Brooks 609622 Manuel utilisateur
Guidance Input and Output (GIO) Module
User Manual
Part Number 609622, Revision A
Guidance Input and Output (GIO) Module
Part Number: 609622 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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© 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: +1 978-262-2400
Fax: +1 978-262-2500
Brooks Automation, PreciseFlex Collaborative Robots
201 Lindbergh Avenue
Livermore, CA 94551
Tel: +1-408-224-2838
2Copyright © 2023 Brooks Automation, Inc.
Brooks Automation
Part Number: 609622 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
+1-800-447-5007 (Toll-Free)
+1-978-262-2900 (Local)
+1-408-224-2838 (PreciseFlexTM)
http://www.brooks.com/
Europe [email protected]
Japan +81 120-255-390 (Toll Free)
+81 45-330-9005(Local)
China +86 21-5131-7066
Taiwan +886 080-003-5556 (Toll Free)
+886 3-5525258 (Local)
Korea 1800-5116 (Toll Free)
Singapore +65 1-800-4-276657 (Toll Free)
+65 6309 0701 (Local)
Copyright © 2023 Brooks Automation, Inc. 3
Guidance Input and Output (GIO) Module
Part Number: 609622 Rev. A
Revision History
Revision ECO Date Action Author
A EC147326 08/03/2023
Releasing manual at
Rev. A to follow standard
Brooks technical
publication styles.
M. Ashenfelder
4Copyright © 2023 Brooks Automation, Inc.
Brooks Automation
Part Number: 609622 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
Guidance Input and Output (GIO) Module Overview 11
3. Installation, Configuration, and Software 13
Mounting and Installation 13
GIO Hardware and Software Configuration 14
GIO Board Unit Number 14
RS-485 Signal Termination 15
Controller Software Configuration 15
24VDC Logic Power Considerations 16
Communication Timing Considerations 16
Accessing GIO Remote DIO 17
4. Hardware Reference 18
Guidance Input and Output (GIO) Hardware Overview 18
Digital Input and Output Signals 19
RS-485 Signal / 24VDC Power Connector 24
RS-485 Termination Jumper 26
Status Red/Green LED 26
Unit Number Jumpers 27
GIO Board Jumpers 28
Appendix A:Product Specifications 31
Copyright © 2023 Brooks Automation, Inc. 5
1. Safety Guidance Input and Output (GIO) Module
Safety Setup Part Number: 609622 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: 609622 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 Guidance Input and Output (GIO) Module
Explanation of Hazards and Alerts Part Number: 609622 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. HazardSymbol(s)
3Copyright © 2023 Brooks Automation, Inc.
Brooks Automation 1. Safety
Part Number: 609622 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 Guidance Input and Output (GIO) Module
General Safety Considerations Part Number: 609622 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.
Table des matières
