Brooks PreciseFlex 1300 User manual

PreciseFlexTM 1300/1400 Robot
Hardware Introduction and Reference Manual
Revision A

PreciseFlex 1300/1400 Robot
Part Number: PF10-DI-00010 Rev. A
Brooks Automation
Information provided within this document is subject to change without notice, and although believed to be accurate,
Brooks Automation assumes no responsibility for any errors, omissions, or inaccuracies.
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All other trademarks are properties of their respective owners.
© 2023 Brooks Automation. All rights reserved. The information included in this manual is proprietary information of
Brooks Automation, and is provided for the use of Brooks customers only and cannot be used for distribution,
reproduction, or sale without the express written permission of Brooks Automation.
This technology is subject to United States export Administration Regulations and authorized to the destination
only; diversion contrary to U.S. law is prohibited.
Brooks Automation
15 Elizabeth Drive
Chelmsford, MA
01824-2400
Tel: [phone]
Fax: [phone]
Brooks Automation, PreciseFlex Collaborative Robots
201 Lindbergh Avenue
Livermore, CA 94551
Tel: [phone]
2Copyright © 2023 Brooks Automation, Inc.

Brooks Automation
Part Number: PF10-DI-00010 Rev. A
Worldwide Headquarters
15 Elizabeth Drive
Chelmsford, MA 01824 U.S.A.
Brooks Automation,
PreciseFlex Collaborative Robots
201 Lindbergh Avenue
Livermore, CA 94551 U.S.A
For Technical Support:
Location Contact Website
North America
[phone] (Toll-Free)
[phone] (Local)
[phone] (PreciseFlexTM)
http://www.brooks.com/
Europe [email protected]
Japan [phone] (Toll Free)
[phone](Local)
China [phone]
Taiwan [phone] (Toll Free)
[phone] (Local)
Korea 1800-5116 (Toll Free)
Singapore [phone] (Toll Free)
[phone] (Local)
Revision History
Revision ECO Number Date Explanation of Changes
Rev 5.0.0 TBD April 9, 2022 The first Brooks version of the manual.
Rev 5.0.1 TBD July 14, 2023 Updated manual to follow standard
Brooks technical publication styles.
Copyright © 2023 Brooks Automation, Inc. 3

PreciseFlex 1300/1400 Robot
Part Number: PF10-DI-00010 Rev. A
Table of Contents
1. Safety 1
Safety Setup 1
Authorized Personnel Only 1
Explanation of Hazards and Alerts 2
Safety Text 2
Safety Icons 2
Signal Words and Color 2
Alert Example 3
General Safety Considerations 4
Mechanical Hazards 6
Electrical Hazards 7
Ergonomic Hazards 8
Emergency Stop Circuit (E-Stop) 10
Recycling and Hazardous Materials 10
2. Introduction to the Hardware 11
System Overview 11
System Description 11
System Diagram and Coordinate Systems 12
System Components 13
PreciseFlex 1300/1400 Robots 13
Guidance 2400 Controller 14
Low-Voltage Power Supply 16
Intelligent Motor Power Supply 16
Remote Front Panel, E-Stop Box, and Manual Control Pendant 17
Remote IO Module 18
Machine Vision Software and Cameras 19
Controller Status LED 20
Machine Safety 21
Voltage and Power Considerations 21
Robot Controls Bay 22
Releasing a Trapped Operator: Brake Release Switch 23
Mechanical Limit Stops 23
E-Stop Stopping Time and Distance 24
Safety Zones 24
Safety Standards Reference Material 29
Standards Compliance and Agency Certifications 29
Moving Machine Safety 29
3. Installation Information 31
Environmental Specifications 31
Facilities Connections 31
System Dimensions 32
Mounting Instructions 33
Tool Mounting - PreciseFlex 1300/1400 34
4Copyright © 2023 Brooks Automation, Inc.

Brooks Automation
Part Number: PF10-DI-00010 Rev. A
Accessing the Controller and Power Supplies 35
Power Requirements 36
Emergency Stop 36
4. Hardware Reference 37
J1-Axis Housing Facilities Panel 37
Facilities Panel 37
Digital Input Signals 38
Digital Output Signals 41
Ethernet Interface 43
Remote Front Panel / MCP / E-Stop Interface 44
RS-232 Serial Interface 47
Outer Link and ZIO PCB 48
5. Software Reference 53
Controller Software Extensions 53
ZIO General Digital Inputs and Outputs 53
ZIO Dedicated Digital Outputs 54
6. Service Procedures 55
Troubleshooting 55
Setting the Encoder Zero Positions 55
General Belt Tensioning 58
J1-Axis Drive Procedures 59
Replacing the J1-Axis Motor Assembly 59
Replacing and Tensioning the J1-Axis Belts 61
Z-Axis Drive Procedures 64
Replacing the Z-Axis Motor Assembly 64
Replacing and Tensioning the Z-Axis Belts 66
J3-Axis and Theta Drive Procedures 69
Replacing the J3-Axis or Theta Motor Assembly 69
Replacing and Tensioning the J3-Axis Belts 71
Replacing and Tensioning the Theta Belts 74
Replacing Control Electronics Components 77
Appendices 80
Appendix A:Product Specifications 80
PreciseFlexTM 1300/1400 Specifications 80
PreciseFlexTM 1300/1400 Environmental Specifications 82
Appendix B:Frequently Asked Questions 83
Appendix C: Spare Parts Lists 84
Appendix D:System Schematics 85
Copyright © 2023 Brooks Automation, Inc. 5

1. Safety PreciseFlex 1300/1400 Robot
Safety Setup Part Number: PF10-DI-00010 Rev. A
1. Safety
Safety Setup
Brooks uses caution, warning, and danger labels to convey critical information required for the safe
and proper operation of the hardware and software. Read and comply with all labels to prevent
personal injury and damage to the equipment.
Read the Safety Chapter
Failure to review the Safety chapter and follow the safety warnings can result in serious
injury or death.
lAll personnel involved with the operation or maintenance of this product must read
and understand the information in this safety chapter.
lFollow all applicable safety codes of the facility as well as national and
international safety codes.
lKnow the facility safety procedures, safety equipment, and contact information.
lRead and understand each procedure before performing it.
Authorized Personnel Only
This product is intended for use by trained and experienced personnel. Operators must comply with
applicable organizational operating procedures, industry standards, and all local, regional, national,
and international laws and regulations.
1Copyright © 2023 Brooks Automation, Inc.

Brooks Automation 1. Safety
Part Number: PF10-DI-00010 Rev. A Explanation of Hazards and
Alerts
Explanation of Hazards and Alerts
This manual and this product use industry standard hazard alerts to notify the user of personal or
equipment safety hazards. Hazard alerts contain safety text, icons, signal words, and colors.
Safety Text
Hazard alert text follows a standard, fixed-order, three-part format.
lIdentify the hazard
lState the consequences if the hazard is not avoided
lState how to avoid the hazard.
Safety Icons
lHazard alerts contain safety icons that graphically identify the hazard.
lThe safety icons in this manual conform to ISO 3864 and ANSI Z535 standards.
Signal Words and Color
Signal words inform of the level of hazard.
Danger indicates a hazardous situation which, if not avoided, will result
in serious injury or death.
The Danger signal word is white on a red background with an
exclamation point inside a yellow triangle with black border.
Warning indicates a hazardous situation which, if not avoided, could
result in serious injury or death.
The Warning signal word is black on an orange background with an
exclamation point inside a yellow triangle with black border.
Caution indicates a hazardous situation or unsafe practice which, if not
avoided, may result in minor or moderate personal injury.
The Caution signal word is black on a yellow background with an
exclamation point inside a yellow triangle with black border.
Notice indicates a situation or unsafe practice which, if not avoided, may
result in equipment damage.
The Notice signal word is white on blue background with no icon.
Copyright © 2023 Brooks Automation, Inc. 2

1. Safety PreciseFlex 1300/1400 Robot
Explanation of Hazards and Alerts Part Number: PF10-DI-00010 Rev. A
Alert Example
The following is an example of a Warning hazard alert.
Number Description
1. How to Avoid the Hazard
2. Source of Hazard and Severity
3. General Alert Icon
4. Signal Word
5. Type of Hazard
6. HazardSymbol(s)
3Copyright © 2023 Brooks Automation, Inc.

Brooks Automation 1. Safety
Part Number: PF10-DI-00010 Rev. A General Safety Considerations
General Safety Considerations
Software
Software is not safety rated. Unplanned motion can occur as long as power is
supplied to the motors. Maximum torque could be momentarily applied that may
cause equipment damage or personal injury.
lOnly operate the robot with its covers installed.
lGuarantee that safety controller features are in place (for example, an
emergency stop button and protective stop).
lRegularly test safety components to prove that they function correctly.
Robot Mounting
Before applying power, the robot must be mounted on a rigid test stand, secure
surface, or system application. Improperly mounted robots can cause
excessive vibration and uncontrolled movement that may cause equipment
damage or personal injury.
lAlways mount the robot on a secure test stand, surface, or system before
applying power.
Do Not Use Unauthorized Parts
Using parts with different inertial properties with the same robot application can
cause the robot’s performance to decrease and potentially cause unplanned
robot motion that could result in serious personal injury.
lDo not use unauthorized parts.
lConfirm that the correct robot application is being used.
Copyright © 2023 Brooks Automation, Inc. 4

1. Safety PreciseFlex 1300/1400 Robot
General Safety Considerations Part Number: PF10-DI-00010 Rev. A
Magnetic Field Hazard
This product contains magnetic motors that can be hazardous to implanted
medical devices, such as pacemakers, and cause personal harm, severe injury,
or death.
lMaintain a safe working distance of 30 cm from the motor when with an
energized robot if you use a cardiac rhythm management device.
Unauthorized Service
Personal injury or damage to equipment may result if this product is operated or
serviced by untrained or unauthorized personnel.
lOnly qualified personnel who have received certified training and have the proper
job qualifications are allowed to transport, assemble, operate, or maintain the
product.
Damaged Components
The use of this product when components or cables appear to be damaged may cause
equipment malfunction or personal injury.
lDo not use this product if components or cables appear to be damaged.
lPlace the product in a location where it will not get damaged.
lRoute cables and tubing so that they do not become damaged and do not present
a personal safety hazard.
Inappropriate Use
Use of this product in a manner or for purposes other than for what it is intended may
cause equipment damage or personal injury.
lOnly use the product for its intended application.
lDo not modify this product beyond its original design.
lAlways operate this product with the covers in place.
5Copyright © 2023 Brooks Automation, Inc.