Brooks PreciseFlex 100 User manual
PreciseFlexTM 100 Robot
User Manual
Part Number 603988, Revision A
PreciseFlex 100 Robot
Part Number: 603988 Rev. A
Brooks Automation
Information provided within this document is subject to change without notice, and although believed to be accurate,
Brooks Automation assumes no responsibility for any errors, omissions, or inaccuracies.
AcuLigner™, Advan Tag™, AutoTeach™, ATR™, AXM™, BiSymmetrik™, CenterSmart™, Crate to Operate™,
CrossingConnect™, DARTS™, Enerta™, e-RMA™, e-Spares™, e-Volution™, Falcon™, FIXLOAD™, FrogLeg™,
GuardianPro™, Independent Twin Linear Exchange™, InCooler™, InLigner™, Isoport™, ITLX™, Jet™, Jet Engine™,
LEAP™, LeapFrog™, LowProfile™, LPT™, M2 Nano™, Marathon 2, Marathon Express, PASIV™, Pathway™,
PowerPak™, PowerTools™, PuroMaxx™, QuadraFly™, Radius™, Radient™, Radient Express™, Reliance™,
Reliance ATR™, RetroEase™, SCARA™, SmartPM™, SMIF-INX™, SMIF-LPT™, SPOTLevel™, The New Pathway
to Productivity™, Time Optimized Trajectory™, Time Optimal Trajectory™, Time Optimized Path™, TopCooler™,
TopLigner™, VacuTran™, VersaPort™, WaferEngine™, LEAP™, Pathway™, GIO, GSB, Guidance 6600, Guidance
6430, Guidance 6420, Guidance 6410, Guidance 6000, Guidance 3400, Guidance 3300, Guidance 3200, Guidance
2600, Guidance 2400, Guidance 2300, Guidance 2200, Guidance 1400, Guidance 1300, Guidance 1200, Guidance
0200 Slave Amplifier, Guidance 0006, Guidance 0004, Guidance Controller, Guidance Development Environment,
GDE, Guidance Development Suite, GDS, Guidance Dispense, Guidance Input and Output Module, Guidance
Programming Language, GPL, Guidance Slave Board, Guidance System, Guidance System D4/D6, PreciseFlex™
300, PreciseFlex™400, PreciseFlex™3400, PreciseFlex™1300, PreciseFlex™1400, PreciseFlex™DD4,
PreciseFlex™DD6, PreciseFlex™DDR, PreciseFlex™G5400, PreciseFlex™G5600, PreciseFlex™G6400,
PreciseFlex™G6410, PreciseFlex™G6420, PreciseFlex™G6430, PreciseFlex™G6600, PreciseFlex™GSBP
Slave Amp, PreciseFlex™PFD0, PrecisePlace 100, PrecisePlace 0120, PrecisePlace 0130, PrecisePlace 0140,
PrecisePlace 1300, PrecisePlace 1400, PrecisePlace 2300, PrecisePlace 2400, PrecisePower 300, PrecisePower
500, PrecisePower 1000, PrecisePower 2000, PreciseVision, and RIO logos are trademarks of Brooks Automation.
Fusion®, Guardian®, MagnaTran®, Marathon®, Razor®, Spartan®, Vision®, Zaris®, and the Brooks and design
logo are registered U.S. trademarks of Brooks Automation.
All other trademarks are properties of their respective owners.
© 2023 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.
This technology is subject to United States export Administration Regulations and authorized to the destination
only; diversion contrary to U.S. law is prohibited.
Brooks Automation
15 Elizabeth Drive
Chelmsford, MA
01824-2400
Tel: +1 978-262-2400
Fax: +1 978-262-2500
Brooks Automation, PreciseFlex Collaborative Robots
201 Lindbergh Avenue
Livermore, CA 94551
Tel: +1-408-224-2838
2Copyright © 2023 Brooks Automation, Inc.
Brooks Automation
Part Number: 603988 Rev. A
Worldwide Headquarters
15 Elizabeth Drive
Chelmsford, MA 01824 U.S.A.
Brooks Automation,
PreciseFlex Collaborative Robots
201 Lindbergh Avenue
Livermore, CA 94551 U.S.A
For Technical Support:
Location Contact Website
North America
+1-800-447-5007 (Toll-Free)
+1-978-262-2900 (Local)
+1-408-224-2838 (PreciseFlexTM)
http://www.brooks.com/
Europe [email protected]
Japan +81 120-255-390 (Toll Free)
+81 45-330-9005(Local)
China +86 21-5131-7066
Taiwan +886 080-003-5556 (Toll Free)
+886 3-5525258 (Local)
Korea 1800-5116 (Toll Free)
Singapore +65 1-800-4-276657 (Toll Free)
+65 6309 0701 (Local)
Copyright © 2023 Brooks Automation, Inc. 3
PreciseFlex 100 Robot
Part Number: 603988 Rev. A
Revision History
Revision ECO Date Action Author
A EC144813 07/24/2023
Released manual at Rev. A to follow
standard Brooks technical publication
styles.
M. Ashenfelder
4Copyright © 2023 Brooks Automation, Inc.
Brooks Automation
Part Number: 603988 Rev. A
Table of Contents
1. Safety 8
Safety Setup 8
Authorized Personnel Only 8
Explanation of Hazards and Alerts 9
Safety Text 9
Safety Icons 9
Signal Words and Color 9
Alert Example 10
General Safety Considerations 11
Mechanical Hazards 13
Electrical Hazards 14
Ergonomic Hazards 15
Emergency Stop Circuit (E-Stop) 17
Recycling and Hazardous Materials 17
2. Introduction to the Hardware 18
Overview 18
System Diagram and Coordinate Systems 20
System Components 22
Optional Gripper 22
Guidance 1400A Controller 22
Low Voltage Power Supplies 23
Energy Dump Circuit 23
Remote Front Panel, E-Stop Box and Manual Control Pendant 24
Optional RS485 IO Module (GIO) 25
Remote IO Module (Ethernet Version) 26
Machine Vision Software and Cameras 26
Machine Safety 27
Safety and Agency Certifications 27
Standards Compliance and Agency Certifications 27
Moving Machine Safety 27
Safety Zones 28
Voltage and Power Considerations 33
3. Installation Information 36
Environmental Specifications 36
Facilities Connections 36
Specifications and System Dimensions 36
Unpacking and Handling Instructions 46
Mounting Instructions 46
Tool Mounting 47
Accessing the Robot Controller 47
Power Requirements 47
Emergency Stop 48
4. Hardware Reference 49
Copyright © 2023 Brooks Automation, Inc. 5
PreciseFlex 100 Robot
Part Number: 603988 Rev. A
System Schematics, Diagram, and Power Supplies 49
Robot Inputs and Outputs 61
Robot Interfaces 61
MCP/E-Stop Interface 62
Digital Input Signals 63
Digital Output Signals 64
Gripper Controller Digital Inputs and Outputs 66
RS485 Remote IO Module (GIO) 67
Ethernet Interface 69
RS-232 Serial Interface 69
5. Software Reference 70
Accessing the Web Server 70
Loading a Project (Program) or Updating PAC Files 72
Updating GPL (System Software) or FPGA (Firmware) 73
Recovering from Corrupted PAC Files 74
Controller Software Extensions 76
Controlling the PreciseFlex Servo Gripper 77
Overview 77
Software Revision 77
Controlling the Gripper 77
Gripper Squeeze (Simple Method) 78
Gripper Squeeze (Asymmetric Method) 78
Grip Test and Squeeze Check 79
Servo Gripper Controller Digital Inputs and Outputs 80
Optional Pneumatic or Vacuum Gripper 81
Control of Status Lamp on Theta Cover 81
6. Service Procedures 82
Recommended Tools 82
Troubleshooting 82
Encoder Operation Error 84
Replacing the Encoder Battery 85
Calibrating the Robot: Setting the Encoder Zero Positions 87
Replacing Belts and Motors 90
General Belt Tensioning 90
Tensioning the X-axis Belt 91
Replacing the X-axis Motor Assembly 93
Replacing the X-axis Timing Belt 94
Replacing the Y-axis Motor or Belt Assembly 97
Replacing the Y-axis Belt Assembly (For XY robots only) 99
Tensioning the Z-axis Output Belt 100
Tensioning or Replacing the Z-axis Motor and Timing Belt 101
Replacing the Theta Axis Motor 102
Replacing the Power Supplies or Controller 104
Replacing the Main Harness 106
Replacing the Servo Gripper Controller 107
Wiring for Pneumatic Gripper 109
6Copyright © 2023 Brooks Automation, Inc.
Brooks Automation
Part Number: 603988 Rev. A
Replacing the Gripper Spring or Cable 111
Adjusting the Gripper Backlash 112
Replacing the Gripper Harness 113
Replacing the Gripper 114
Installing the Optional GIO Board 116
Appendices 118
Appendix A:Product Specifications 118
Appendix B: Environmental Specifications 120
Appendix C: Spare Parts List 121
Appendix D: Preventive Maintenance 122
Appendix E:Belt Tensions, Gates Tension Meter 123
Appendix F: Facilities Panel 125
Copyright © 2023 Brooks Automation, Inc. 7
1. Safety PreciseFlex 100 Robot
Safety Setup Part Number: 603988 Rev. A
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.
Read the Safety Chapter
Failure to review the Safety chapter and follow the safety warnings can result in serious
injury or death.
lAll personnel involved with the operation or maintenance of this product must read
and understand the information in this safety chapter.
lFollow all applicable safety codes of the facility as well as national and
international safety codes.
lKnow the facility safety procedures, safety equipment, and contact information.
lRead and understand each procedure before performing it.
Authorized Personnel Only
This product is intended for use by trained and experienced personnel. Operators must comply with
applicable organizational operating procedures, industry standards, and all local, regional, national,
and international laws and regulations.
8Copyright © 2023 Brooks Automation, Inc.
Brooks Automation 1. Safety
Part Number: 603988 Rev. A Explanation of Hazards and
Alerts
Explanation of Hazards and Alerts
This manual and this product use industry standard hazard alerts to notify the user of personal or
equipment safety hazards. Hazard alerts contain safety text, icons, signal words, and colors.
Safety Text
Hazard alert text follows a standard, fixed-order, three-part format.
lIdentify the hazard
lState the consequences if the hazard is not avoided
lState how to avoid the hazard.
Safety Icons
lHazard alerts contain safety icons that graphically identify the hazard.
lThe safety icons in this manual conform to ISO 3864 and ANSI Z535 standards.
Signal Words and Color
Signal words inform of the level of hazard.
Danger indicates a hazardous situation which, if not avoided, will result
in serious injury or death.
The Danger signal word is white on a red background with an
exclamation point inside a yellow triangle with black border.
Warning indicates a hazardous situation which, if not avoided, could
result in serious injury or death.
The Warning signal word is black on an orange background with an
exclamation point inside a yellow triangle with black border.
Caution indicates a hazardous situation or unsafe practice which, if not
avoided, may result in minor or moderate personal injury.
The Caution signal word is black on a yellow background with an
exclamation point inside a yellow triangle with black border.
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 © 2023 Brooks Automation, Inc. 9
1. Safety PreciseFlex 100 Robot
Explanation of Hazards and Alerts Part Number: 603988 Rev. A
Alert Example
The following is an example of a Warning hazard alert.
Number Description
1. How to Avoid the Hazard
2. Source of Hazard and Severity
3. General Alert Icon
4. Signal Word
5. Type of Hazard
6. HazardSymbol(s)
10 Copyright © 2023 Brooks Automation, Inc.
Table of contents
Other Brooks Robotics manuals
