Brooks Guidance 6000 User Manual

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Guidance 6000 Controllers

User Manual

Part Number 613245, Revision A

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Page 1 Guidance 6000 Controllers User Manual Part Number 613245, Revision A...
Page 2 © 2024 Brooks Automation. All rights reserved. The information included in this manual is proprietary information of Brooks Automation, and is provided for the use of Brooks customers only and cannot be used for distribution, reproduction, or sale without the express written permission of Brooks Automation.
Page 3 +86 21-5131-7066 +886 080-003-5556 (Toll Free) Taiwan +886 3-5525258 (Local) Korea 1800-5116 (Toll Free) +65 1-800-4-276657 (Toll Free) Singapore +65 6309 0701 (Local) General Emails Division Email Address Sales sales_preciseflex@brooksautomation.com Technical Support support_preciseflex@brooksautomation.com Technical Publications Technical.Publications@brooksautomation.com Copyright © 2024, Brooks Automation...
Page 4 Fax: +82-31-287-2111 Nisso Bldg. No 16, 9F Carretera Huinalá km 2.8 3-8-8 ShinYokohama, Kohoku-ku Parque Industrial Las Américas Brooks Technology (Shanghai) Brooks Automation (S) Pte Ltd Yokohama, Kanagawa 222-0033 66640 Apodaca, NL Mexico Limited 51-18-C1 Menara BHL, Tel: +81-45-477-5570 Tel: +52 81 8863-6363 2nd Floor, No.
Page 5: Revision History
Brooks Automation Part Number: 613245 Rev. A Revision History Revision Date Action Author Released manual at Rev. A to EC148615 3/7/2023 follow standard Brooks technical M. Ashenfelder publication styles. Copyright © 2024, Brooks Automation...
Page 6: Table Of Contents
Standards Compliance and Agency Certifications Moving Machine Safety 3. Installation Information Heat Sinking and Mounting Recommended Motor and Encoder Wiring Wiring Overview Motor Cables Motor Wiring Path Motor Ferrite Beads Brake Wiring Ferrite Bead Installation Illustration Copyright © 2024, Brooks Automation...
Page 7 How does the user release the motor brakes in a 1 or 2-axis system? Why should grippers be wired to release when digital signals are ON? What are the restrictions on assigning encoder and amplifier channels? Copyright © 2024, Brooks Automation...
Page 8: Safety
1. Safety Safety Setup Brooks uses caution, warning, and danger labels to convey critical information required for the safe and proper operation of the hardware and software. Read and comply with all labels to prevent personal injury and damage to the equipment.
Page 9: Safety Text
Notice indicates a situation or unsafe practice which, if not avoided, may result in equipment damage. The Notice signal word is white on blue background with no icon. Copyright © 2024, Brooks Automation...
Page 10: Alert Example
Part Number: 613245 Rev. A Alert Example The following is an example of a Warning hazard alert. Number Description How to Avoid the Hazard Source of Hazard and Severity General Alert Icon Signal Word Type of Hazard Hazard Symbol(s) Copyright © 2024, Brooks Automation...
Page 11: General Safety Considerations
Using parts with different inertial properties with the same robot application can cause the robot’s performance to decrease and potentially cause unplanned robot motion that could result in serious personal injury. Do not use unauthorized parts. Confirm that the correct robot application is being used. Copyright © 2024, Brooks Automation...
Page 12 Use of this product in a manner or for purposes other than for what it is intended may cause equipment damage or personal injury. Only use the product for its intended application. Do not modify this product beyond its original design. Always operate this product with the covers in place. Copyright © 2024, Brooks Automation...
Page 13: Mechanical Hazards
Do not operate the product without its protective covers in place. While the collaborative robotics system is designed to be safe around personnel, gravity and other factors may present hazards and should be considered. Copyright © 2024, Brooks Automation...
Page 14: Electrical Hazards
Improper electrical connection or connection to an improper electrical supply can result in electrical burns resulting in equipment damage, serious injury, or death. Always provide the robot with the proper power supply connectors and ground that are compliant with appropriate electrical codes. Copyright © 2024, Brooks Automation...
Page 15: Ergonomic Hazards
This product has a high center of gravity which may cause the product to tip over and cause serious injury. Always properly restrain the product when moving it. Never operate the robot unless it is rigidly mounted. Copyright © 2024, Brooks Automation...
Page 16: Emergency Stop Circuit (E-Stop)
Do not override or bypass the emergency stop circuit. Recycling and Hazardous Materials Brooks Automation complies with the EU Directive 2002/96/EU Waste Electrical and Electronic Equipment (WEEE). The end user must responsibly dispose of the product and its components when disposal is required.
Page 17: Introduction To The Hardware
Many kinematic modules also include a dynamic model of the robot that can significantly improve the tracking and servo performance of the system. A “robot” has a master controller that executes the kinematic model and transmits axis position Copyright © 2024, Brooks Automation...
Page 18 This software application provides a complete set of image- processing, measurement, inspection and object finder tools. For more information on vision, refer to the PreciseVision Machine Vision System, Introduction and Reference Manual (PN PVS0-DI- S0010). Copyright © 2024, Brooks Automation...
Page 19: System Diagram
PreciseFlex Servo Network; external IO including Modbus/TCP devices; and EtherCAT slave nodes. All of the extensive communication features of the controllers are described in detail in the following sections. Figure 2-1: PreciseFlex G6000 Controller, System Diagram Copyright © 2024, Brooks Automation...
Page 22: Low-Voltage Power Supply
AC line power is turned on. Intelligent Motor Power Supplies The PreciseFlex G6000 Controllers operate with motor voltages from 24VDC to 340VDC. Brooks offers three power supplies that are compatible with these controllers: the PrecisePower 300, 1000 and 2000 Intelligent Motor Power Supplies. These units include: integral relays for...
Page 23 (shown below) delivers 2000 watts from a single-phase 208VAC service or 3400 Watts from a three-phase 240VAC service. This unit includes dual integrated relays for enabling and disabling motor power on command from the controller. In addition, it has safety circuits to automatically shut Copyright © 2024, Brooks Automation...
Page 24 Part Number: 613245 Rev. A down the unit if it is switched to a short or is severely over-loaded. If needed, this unit can be configured to satisfy CAT-3 safety requirements. Figure 2-6: The PrecisePower 2000 Copyright © 2024, Brooks Automation...
Page 25: Remote Front Panel, E-Stop Box, And Manual Control Pendant
1-2, 3-4, 5-6, 7-8, 9-10, 11-12, 13-14 For users that want to have an E-Stop button for their controller without a remote front panel, Brooks sells an E-Stop Box with a connector pigtail that plugs into the Remote Front Panel connector and includes the necessary jumpers. ...
Page 26: Remote Io Module
For applications that require additional IO capability beyond the standard functions provided with every PreciseFlex Controller, a Brooks Remote IO (RIO) module may be purchased. The RIO interfaces to any PreciseFlex Controller via 100 Mbit Ethernet and requires 24VDC power.
Page 27: Machine Vision Software And Cameras
The execution conditions that are indicated by the LED and the output signal (if configured) are described in Table 2-1. If Red or Green is not indicated as being on, they are off. Copyright © 2024, Brooks Automation...
Page 28 Red on, On or off, This rarely occurs and indicates that the controller has crashed due CPU crashed to a system hardware or software error. blinking blinking Copyright © 2024, Brooks Automation...
Page 29: Machine Safety
AC line power is turned on. Brooks offers three Intelligent Motor Power Supplies: the 300/600 Watt PrecisePower 300 with an input range from 90 to 264VAC 50/60Hz, the 1000 Watt PrecisePower 1000 with an input range from 90 to 240VAC 50/60 Hz, and the 2000 Watt PrecisePower 2000 that operates between 90- 240VAC single or three phase, 50/60Hz.
Page 30 Depending upon the motor power supply, the voltage levels can range from 24VDC to 320VDC Figure 2-10 illustrates the high-risk areas of the PreciseFlex G6400 4-Axis Controllers. Figure 2-10: High-Risk Areas of the G6400 4-Axis Controllers Copyright © 2024, Brooks Automation...
Page 31: E-Stop Stopping Time And Distance
E-Stop signal is asserted. This delay is nominally set at 0.5 seconds and may be adjusted by an operator with administrator privileges. On Copyright © 2024, Brooks Automation...
Page 32: Safety Zones
“uncertified zones” and the “speed restrict zones” are referred to as “certified zones”. The supported zone shapes are rectangular volumes, cylinders and spheres. To define a safety zone, the type of safety zone must be specified along with its origin and dimensions. Copyright © 2024, Brooks Automation...
Page 33 Brooks Automation 2. Introduction to the Hardware Part Number: 613245 Rev. A Machine Safety Figure 2-12: Rectangular Volume Figure 2-13: Cylinder Figure 2-14: Sphere Copyright © 2024, Brooks Automation...
Page 34 For both of these tests, in order to satisfy the computational redundancy requirement of the Category 3 safety regulations, the shapes of these safety zones are limited to non-rotated rectangular volumes. Copyright © 2024, Brooks Automation...
Page 35 Non-rotated rectangular volume, Z downward speed restrict zone Non-rotated rectangular volume, XY speed restrict zone Table 2-3 describes the safety zone DataIDs. When any of these DataIDs are modified, the controller must be rebooted for the change to be put in effect. Copyright © 2024, Brooks Automation...
Page 36 Z/XY spd mm/sec it should be a negative value and defaults to -200. The second value is the maximum permitted speed in the horizontal XY plane (when within the safety zone), and defaults to 200 mm/sec. Copyright © 2024, Brooks Automation...
Page 37: Safety Standards Reference Material
Like all robot and motion systems and most industrial equipment, they must be treated with respect by the user and the operator. This manual should be read by all personnel who operate or maintain Brooks systems, or who work within or near the work cell.
Page 38: Moving Machine Safety
E-stop circuitry. Refer to the ANSI/RIA R15.06 Safety Standard for Industrial Robots or EN ISO 10218-2-2011, Robots for Industrial Environments, Safety Requirements, for information on recommended safe operating practices and enclosure design for robots of various sizes and payloads. Copyright © 2024, Brooks Automation...
Page 39: Installation Information
The size of the heatsink depends on the total motor power. Note that total motor power is NOT the same as adding up all the rated powers of the motors. It is typically about 30% of this value, Copyright © 2024, Brooks Automation...
Page 40 80° C or lower and the amplifier temperatures should be 80° C or lower. If the current ambient temperature is below the expected maximum operating temperature, add the difference between the current ambient and the maximum ambient to estimate the maximum temperatures. For Copyright © 2024, Brooks Automation...
Page 41: Recommended Motor And Encoder Wiring
The current ratings for single conductor cables are higher, although multiple conductor cables are more commonly used. Table 3-1: Cable Ratings Wire Size AWG Amperes Copyright © 2024, Brooks Automation...
Page 43 Figure 3-4 illustrates how this cable should be wired. Figure 3-4: Wiring Illustration, Long Cable. Motor and Controller Greater Than 0.5 M Apart without Common Chassis Copyright © 2024, Brooks Automation...
Page 44: Motor Ferrite Beads
In the first picture, the dark blue wire is the shield drain wire that has already been soldered to the shield. The shield was then covered with shrink tubing. This example also shows the optional beads on the brake wires. Copyright © 2024, Brooks Automation...
Page 45 Recommended Motor and Encoder Wiring Step Action Blue drain soldered to shield and wires cut to length Three (3) motor wires through large core, brakes through small cores Three (3) motor wires looped three times through large core Copyright © 2024, Brooks Automation...
Page 46 3. Installation Information Guidance G6000 Controllers Recommended Motor and Encoder Wiring Part Number: 613245 Rev. A Step Action All wires leads crimped to pins Final assembled cable with controller motor connector Copyright © 2024, Brooks Automation...
Page 47: Encoder Considerations
7 on the HVCPU encoder connector. For encoders that are in a metal box with a metal shell connector, on the encoder end of the cable, connect the shield to the metal shell of the mating connector. Copyright © 2024, Brooks Automation...
Page 48: Encoder Wiring And Pin Assignments
Even a 300 mm unshielded non-twisted pair cable from the controller to a bulkhead connector can result in significant signal corruption. Copyright © 2024, Brooks Automation...
Page 49 Brooks Automation 3. Installation Information Part Number: 613245 Rev. A Recommended Motor and Encoder Wiring Figure 3-5 illustrates how to interface differential and single-ended encoder input signals. Figure 3-5: Differential and Single-Ended Encoder Wiring Copyright © 2024, Brooks Automation...
Page 50: Hardware Reference
The PreciseFlex G6000 contains unshielded high voltage pins, components and surfaces. These products are intended to be mounted in a cabinet or machine chassis that is not accessible when AC line power is turned on. Copyright © 2024, Brooks Automation...
Page 51: Power Connectors And Grounding
AC mains earth ground (green wire) for both safety and to increase the controller's noise immunity. Grounding pads, fastening lugs and screws connect the ground through to the sheet metal heatsink. Copyright © 2024, Brooks Automation...
Page 52 PreciseFlex Controller Power Harness. This harness provides all of the connections between AC power, the two power supplies and the controller. These power and signal paths are illustrated in solid lines in Figure 4-3. Figure 4-3: PreciseFlex Controller Power Harness Copyright © 2024, Brooks Automation...
Page 53: Communication Interfaces
The following list defines all of the HVCPU interfaces and hardware facilities: Absolute Encoder Battery COM1, Primary RS-232 Serial Port CPU and FPGA LEDs Digital Inputs DIN 1 Through DIN 12 Digital Outputs DOUT 1 Through DOUT 8 Encoders Ethernet I2C (not available for general use) Copyright © 2024, Brooks Automation...
Page 54 G6000 controller models. HVCPU Board Jumpers and LEDs The high voltage, high performance processor board (HVCPU) has a number of hardware jumpers that determine the configuration of some system hardware and software functions and some LEDs Copyright © 2024, Brooks Automation...
Page 55 LEDs and sets of jumpers and how the pins must be shorted ("jumpered") in order to set a specific configuration. When a direction (e.g., left versus right) is described, it is with respect to the HVCPU board oriented as shown in Figure 4-6. Copyright © 2024, Brooks Automation...
Page 56 A two-pin Molex connector is provided for backwards compatibility. Alternately, an AMP two plug Mate-N-Lok connector provides a more secure means of connecting an external battery. From an electrical point of view, the two connectors are identical and have the same pin outs. Copyright © 2024, Brooks Automation...
Page 57 The cell used in this device may present a risk of fire or chemical burn hazard if mistreated. Do not, disassemble, heat above 100°C (212°F), or incinerate. Replace cell with Brooks part number G3X1-EC-X0007 only. Use of another cell may present a risk of fire or explosion.
Page 58 Part Number: 613245 Rev. A Interfaces Description User Plug Part Housing: TE 1375820-2, Sockets: TE for Molex 22- 1375819-2 11-2022 User Plug Part Housing: TE 794617-2, Sockets: TE for AMP 3- 1-794610-2 (30AU) or TE 794606-2 794632-2 (15AU) Copyright © 2024, Brooks Automation...
Page 59 NOTE: Like COM2, the secondary serial interface, this primary serial interface does not support hardware flow control. Figure 4-9: Connectors Table 4-2: Pins & Plug Description RXD - controller receive data Ground TXD - controller transmit data User Plug Part TE/AMP 1445022-3 3 mm 3POS MATE-N-LOK Copyright © 2024, Brooks Automation...
Page 60 If an input signal is configured as "sourcing," the external equipment must pull the signal input pin to ground to indicate a logical high and must let the line float high to 24VDC to signal a logical low value. This configuration is compatible with "sinking" (NPN) sensors. Copyright © 2024, Brooks Automation...
Page 61 NOTE: Whenever saving to flash, to turn off the controller, wait 10 seconds after the "Flash Busy" indicator disappears to ensure the flash disk is not corrupted. The pin out for the Digital Input Connector and the corresponding GPL signal numbers are described in Table 4-4. Copyright © 2024, Brooks Automation...
Page 62 Digital Input 10 10011 Digital Input 11 10012 Digital Input 12 24VDC User Amp 746285-3 or Molex 22-55-2161 or Molex 90142-0016. For the Molex plugs, Plug Part use Molex pins 16-02-0103 and Molex crimp tool 63811-1000. Copyright © 2024, Brooks Automation...
Page 63 If an output signal is "sourcing," the external equipment must pull-down the output pin to ground and the controller pulls this pin to 24VDC when the signal is asserted as true. This configuration is compatible with "sinking" (NPN) devices. Copyright © 2024, Brooks Automation...
Page 64 NOTE: Whenever saving to flash, to turn off the controller, wait 10 seconds after the "Flash Busy" indicator disappears to ensure the flash disk is not corrupted. The pin out for the Digital Output Connector and the corresponding GPL signal numbers are described in Table 4-6. Copyright © 2024, Brooks Automation...
Page 65 Both of the ports are interfaced to a built-in 100 Mbit Ethernet Switch that auto detects the sense of each cable. If the two ports are connected to equipment that are communicating with each other but Copyright © 2024, Brooks Automation...
Page 66 2000W PrecisePower Intelligent Motor Power Supply, an I2C connection provides power supply status information to the PreciseFlex Controller and is necessary to operate this power supply in a CAT-3 compliant mode. In the past, I2C was also used to interface to legacy Brooks gripper control boards.
Page 67 The mating plug for this header is a Molex 09-50-3041 and the crimp style pins for this connector are 08-50-0105. The pin designations for this plug are listed in Table 4-8. Copyright © 2024, Brooks Automation...
Page 68 Digital Outputs Connector for information on reconfiguring this output. Table 4-9: Pins & Plug Descriptions GPL Signal Number Description Digital Output 7 User Plug Part No Molex 22-01-2021 mates to Molex 22-23-2021 Header Copyright © 2024, Brooks Automation...
Page 69 COM2 serial interface can be accessed for general communications purposes via a GPL procedure as device /dev/com2. NOTE: Like COM1, the primary serial interface, this secondary serial interface does not support hardware flow control. Figure 4-20: Connector Copyright © 2024, Brooks Automation...
Page 70 High Power Enable (If no front panel, jumper to pin 14). Input signal that must transition from low to high during the EC Category 3 (CAT-3) power enable sequence to request that motor power be enabled. This is normally connected to a momentary contact "Enable power" push button on the Remote Front Panel. Ground Copyright © 2024, Brooks Automation...
Page 71 5VDC. WARNING - This voltage is provided as a convenience but is limited in the current that can be supplied. Drawing excessive current can damage the controller. Consult Brooks if there is any question about the use of this voltage.
Page 72 The RS-485 interface is not available for interfacing to 3 party devices when the controller is embedded in a Brooks robot such as a PreciseFlex or interfaced to a Guidance IO Module (GIO) or Guidance Slave Board (GSB). In these cases, the RS-485 supports a proprietary communication protocol that is used to interface to these Brooks devices.
Page 73 LED, this signal must be configured as "sourcing." See the section on the Digital Outputs Connector for information on reconfiguring this signal. Table 4-12: Pins & Plug Description GPL Signal Number Description Digital Output 8 User Plug Part No Molex 22-01-2021 mates to Molex 22-23-2021 Header Copyright © 2024, Brooks Automation...
Page 74: Hvcpu Board Encoder Interfaces
4-24), the motor amplifiers and their connectors are re-arranged to permit optimal heat dissipation given the number of high voltage amplifiers that are provided in a very small footprint. Since the cables for motors and their Copyright © 2024, Brooks Automation...
Page 75 Alternatively, these three digital signals can interface to a second, single- ended encoder. This single-ended encoder can be used independently of the primary encoder or the two encoders can be used together to implement dual encoder loop servo control of an axis of motion. Copyright © 2024, Brooks Automation...
Page 76 Encoder 1 A+ Encoder 1 A- 5VDC provided to power encoders. The sum of the current drawn from all four encoder connectors is limited to 1 amp. Encoder 1 B+ Encoder 1 B- Encoder 1 Z+ Copyright © 2024, Brooks Automation...
Page 77 JP7 and JP8 to be reconfigured to extra encoder and battery pins. The "Extra Encoder / Battery Power Headers" consist of two groups of two three-post headers that are located close to the JP7/JP8 encoder connectors that they modify. Copyright © 2024, Brooks Automation...
Page 78 The J21 header controls whether pin 16 of the JP8 encoder connector is a ground or a 5VDC source. The center post of the J21 header must be jumpered to either pin 1 or pin 3 as defined in Copyright © 2024, Brooks Automation...
Page 79: Hvamp Motor/Brake Interfaces
For clarity in the illustrations, the amplifier boards are mounted in their sheet metal heatsinks, but the HVCPU boards (which are mounted above the HVAMPs) have been removed. Figure 4-28 illustrates the positions and numbering of the motor connectors for the 4-axis PreciseFlex G6400 controller. Copyright © 2024, Brooks Automation...
Page 80 IO lines available in this connector. If required, individual brake control can be implemented using general purpose digital output signals. Figure 4-29: Mating Plug and Pins for the G6400's Six-Pin Motor/Brake Connectors Copyright © 2024, Brooks Automation...
Page 81 Amp 794190-1 (pins AMP 794231-1) User Socket Part No Amp 794231-1 for 16-20 gauge wire Crimp Tool Amp 91594-1 Figure 4-30 illustrates the positions and numbering of the motor connectors for the 6-axis PreciseFlex G6600 controller. Copyright © 2024, Brooks Automation...
Page 82 IO lines available in this connector. If required, individual brake control can be implemented using general purpose digital output signals. Figure 4-31: Mating Plug & Pins for G6600 Eight-Pin Motor/Brake Connectors Copyright © 2024, Brooks Automation...
Page 83 Board Connector Part No AMP Mini Universal Mate-N-Lok 2 8 pin 794065-0 User Plug Part No Amp 794192-1 (pins AMP 794231-1) User Socket Part No Amp 794231-1 for 16-20 gauge wire Crimp Tool Amp 91594-1 Copyright © 2024, Brooks Automation...
Page 84: Low-Voltage Power Supply
80 - 264 VAC Input frequency 47 - 63Hz Output voltage 24VDC Output power 120 Watts Operating temperature -30 - +70 deg C Storage temperature -40 - +85 deg C Dimensions 101.6 x 50.8 x 29 mm Copyright © 2024, Brooks Automation...
Page 85: Motor Voltage Power Supplies
340VDC. Users may employ their own DC motor power supply or may purchase an intelligent motor power supply from Brooks . Brooks offers three Intelligent Motor Power Supplies: PrecisePower 300 (300 or 600 Watts RMS) PrecisePower 1000 (1000 Watts RMS) PrecisePower 2000 (2000 Watts to 3400 Watts RMS).
Page 86 NOTE: Wait seven minutes after removal of power before servicing equipment for the system capacitance to discharge below a 50 VDC level. For mounting purposes, the power supply has four 4.1 mm through holes as illustrated in Figure 4- Copyright © 2024, Brooks Automation...
Page 87: Precisepower 1000 Intelligent Motor Power Supply
This power supply can accept line voltages from 90 VAC to 240 VAC. The motor power output voltage is a multiple of the input line voltage (output = 1.41*RMS_VAC_phase_to_phase_input-2 volts). For example, a 120 VAC input will produce 167 VDC output, whereas a 240 VAC input will Copyright © 2024, Brooks Automation...
Page 88: Precisepower 2000 Intelligent Motor Power Supply
24 VDC supply. For these pins as well as two other headers, mating cables can be connected to the PrecisePower via a Molex 09-50-3031 or compatible plug. Copyright © 2024, Brooks Automation...
Page 90 AC line power is turned on. For mounting purposes, the power supply has four 4.2 mm through holes as illustrated in Figure 4- Figure 4-34: Power Supply with Four 4.2 mm Through Holes for Mounting Copyright © 2024, Brooks Automation...
Page 91: Safety Circuits For Remote Front Panel
Some of the features of the example Remote Front Panel Safety Circuit are briefly described in the following paragraphs. Copyright © 2024, Brooks Automation...
Page 92 Category 3 (CAT-3) power enable sequence. For the example front panel and signal diagram that is shown above, the following table summarizes how the various signals should interact to generate the controller's Remote Front Panel Interface input signals. Copyright © 2024, Brooks Automation...
Page 93 Asserted if the Auto / Manual key switch is set to Auto, off when the key switch is set to Manual. High Power On Momentarily asserted when the High Power On button is pressed. High Power Lamp Asserted if the High Power On status light fails. Fail Copyright © 2024, Brooks Automation...
Page 94: Third-Party Equipment
Due to the additional capabilities needed to process the absolute encoder signal, these encoders may require the "Enhanced Encoders" license. Contact Brooks for the current hardware requirements for interfacing to these types of encoders.
Page 95 2nd Encoder Connector Pin Wire Color Signal Name G6600 Connector Pin GREEN BLUE VIOLET Table 5-3: Wiring Instructions for Motor Power Connectors G6000 Connector Pins Motor Connector Pin Wire Color Signal Name G6400 G6600 WHITE BLACK GREEN Copyright © 2024, Brooks Automation...
Page 96: Tamagawa Serial Incremental/Absolute Encoder
Due to the additional capabilities needed to process the absolute encoder signal, these encoders may require the "Enhanced Encoders" license. Contact Brooks for the current hardware requirements for interfacing to these types of encoders.
Page 97 HVCPU board. See the information on that connector for detailed pin outs and plug types. Table 5-7 contains information on the required battery power. Table 5-7: Required Battery Power External Battery Specification Maximum voltage 4.75V Typical voltage 3.6V Alarm trigger voltage 3.1V Copyright © 2024, Brooks Automation...
Page 98: Yaskawa Sigma Ii/Iii Serial Absolute Encoder
Due to the additional capabilities needed to process the absolute encoder signal, these encoders may require the "Enhanced Encoders" license. Contact Brooks for the current hardware requirements for interfacing to these types of encoders. For information on configuring this type of encoder, see the Software Setup section of the Controller Software section of the PreciseFlex Library.
Page 99: Nikon A/Sanyo Denki Serial Absolute Encoders
When these encoders are provided with a battery backup source, they function as a high resolution absolute encoder that returns 17-bits of resolution per revolution and a 16-bit "turns count" battery backed-up register for a total of 33-bits of encoder position information. Copyright © 2024, Brooks Automation...
Page 100 Encoders Due to the additional capabilities needed to process the absolute encoder signal, these encoders may require the "Enhanced Encoders" license. Contact Brooks for the current hardware requirements for interfacing to these types of encoders. For information on configuring this type of encoder, see the Software Setup section of the Controller Software section of the PreciseFlex Library.
Page 101: Endat / Sii / Biss Serial Absolute Encoders
Due to the additional capabilities needed to process the absolute encoder signal, these encoders may require the "Enhanced Encoders" license. Contact Brooks for the current hardware requirements for interfacing to these types of encoders. For information on configuring these types of encoder, see the Software Setup section of the Controller Software section of the PreciseFlex Library.
Page 102: Appendix A. Conditions Of Acceptability
"Dispose of used cell promptly. Keep away from children. Do not disassemble and do not dispose of in fire." Peak currents indicated in the nomenclature are temporary over-currents only, not intended for use as continuous ratings. Copyright © 2024, Brooks Automation...
Page 103: Appendix B. Product Specifications
Three programming methods available: Embedded Guidance Programming Language Programming (GPL) Interface PC/Unix/Linux controlled over Ethernet DIO MotionBlocks (PLC) Web based operator interface supports local or Operator Interface remote control via browser connected to embedded web server Copyright © 2024, Brooks Automation...
Page 104 Axis 5 & 6: 10 A peak/9 A RMS/9 A stall* *These values assume adequate heat sinks and forced-air cooling. Four differential digital encoder interfaces Four configurable single-ended digital encoder Position Sensors interfaces Interface Support for selected absolute encoders (may require the "Enhanced Encoders" license) Copyright © 2024, Brooks Automation...
Page 105 100 mA maximum per channel Additional remote I/O available via PreciseFlex RIO modules or 3 party MODBUS/TCP devices RS-485 multi-drop serial communications. Not Multi-Drop Serial available on controllers embedded in PreciseFlex Robots Non-user I2C multi-drop serial communications Accessible IO Copyright © 2024, Brooks Automation...
Page 106: Preciseflex G6000 Controller Environmental Specifications
5 to 90%, non-condensing Altitude Up to 3000 m Free space around controller 6 mm sides and top Chassis protection class IP20 (NEMA Type 1) For EU or EEA countries IP54, must meet EN 60204 (IEC 204) Copyright © 2024, Brooks Automation...
Page 107: Precisepower 300 Intelligent Motor Power Supply Specifications
PreciseFlex Part Number PS1D-EA-00300 PrecisePower 1000 Intelligent Motor Power Supply Spe- cifications Table 5-17: Power Supply Specifications General Specification Range & Features Input Specifications Input voltage 90-240 VAC Single phase Input frequency 50 - 60 Hz Copyright © 2024, Brooks Automation...
Page 108: Precisepower 2000 Intelligent Motor Power Supply Specifications
90-240 VAC Single phase or three phase Input frequency 50 - 60 Hz Input inrush current 6.7A at 240 VAC input 12.4A RMS, 30A peak at 240 VAC single phase & 2000 DC Watts Input current output Output Specifications Copyright © 2024, Brooks Automation...
Page 109 Yes, when used with PreciseFlex software and I2C communication Fault detection Output short circuit, output overload, missing third AC phase Size and Weight 270 mm (L) x 105 mm (W) x 76 mm (H), 0.907 kg PreciseFlex Part Number PS10-EA-02000 Copyright © 2024, Brooks Automation...
Page 110: Appendix C. Frequently Asked Ques- Tions (Faqs)
PreciseFlex Controller via an IDC connector. For more information on this module, search for "ribbon cable interface module" on the ASI website or "ribbon cable to terminal block converter" on the web. Copyright © 2024, Brooks Automation...
Page 111: How Do You Connect A Robot Power Enable Button
If a system only has one or two axes, to configure the first or second axis to control the brake signals, set the "Auxiliary brake release DOUT channel" (DataID 10625) Parameter Database value for the appropriate axis to "8331." "8331" is the DOUT channel number for the dedicated DIO that controls the brake signal. Copyright © 2024, Brooks Automation...
Page 112: Why Should Grippers Be Wired To Release When Digital Signals Are On
For example, an encoder and motor can be wired to the 4 encoder and motor connectors but can be assigned to the 2 axis of a kinematic module. Copyright © 2024, Brooks Automation...

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