Brooks Automation
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
Service Procedures
Copyright © 2022, Brooks Automation, Inc.
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3.
Remove the outer link top sheet metal cover.
4.
Replace the two batteries.
5.
Replace the covers.
To replace the Encoder Battery in the 6-axis outer link the user must:
1.
Remove the outer link foam cover from the side of the of the outer link with the cable
grommet. It is attached with Velcro.
2.
Replace the two batteries.
3.
Replace the cover.
If the error message “Encoder Battery Down” was generated, the robot must be re-calibrated after this
procedure. Otherwise it is not necessary to re-calibrate the robot.
Calibrating the Robot: Setting the Encoder Zero Positions
Cal_PP is a service program that must be run to set the zero positions of the absolute encoders on each
motor. The zero positions must be re-established if any of the motors are replaced, their cables
disconnected for a long duration, or the encoder backup battery has been disconnected.
Cal_PP is supplied on the flash drive of the robot and is available in the Support area of the Precise
website. To run Cal_PP, the controller must be configured to run GPL programs and Cal_PP must be
loaded into the controller's memory (See Appendix D).
Tools Required: Calibration Kit with M6 X 40mm dowel, 2 M5 X 45mm Socket Head Cap Screws, and 2
M5 jam nuts.
The following describes the procedure for defining the zero positions of the PFDD robot axes using
Cal_PP.
1.
Enable power to the robot’s controller, but do not turn on power to the motors. (This
procedure should be executed with motor power off. The robot does not move.)
2.
The CALPP program is typically installed at the factory and should be loaded into
flash memory. Using the Web based Operator Control Panel first unload any
currently loaded programs. Press
"UnLoad".
This ensures that no GPL project is
currently selected for execution.
Press the "
Load
" button. This displays a popup list
of Projects that are in the flash disk and available for execution.
In the popup
display, click on CALPP_RevXX. When you are ready to execute the Project, press
"
Start
". If CALPP is not loaded in the robot, first Load Cal_PP into the controller’s
memory from a PC, using the web Operator Control Panel, as described above in
the Software Reference Section.
