Brooks Automation
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
Hardware Reference
Copyright © 2022, Brooks Automation, Inc.
73
RS-232 Serial Interface
The PFDD robot includes a standard RS-232 serial line equipped with hardware or software flow
control. This port is available on the 15-pin D-sub connector on the connector panel in the base of the
robot as COM1. This port can be used to communicate to the system serial console or can be connected
to external equipment for general communication purposes. When used for general communications, this
port is referenced as device "/dev/com1" within the Guidance Programming Language (GPL).
Gripper Serial Interface (for Bar Code and other RS232 devices in
Gripper)
It is possible to connect a bar code reader or other RS232 serial device to the slip ring located in the robot
gripper. In the GSBP gripper two IO pins have optional assignments based on jumpers. For J4 connect
pins 2 and 3 to connect Digital Input 1 to pin 6 and connect pins 1 and 2 to connect pin 6 to a line that
goes back to a CPU serial input where it is multiplexed onto RS485 to connect back the main controller
COM1 input. For J7 connect pins 2 and 3 to connect Digital Output 3 to pin 3 and connect pins 1 and 2 to
connect pin 3 to a line that goes back to a CPU serial input where it is multiplexed onto RS485 to connect
back the main controller COM1 input. Serial data rate is limited to 9600 baud. (Not available in beta
units)
J4 and J7 on GSB Board
