Service Procedures
PreciseFlex™ DDR Collaborative Robots
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
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Copyright © 2022, Brooks Automation, Inc.
b.
A dialogue box will appear that allows the J4 and J5 brake to be released for
PFDD6 to allow it to be positioned correctly for CALPP. After the robot is correctly
positioned, execute CALPP.
c.
The CALPP application takes about 1 minute to run.
11.
After calibration is complete, use the brake release button and move the Z axis a
few millimeters away from the hard stop. Failing to do this will produce an error as
the robot is outside of the soft stop limits.
12.
Make sure the pin is removed from the base rotation plate.
13.
Enable power and home the robot. Calibration does not take effect until the
robot is homed.
Replacing Belts and Motors
The timing belts and harmonic drives may need service after 20,000 hours, depending on the payload
and duty cycle. The motors are designed to last the life of the robot. It is not expected that they will need
to be replaced in the field. In most cases, if a belt or a motor needs to be replaced, the robot should be
returned to the factory. While there are procedures in this manual for replacing belts and motors, only
experienced service technicians should attempt these procedures.
