Brooks Automation
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
Introduction to the Hardware
Copyright © 2022, Brooks Automation, Inc.
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The optional machine vision system, “PreciseVision”, can execute either in a PC connected through
Ethernet. PreciseVision requires cameras connected via Ethernet or USB, allowing any processor on the
network to obtain and process information from any camera on the network, and provide the results to
any networked motion controller.
Release History
The PFDD Direct Drive robots are being released in 2020, with Beta and Pilot versions scheduled for
release this year.
Beta Units
, designated by Serial Numbers FD0-yymm-AA-zzzzz, were released in early 2020, and are for
customer feedback and evaluation, while factory testing is completed. Some improvements may be
incorporated into Pilot Units, below.
Pilot/Production Units
, designated by Serial Numbers FD0-yymm-xB-zzzzz, will be released in the
spring of 2021
Yy – year
Mm – month
X – controller rev
Y – robot rev
Zzzzz – unique number
PFDD Robots
The PFDD6 has a rated payload of 6kg, including the gripper. The PFDD4 has a rated payload of 8kg.
Note that for the PFDD robots, it is very important to set the correct value for the payload in the
Dynamic Feed Forward parameter 16071 (or use the GPL “Robot.Payload” property)
.
The payload
can also be set using the operator Web Interface (see “Control Panels > Robot Rayload”). This is
very important prior to entering “Free Mode” as a drastically incorrect payload can cause the Z
axis gravity compensation to be incorrect and thus cause the Z axis to start to move up or sag
down, until the velocity restrict safety limit cuts in to stop any excessive speed.
For the 6-axis
robot 100% equals 6kg for the gripper and payload mass. For the 4-axis robot 100% equals 8kg for the
gripper and payload mass. For lighter masses, this value should be reduced. Setting the payload
correctly is important both for optimal dynamic performance of the robot and for proper gravity
compensation, including “free” mode. For pick and place applications, the property “robot.payload” can
be set by the application program to change the payload.
Also, it is important to set the correct tool X, Y, Z offset distance in mm in the first 3 values of parameter
16051 and tool Yaw, Pitch, and Roll in values 4-6, for the distance of the center of mass of the gripper
and payload from the J6 axis of rotation. For example, for a horizontal tool, if the center of a 2kg mass is
150mm from the center of rotation of axis 4 (the wrist), this parameter should be set to 0, 0,150, 0, 90, 0
for the Dynamic Feed Forward calculations to compute the correct feed forward motor torques and
achieve optimal performance. For a vertical gripper with the same offset, this parameter should be 0, 0,
150,0, 0, 0. The tool offset length must also be set in the Dynamic Feed Forward parameter 16068 value
