Brooks Automation
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
Gripper Support
Copyright © 2022, Brooks Automation, Inc.
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Optional Pneumatic or Vacuum Gripper
Note it is possible to order robots with or without a servo gripper.
However, when changing from a
servo gripper to a pneumatic or vacuum gripper the PAC files in the robot MUST be changed to
remove the servo gripper control configuration.
Contact Precise application support. Then, the
cabling must be changed per below to support the IO signals to drive pneumatic or vacuum solenoids.
The default gripper configuration for the PFDD4 and PFDD6 is tubing installed to support two solenoids,
with a single solenoid installed. For the PFDD4 this solenoid is installed in the outer link and wired to the
J4 GSBP local motor controller digital output 1. The address for digital output 1 on this controller is
400013. It can be toggled manually from the operator interface as shown below by clicking on the radio
button, which will bring up the IO control panel shown below. In GPL it may be controlled with the
Signal.DIO command. See the schematics section for solenoid wiring.
