolute
12.
encoder and the J3 slave amp does not require an external battery.
Replacing the J4 to Gripper Controller Harness in the
PFDD4
Tools Required
2.0mm hex driver
l
2.5mm hex driver
l
Spare Parts Required:
Harness PN PFD0H-MA-00017
l
45
PreciseFlex™ Direct Drive Robots - Service Manual
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Copyright © 2024, Brooks Automation
Part Number: 628651 Rev. A
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