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PreciseFlex PFDD4
Brooks PreciseFlex PFDD4 Manuals
Manuals and User Guides for Brooks PreciseFlex PFDD4. We have
1
Brooks PreciseFlex PFDD4 manual available for free PDF download: Reference Manual
Brooks PreciseFlex PFDD4 Reference Manual (145 pages)
DDR Collaborative Robots
Brand:
Brooks
| Category:
Robotics
| Size: 15 MB
Table of Contents
Table of Contents
6
Introduction to the Hardware
10
System Overview
10
System Description
10
Release History
11
PFDD Robots
11
System Diagram and Coordinate Systems
12
System Diagram
14
Control System Overview
14
Power Supplies and Power Considerations
15
Energy Dump Circuit
16
Remote Front Panel, E-Stop Box and Manual Control pendant
16
Remote IO Module (Ethernet Version)
17
Machine Vision Software and Cameras
17
Machine Safety
18
Safety and Agency Certifications
18
Standards Compliance and Agency Certifications
18
Moving Machine Safety
18
Mechanical and Software Limit Stops
19
Stopping Time and Distance
19
Releasing a Trapped Operator: Brake Release Switch
20
Collaborative Robot Safety
21
General Information
21
Robot Testing and Safety Circuits
25
Test Procedure for the PFDD Robots
28
Verification of PFDD Collision Force
29
Robot Workcell Design
30
Appendix A: Example Performance Level Evaluation for PFDDR, Update for PFDD Example
31
Appendix B: Table A2 from ISO/TS 15066: 2016
33
Appendix C: Safety Circuits for PFDD Robots
35
Installation Information
37
Environmental Specifications
37
Facilities Connections
37
System Dimensions
38
Mounting Instructions
44
Tool Mounting
44
Accessing the Robot Controller
44
Power Requirements
45
Hardware Reference
46
System Schematics
46
System Diagram and Power Supplies
46
Facilities Panel
65
E-Stop Connector
66
MCP / E-Stop Interface
67
15 Pin D-Sub Signals
67
Digital Input and Output Signals
68
25 Pin D-Sub Signals
71
Slave Amplifier (GSBP) Digital Inputs and Outputs
71
Ethernet Interface
72
RS-232 Serial Interface
73
Gripper Serial Interface (for Bar Code and Other RS232 Devices in Gripper)
73
Software Reference
75
Accessing the Web Server
75
Loading a Project (Program) or Updating PAC Files
77
Updating GPL (System Software and Firmware)
78
Recovering from Corrupted PAC Files
79
Gripper Support
82
Gripper Introduction
82
Controlling the Precise Servo Grippers
82
Servo Gripper Controller Digital Inputs and Outputs
85
Optional Pneumatic or Vacuum Gripper
87
Ethernet Connector in the Outer Links
91
Service Procedures
92
Recommended Tools
92
Trouble Shooting
92
Encoder Operation Error
93
Replacing the Encoder Batteries
95
Calibrating the Robot: Setting the Encoder Zero Positions
97
Replacing Belts and Motors
102
General Belt Tensioning
103
Tensioning or Replacing the J2 (Z Column) Belts
103
Tensioning the 1St Stage Belt
103
Tensioning the 2Nd Stage Belt
104
Replacing the Z Column Stage One Timing Belt
105
Replacing the Z Column Stage Two Timing Belt
107
Tensioning or Replacing the Belts in the PFDD4
108
Tensioning the Belts in the PFDD4 Outer Link
108
Replacing the Belts in the PFDD4 Outer Link
109
Replacing the Outer Link Motors or Harmonic Drives in the PFDD6
111
Replacing the Robot Main Controller
112
Replacing the Z Axis Slave Controller
114
Replacing the J3 Axis Slave Controller
116
Replacing the J4 or Gripper Slave Controller in PFDD4
117
Replacing the Gripper and Slip Ring in PFDD4
119
Replacing the Gripper Spring or Cable
121
Adjusting the Gripper Backlash or Centering Fingers
122
Replacing the Main Harness
124
Replacing the J3 Clock Spring Harness to the J4 Motor
124
Replacing the J4 to Gripper Controller Harness in the PFDD4
127
Replacing the J4 Slave Controller in the PFDD6
128
Replacing the J6 Motor Pigtail Harness
133
Appendix A: Product Specifications
135
Appendix B: Environmental Specifications
137
Appendix C: Spare Parts List
138
Appendix D: Preventative Maintenance
140
Appendix E: Belt Tensions, Gates Tension Meter
141
Appendix F: Unpacking the Robot
143
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