Appendix G: System Diagram And Power Supplies - Brooks PreciseFlex DD 6-Axis Service Manual

Appendices
Appendix G: System Diagram and Power
Supplies

Appendix G: System Diagram and Power Supplies

The robot has a 24 VDC and 48 VDC power supply located in the Z column. The power supplies
have both over-current and over-voltage protection and are CSA, UL, and CE certified. The robot
controller and electric gripper are powered by the 24 VDC supply. The main robot motors are
powered by the 48 VDC supply. The 48VDC supply is protected against over voltage bus pump up
by an energy dump circuit, which connects a 75-Watt dump resistor located in the base housing
across the 48 VDC supply output when the voltage reaches 56 Volts, and disconnects the dump
resistor when the voltage drops to 52 Volts. This protects the power supply during high speed motor
deceleration when the motor generates Back EMF voltage that adds to the power supply voltage.
DC power is routed from the power supplies to the controllers through a ribbon cable which also
contains three twisted pairs for RS485 (one pair) and 100 BaseT Ethernet (two pairs).
Twelve digital input and eight digital output signals from the main robot controller are available in the
25-pin Dsub on the connector panel in the base. The twelve digital output signals can be individually
configured as either sourcing or sinking by software settings in the web interface. The eight digital
input signals can be configured as either sourcing or sinking individually and the twelve digital inputs
can be configured as sourcing or sinking in blocks of four by software settings in the web interface.
See the section on IO.
It is necessary to wire an Emergency Stop Button to the controller. This button may be wired in
series with other emergency stop contacts. The E-Stop signals are available in the Manual Control
Pendant 9-pin DSub connector that is mounted on the Facilities Panel. See the Hardware
Reference section of this manual for detailed information on the E-Stop signals. The robot is
shipped with a jumper that completes the dual E-Stop circuits.
The cable from the brake release button under the shoulder plugs into the amplifier board for the Z-
axis motor on the back of the Z column. This button provides a ground return from the Z column
brake to ground bypassing the transistor that performs this function under computer power so that
the brake can be released manually without motor power being enabled, as long as 24 VDC is
turned on. Care should be taken to support the links of the robot when this button is pushed as the
links weigh 14 kg and will drop under gravity when this button is pushed.
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PreciseFlex™ Direct Drive Robots - Service Manual
Part Number: 628651 Rev. A
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