Cal Grandy wrote: > It would be of interest to know the control scheme for pick and place > machinery. > They use fairly custom code for these machines, they have a lot of relatively independent motions and activities going on. In general, a P&P machine may not have any coordinated axes, it just needs to go from one POSITION to another POSITION, with little care about how it handles the movement in between. This is quite different from milling machines and routers, which do work while ON the move.
My older P&P, a Philips CSM84 (made by Yamaha and also sold as their YM84) has X Y and rotation axes. Some models also have programmed Z, but mine doesn't. Everything else on the machine is pneumatic, the board fixturing, the head up-down, the mechanical aligner for the larger chips, the chip pick-up suction, the door locks, the feeders for the larger parts, and on and on. The XY motion seems to be coordinated by linear interpolation, and probably the rotation axis is coordinated with XY, too. But, it is mostly a positioning system, where it moves to a location, waits for the servo to settle, then strokes the head down and up, and moves on. Alignment of smaller components is done by chuck fingers that close when the head moves up, centering the parts. Jon ------------------------------------------------------------------------------ Download Intel® Parallel Studio Eval Try the new software tools for yourself. Speed compiling, find bugs proactively, and fine-tune applications for parallel performance. See why Intel Parallel Studio got high marks during beta. http://p.sf.net/sfu/intel-sw-dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
