Brooks Automation
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
Service Procedures
Copyright © 2022, Brooks Automation, Inc.
92
Service Procedures
Recommended Tools
The following tools are recommended for these service procedures:
1.
Gates Sonic Belt Tension Meter, Model 507C for checking timing belt tension.
2.
A set of metric “stubby” hex L-keys, for example McMaster Carr PN 6112A21 with
1.5, 2.0, 2.5, 3.0, 4, 5, and 6mm L Keys.
3.
A set of metric hex drivers including 1.27, 1.5, 2.0, 2.5 and 3.0mm driver, for
example McMaster Carr PN 52975A21.
4.
Metric ball end hex drivers, 4.0mm and 5.0mm for M5 and M6 SHCS.
5.
A pair of tweezers or needle nose pliers.
6.
A pair of side angle cutters.
7.
Small flat bladed screw driver, with 1.5mm wide blade typical
Trouble Shooting
Precise robots and controllers have an extensive list of error messages. Please refer to the HTML
document
Precise_Documentation_Library.chm
to search for a specific error message and cause. Listed
below are a few errors that may be generated by hardware failures.
Symptom
Recommended Action
System error message
generated
“ESTOP not Enabled”
Check 9 pin Dsub for Estop jumpers.
“Encoder Battery Low”
Replace absolute encoder battery on back of column or outer link
“Encoder Battery Down”
If encoder cable has been disconnected, recalibrate robot. If
battery voltage has dropped below 2.5V replace encoder battery
and recalibrate robot.
“Encoder Operation Error”
Joint rotated too quickly with power off. See Procedure below.
“Encoder Data, Accel/decel Limit
Error”
Encoder cable may be damaged and encoder is getting
intermittent communication, causing apparent jumps in
position. Check encoder connectors. Replace motor/encoder or
encoder only on DD axes.
