PreCise PF3400, Hardware Reference Manual

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Table Of Contents
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Facilities Connections 34
System Dimensions 35
Linear Axis Mounting Dimensions 41
Mounting Instructions 42
Tool Mounting – PreciseFlex 400 42
Accessing the Robot Controller 42
Power Requirements 43
Emergency Stop 43
Hardware Reference _________________________________________________________ 44
System Schematics 44
System Diagram and Power Supplies 44
Facilities Panel 67
E-Stop Connector 68
MCP / E-Stop Interface 69
Digital Input Signals 69
Gripper Controller Digital Inputs and Outputs 72
RS485 Remote IO Module (GIO) 72
PF3400 3kg IO in Base of Robot (GIO) 73
Digital Outputs in the Outer Link 75
Ethernet Interface 75
RS-232 Serial Interface 75
Software Reference __________________________________________________________ 77
Accessing the Web Server 77
Loading a Project (Program) or Updating PAC Files 79
Updating GPL (System Software) or FPGA (Firmware) 80
Recovering from Corrupted PAC Files 81
Controller Software Extensions 85
Adding or Removing the Optional Linear Axis 85
Controlling the Precise Servo Grippers 86
Servo Gripper Controller Digital Inputs and Outputs 88
Optional Pneumatic or Vacuum Gripper 89
G1400B Dedicated Digital Outputs 90
Service Procedures __________________________________________________________ 91
Recommended Tools 91