Kent A. Reed wrote: > Gentle persons: > > I know the topic of pick-and-place machinery has come up from time to > time on this list. > > I just came across a mention of the OpenPNP project on HackADay.com. > > Since I don't get a hit on 'openpnp' in my emc-users mail archive, I > thought I'd pass along what might be interesting new information: > > http://code.google.com/p/openpnp/ > > Interesting stuff! I have a 15-year old Philips CSM84, about a $100 K when new. 3 heads, optional vision (which I don't have) a million solenoid valves and sensors, and 3 servo motors. I am sort of fretting over what to do when the control computer (an 80286, and not a conventional IBM PC form factor, although logically not that far from a PC XT) craps out. I could retrofit it with EMC2, but the thing has a HUGE amount of checking and recovery features built in, such as if it doesn't get the right vacuum when picking up a part it cycles the head and alignment jaws over the dump bucket to see if it can straighten the part, if so it places it, otherwise it tried to jettison tha part over the bucket and goes to re-fetch the part. If all the moves (go to feeder, pick up, go to board, place) were scripted in G-code, EMC couldn't do this recovery action. It also picks up fiducial marks with a sensor and realigns the coordinates in XYC based on that. Of course, if I did a retrofit, I could add a vision camera to it.
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