Introduction to the Hardware
PreciseFlex™ DDR Collaborative Robots
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
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Copyright © 2022, Brooks Automation, Inc.
degrees/sec, the distance traveled will be about 30 degrees to reach a full stop, and the time will be
0.66sec. These settings provide a smooth deceleration and stop with full payload. If a faster deceleration
is desired, contact Precise application engineering to increase the deceleration setting for Estop.
Releasing a Trapped Operator: Brake Release Switch
Should a hard E-Stop be triggered, the Z brake will engage, and motor power will be disconnected from
all motors. As the J1, J3, and J6 axes on the PFDD6, and the J1, J3, and J4 axes on the PFDD4 do not
have brakes, they may be freely pushed by the operator. To release the Z brake, the operator may press
the brake release switch, under the inner link, as long as 24VDC is present. It is not necessary for motor
power to be on for the brake release to work. Note the J4 and J5 brakes on the PFDD6 are not released
by the brake release switch to prevent unexpected sagging of the payload.
