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Document Content

The information contained herein is the property of Precise Automation Inc., and may not be copied,photocopied, reproduced, translated, or converted to any electronic or machine-readable form in whole orin part without the prior written approval of Precise Automation Inc. The information herein is subject tochange without notice and should not be construed as a commitment by Precise Automation Inc. Thisinformation is periodically reviewed and revised. Precise Automation Inc. assumes no responsibility forany errors or omissions in this document.

Copyright © 2004-2009 by Precise Automation Inc. All rights reserved.

The Precise Logo is a registered trademark of Precise Automation Inc.

Trademarks

Guidance 3400, Guidance 3300, Guidance 3200, Guidance 2400, Guidance 2300, Guidance 2200,Guidance 1400, Guidance 1300, Guidance 1200, Guidance Controller, Guidance DevelopmentEnvironment, GDE, Guidance Development Suite, GDS, Guidance Dispense, Guidance ProgrammingLanguage, GPL, Guidance System, PrecisePlace 1300, PrecisePlace 1400, PrecisePlace 2300,PrecisePlace 2400, PreciseFlex 1300, PreciseFlex 1400, PrecisePower 300, PrecisePower 500,PrecisePower 2000, PreciseVision, RIO are either registered or trademarks of Precise Automation Inc.,and may be registered in the United States or in other jurisdictions including internationally. Otherproduct names, logos, designs, titles, words or phrases mentioned within this publication may betrademarks, service marks, or trade names of Precise Automation Inc. or other entities and may beregistered in certain jurisdictions including internationally.

Any trademarks from other companies used in this publication are the property of those respectivecompanies. In particular, Visual Basic, Visual Basic 6 and Visual Basic.NET are trademarks of MicrosoftInc.

Disclaimer

PRECISE AUTOMATION INC., MAKES NO WARRANTIES, EITHER EXPRESSLY OR IMPLIED,REGARDING THE DESCRIBED PRODUCTS, THEIR MERCHANTABILITY OR FITNESS FOR ANYPARTICULAR PURPOSE. THIS EXCLUSION OF IMPLIED WARRANTIES MAY NOT APPLY TO YOU.PLEASE SEE YOUR SALES AGREEMENT FOR YOUR SPECIFIC WARRANTY TERMS.

Precise Automation Inc.727 Filip RoadLos Altos, California 94024U.S.A.www.preciseautomation.com

TABLE OF CONTENTS

Overview ............................................................................................ 1 Robots ................................................................................................ 2

PrecisePlace Cartesian Robots....................................................... 5 PreciseFlex SCARA Robots............................................................ 8 Robot Accessories ........................................................................ 11

Guidance Motion Controllers ............................................................ 12 Guidance 3000A Series ................................................................ 15 Guidance 2000B Series ................................................................ 17 Guidance 2000C Series ................................................................ 19 Guidance 1000 Series................................................................... 21 Controller Accessories .................................................................. 23 PrecisePower Intelligent Motor Power Supplies............................ 25 Guidance Programming Language ............................................... 27

Remote IO Module ........................................................................... 30 Developer Tools ............................................................................... 32

Guidance Development Software Suite ........................................ 32 Developer/Demo Kit ...................................................................... 35

PreciseVision Software..................................................................... 36 PreciseVision Hardware Information ............................................. 40

Application Tools .............................................................................. 44 Guidance Dispense ....................................................................... 44

www.preciseautomation.com - Automate with Ease 1

OVERVIEW

Automate with Ease

Is the setup of your robot so simple that it can be accomplished in minutes instead of days? Does your controller have integrated drives and vision in a package small enough to fit in your hand? Can you write your vision-guided motion control program on a single sheet of paper? If not, you should switch to Precise Automation products that leverage our cutting-edge technology and years of experienceto make the automation process easier.

Our versatile table-top Cartesian andSCARA robots come fully assembled and are easy to set up. Our low cost vision-guided motion controllers integrate motor drives in an extremelycompact design that can fit inside many robot structures. The controller's powerful features allow OEM’s to create the applications they want and to produce user-friendly systems. Adding vision guidance simplifies complex problems in locating and identifying parts and significantly improves process reliability by easily accommodating to dimensional variances.

Precise Automation's flexible and innovative products serve a wide variety of industries including: electronics, semiconductor, life science, medical products, solar and mass storage.

Precise Automation - www.preciseautomation.com2

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PRECISE ROBOTS

Low cost, vision-guided robots withfast and easy set-up

Can a robot installation be as simple as plugging in two cables? Precise Automation makes it possible. PrecisePlace Cartesian robots and PreciseFlex SCARA robots come out of the box fully assembled and straight into your application. Just plug them into an AC outlet and your PC's Ethernet port and they are ready to work. The controller and harnesses are embedded within the robot’s structure resulting in a muchsmaller footprint. No controller integration is required, no harness to purchase or thread and no extra controller cabinets.

Precise robots feature a powerful vision-guided motion controller, novel low-cost mechanical designs and servo motor performance. These features enable smooth, quiet motion without the use of expensive components. This greatly reduces the cost of these systems without sacrificing performance or capabilities and makes Precise robots ideal forapplications where size, smooth operation, and budget are critical.

PrecisePlace 2400A

PreciseFlex 1300 Precise’s machine vision software

KEY FEATURES

embedded in robot structure - Achieves a dramatic reduction in cost and footprint by eliminating controller cabinets and robot cables.• All harnesses, wires and hoses are contained inside the robot structure - Eliminates flailing cables in the workspace.• Fully integrated system - Robots ship fully assembled. No extra cost brackets required to mate axes, no harnesses to purchase or thread, no controller integration required, no external controller to mount, no external controller cabinets.• Pneumatic lines and IO user signals are available for application use at end effector.• Encoders provide excellent resolution and repeatability - The addition of PreciseVision allows these robots to achieve placement accuracies at the full resolution of the encoders.

PrecisePlace 2210A

integrates seamlessly with Precise robots. A graphical user interface makes camera calibration and programming easy and intuitive. By visually closing the robot’s position loop using a process known as visual servoing, our robots can achieve placement accuracies based on their encoder resolution rather than their absolute accuracy. Enabled by Precise's integrated vision and controls and our robot's high resolution position sensors, visual servoing permits our low-cost robots to be used in applications requiring extremely high placement accuracies.

• Guidance Vision-Guided Controller and power supplies


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PRECISE ROBOT SERIES

PRECISEPLACE ROBOTS

PRECISEFLEX ROBOTS

This line of Cartesian robots is available in two, three or four axes configurations. They feature a patented, novel direct drive system. This zero-backlash, zero-cogging drive requires no maintenance and has far fewer parts than other designs incorporating belts, cables, ball screws, etc. The extrusion based structure allows robots to be custom made to fit your workspace. Also available in an ISO Class 2 cleanroom version.

These SCARA robots are available in a three or four axis configuration. This geometry permits these robots to be easily adapted to a number of different applications. A vertically mounted gripper allows the robot to reach down to assemble parts, while a horizontally mounted gripper can service a row of equipment that is not directly in-line with the robot’s base. Extremely efficient station-to-station motions reduce cycle times to a minimum. Includes Advanced Kinematic License for simple Cartesian manual and program control.


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PP2 -MA-A2 0- - - -

PRECISEPLACE 2000A ROBOTS

AVAILABLE PRECISEPLACE 2000A CONFIGURATIONS:

Part number:

Number of axes

20 - Two axes (X/Y)21 - Two axes (X/Z)30 - Three axes (X/Y/Z)40 - Four axes (X/Y/Z/Theta)

Integrated controller

0 - Guidance 3410A Controller (G3XD-EA-A3410)4 - Guidance 3414A Controller (G3XD-EA-A3414)6 - Guidance 3416A Controller (G3XD-EA-A3416)

Available X-axis travel

050 - 500 mm X travel060 - 600 mm X travel070 - 700 mm X travel080 - 800 mm X travel090 - 900 mm X travel100 - 1000 mm X travel

Available Y-axis travel

20 - 200 mm Y travel30 - 300 mm Y travel40 - 400 mm Y travel50 - 500 mm Y travel60 - 600 mm Y travel

Available Z-axis travel

2 - 240 mm Y travel

Cleanroom option

0 - Standard PrecisePlace RobotC - PrecisePlace ISO Class 2 Robot


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PRECISEPLACE 2000A DIMENSIONS:X Stroke + 272

333.50318.50

290

5018.50

0

166.50

Y-Stroke

Y-Stroke + 66

X-St

roke

+267

150

n +

75

X-St

roke 75 0 5

400

Stan

dard

Y S

trok

e622.4

244.4

116.7

020

32.70

Y Stroke + 354

400Y-Stroke

50

622

Max

Z-S

tage

Enve

lope


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PRECISEPLACE 2000A SPECIFICATIONS:


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General Specifications Range & Features Range of Motion & Resolution X-Axis Available X-Axis Travel: 500 mm – 1000 mm Y-Axis Available Y-Axis Travel: 200 mm – 600 mm Z-Axis Available Z-Axis Travel: 240 mm Optional: Theta Axis +/- 270 degrees

Resolution +/- 0.008 mm in X, Y and Z standard +/- 0.002 mm in X, Y and Z available with high resolution option

Repeatability +/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion Performance and Payload Maximum Acceleration 0.6G Maximum Speed 2,000 mm/sec

Z Force Continuous upwards Z force – 60N Continuous downwards Z force – 80N

Payload PrecisePlace 2300A – 5 kg for Y lengths <= 400mm, 4 kg for Y > 400mm PrecisePlace 2400A – 3.5 kg for Y lengths <= 400mm, 2.5 kg for Y > 400mm

Controller AVAILABLE GUIDANCE CONTROLLERS: Guidance 3410A (G3XD-EA-A3410), Guidance 3414A (G3XD-EA-A3414), Guidance 3416A (G3XD-EA-A3416)

Interfaces General Communications RS-232 channel, Ethernet port, remote front panel

Digital I/O Channels 12 optically isolated digital inputs, 8 optically isolated digital outputs included on the X-Axis End Cap Facilities Panel. Additional 8 isolated digital inputs, 8 isolated digital outputs provided on Z-axis. All outputs rated at 100 mA maximum per channel, except for channel 1 in X-axis end cap, which is rated at 500 mA. Additional remote I/O available via Precise RIO modules or 3rd party MODBUS/TCP devices

Analog I/O Channels Facilities for 2 analog inputs included on controller and 4 or 6 optional analog outputs optionally available on controller

Pneumatic Lines Two air lines, each 75 PSI maximum, provided at Z-axis drive and routed internally to fittings on the X-Axis End Cap Facilities Panel.

Operator Interface Web based operator interface supports local or remote control via browser connected to embedded web server

Programming Interface Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP

Required Power Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum Weight 30 kg typical, will vary with size

PF10-MA-01 0- -

PRECISEFLEX 1000 ROBOTS

AVAILABLE PRECISEFLEX 1000 CONFIGURATIONS:

Part number:

Number of axes

30 - Three axes (J1/Z/J3)40 - Four axes (J1/Z/J3/J4)

Integrated controller

0 - Guidance 2310C/2410C Controller 4 - Guidance 2314B/2414B Controller6 - Guidance 2316B/2416B Controller

Available Z-axis travel

3 - 300 mm X travel6 - 600 mm X travel

AVAILABLE PRECISEFLEX 1000 OPTIONS:

PF14-MA-00001 - Solenoid and IO Harness


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PRECISEFLEX 1300 DIMENSIONS:

R37.5R119.4

238.

827

9.6

181.

5

0 69.3

383

650

±162°J3 Rotation

±176°J1 Rotation

789

389.90

311.90

213.90

131.98

0

300

Vert

ical

Tra

vel

165.27

186144

0


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PRECISEFLEX 1000 SPECIFICATIONS:


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Payload PreciseFlex 1300 – 5 kg PreciseFlex 1400 – 4 kg

Z Force Maximum Z down force – 200N

Controller AVAILABLE GUIDANCE CONTROLLERS: Guidance 2410C (G2X0-EA-C2410), Guidance 2410B (G2XD-EA-B2410) Guidance 2414B (G2XD-EA-B2414), Guidance 2416B (G2XD-EA-B2416)

Interfaces General Communications RS-232 channel, Ethernet port, remote front panel

Digital I/O Channels 12 optically isolated digital inputs, 8 optically isolated digital outputs available on J1-Axis housing Facilities Panel. Additional 8 isolated digital inputs, 8 isolated digital outputs provided on the Outer Link. All outputs rated at 100 mA maximum per channel, except for channel 1 in Facilities Panel, which is rated at 500 mA. Additional remote I/O available via Precise RIO modules or 3rd party MODBUS/TCP devices

Analog I/O Channels Two analog inputs optionally available on controller. Four or six analog outputs optionally available on controller.

Pneumatic Lines Two air lines, each 75 PSI maximum, provided at Outer Link and routed internally to fittings on J1-Axis housing Facilities Panel.

Operator Interface Web based operator interface supports local or remote control via browser connected to embedded web server

Programming Interface Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP

Required Power Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum Weight 34 kg typical, will vary with size

Handheld hardware MCP that permits a robot to be jogged in joint and Cartesian coordinates.Can be carried close to the robot when adequate safety precautions have been implemented. Includes: LCD with 4 lines of 20 characters for displaying system status and robot location, E-stop button with dual contact pairs, 3 m cable that plugs into the front panel connector of Precise Robots, Guidance Controllers or Guidance Systems.

PRECISE ROBOT ACCESSORIES

Robot Quick Start Connector and Cable Kit (PX10-EA-00001)The robot facilities panel and the IO board near the end effector provide several connectors to interface to peripheral equipment. This kit allows you to quickly begin interfacing to your robot. Contains: all mating plugs for the robot facilities panel and end effector IO board, RS-232 serial cable and crossover Ethernet cable.

E-Stop Button in Enclosure(PP10-EA-00002)Emergency stop button with dual relays in an 80 mm x 70 mm x 65 mm enclosure. Includes eight foot cable that plugs into the front panel of Precise Robots, Guidance Controllers or Guidance Systems.

Precise Manual Control Pendant (PP10-EP-00003)


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GUIDANCE CONTROLLERS

4-axis vision-guided motion control in the palm of your hand

Guidance Controllers feature multi-axis coordinated motion, integrated servo motor drives, network communications, a web interface for local/remote support, a powerful, yet easy-to-use programming language, machine vision and more. All of these features are available in a design small enough to fit in your hand, yet powerful enough to drive room size gantries.

Their small size enables these controllers to fit inside a robot’s structure, eliminating the need for controller cabinets, long and

Combined with Precise’s powerful programming language and multi-axis kinematics library, Guidance Controllers are ideal for a wide range of industries and applications.

expensive cables and costly connectors. Multiple controllers can be connected over Ethernet to allow for 32 axes of coordinated motion and control of nearly any robot configuration.

KEY FEATURES

• Powerful motion control in an extremely compact package - Integrates motion control, motor drives, digital/analog/serial IO, Ethernet communications and optional machine vision. Supports up to 4 axes with integrated drives and up to six 3rd party amplifiers via ±10VDC DAC interfaces per controller.• Control multi-axis articulated machines at a fraction of the size and cost of other controllers.• Multi-axis kinematics for Cartesian control of complex geometries.• Access from anywhere in the world - Embedded Web Server allows access without the need for a local PC. • Upload or download applications and diagnostic information from remote sites - Allows for collaborative development and fast customer service worldwide.

• Scalable architecture - A distributed control architecture implemented over Ethernet permits multiple controllers to be networked together to control up to 32 axes. This results in a scalable architecture that allows drives to be placed at the point of use and can eliminate hundreds of wires and large expensive controller cabinets.• Supports multiple programming methods - Includes powerful embedded language modeled after object-oriented forms of the Basic Language such as Visual Basic.Net. Can also be configured as a slave to a PC application using Ethernet and a Windows DLL that permits PC based legacy software to be preserved. For simple applications, a built-in teach-and-repeat method is included for performing point-to- point motions.• Continuous path planning.• Integrated machine vision option.


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GUIDANCE CONTROLLER SERIES

GUIDANCE 3000/2000 SERIES

GUIDANCE 1000 SERIES

Extremely compact vision-guided motion controllers with up to 4 integrated motor drives and amplifiers up to 30 amps peak at 320 VDC. Small enough to fit inside robot structures, yet powerful enough to drive room-size gantries.

Designed to significantly reduce costs for lower power applications. Includes up to 4 integrated motor drives up to 5 amps peaks at 42 VDC. Delivers Precise’s advanced motion capabilities and integrated vision in a smaller package and at a lower price than ever before.

CONTACT US FOR SPECIAL OEM PRICINGON RECOMMENDED MOTORS

GUIDANCE 3000A SERIES GUIDANCE 2000B SERIES GUIDANCE 2000C SERIES

Motor Drives Up to four integrated motor drives, bus voltage 24VDC to 340VDC, up to 30A

peak/15A RMS/10A stall per motor

Up to four integrated motor drives, bus voltage 24VDC to 340VDC, up to 20A peak/9.5A RMS/6.5A stall per motor

Up to four integrated motor drives, bus voltage 24VDC to 340VDC, up to 20A peak/9.5A RMS/6.5A stall per motor

Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers

Yes Yes No

Optional support for analog incremental encoders with interpolation for increased resolution

Yes Yes No

10/100 Mbps Ethernet ports 4 4 2 2 or 4 analog +/- 10VDC 12-bit input I/O channels. 4 or 6 analog outputs optionally available

Yes Yes No

I2C multi-drop serial communications Yes Yes No

Guidance 3000A Guidance 2000B Guidance 2000C


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GUIDANCE 3000A CONTROLLERS

AVAILABLE GUIDANCE 3000A CONFIGURATIONS:

G3X -EA-Part number:

Version

0 - Standard controllerA - Enhanced controller option

Integrated Motor DrivesNO MOTOR DRIVES 0000 - No motor drives10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) A341 - Four integrated 10A drives A321 - Two integrated 10A drives20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel) A342 - Four integrated 20A drives A322 - Two integrated 20A drives30 AMP DRIVES (30A peak, 15A RMS, 10A stall per channel) A343 - Four integrated 30A drives A323 - Two integrated 30A drives

Analog Output Channels

0 - No Dac4 - Four Dac’s6 - Six Dac’s

GUIDANCE 3000A DIMENSIONS

84 m

m

80 m

m

200 mm

10 or 20 Amp driveconfiguration

60 m

m

80 m

m

200 mm

No Amp driveconfiguration

84 m

m

98.8

mm

250 mm

30 Amp driveconfiguration


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GUIDANCE 3000A SPECIFICATIONS:


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General Specifications Range & Features Computational Hardware CPU and Dynamic Memory 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM Nonvolatile Memory Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage Software

Motion control

Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to 32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consist of up to 16 controllers. AVAILABLE UPGRADES Kinematic Licenses – Control complex machines (including articulated, parallel and redundant axis robots) with simple Cartesian control. Advanced Kinematic License – For three and four axis robots. Complex Kinematic License – For six and unusual geometry robots. (Custom or additional Kinematic modules available subject to an NRE charge). Conveyor Tracking Software License – Allows controller to integrate with conveyor belts and permits a robot to automatically adapt to variable belt speeds. Advanced Controls License – Enables enhanced motion control modes including: high-speed position latching, real time trajectory modification, analog output controlled by robot speed, and support for EtherNet/IP.

Operator interface Web based operator interface supports local or remote control via browser connected to embedded web server.

Programming interface Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP

Machine vision (optional) Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful, patented Object Locator finds parts in any orientation and at different scales within milliseconds.

Motion Control

Motor Drives

Up to four integrated motor drives compatible with a wide range of motors. 10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel. 20A option: 20A peak per channel, 9.5A RMS, 6.5A stall per channel. 30A option: 30A peak per channel, 15A RMS, 10A stall per channel. Four, two or no integrated drives can be provided with the controller. Maximum electrical power per motor: Amplifiers up to 30 amps peak at 320 VDC.

Position Sensor Interface Four differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support for selected absolute encoders (may require “enhanced” controller option). Support for analog incremental encoders with interpolation for increased resolution (requires “enhanced” controller option).

Control signals Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. Brake signals Up to 1A at 24V available for releasing motor brakes. 3rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers Communication Interfaces

General communications RS-232 port with hardware flow control, four 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232 port (no hardware flow control), compliant with IEC Category 3 safety standards.

Digital input channels 12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC for logic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or 3rd party MODBUS/TCP devices.

Digital output channels 8 general purpose optically isolated outputs, individually configurable as sinking or sourcing. 24 VDC maximum pull up if sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for channels 2-7, 500 mA maximum for channel 1. Additional remote I/O available via Precise RIO modules or 3rd party MODBUS/TCP devices.

Analog I/O Channels Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs. Non-user accessible IO RS-485 multi-drop serial communications and I2C multi-drop serial communications Required Low Voltage, Logic Power

24 VDC ± 5% power required for logic and I/O: 2.7A minimum, 4A, recommended for typical use of digital I/O. 1A additional required for 2KW PrecisePower Intelligent Motor Power Supply contactors.

GUIDANCE 2000B CONTROLLERS

AVAILABLE GUIDANCE 2000B CONFIGURATIONS:


Version


Integrated Motor Drives

10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) B241 - Four integrated 10A drives20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel) B242 - Four integrated 20A drives

Analog Output Channels

0 - No Dac4 - Four Dac’s6 - Six Dac’s

GUIDANCE 2000B DIMENSIONS:

67.9

mm

138 m

m224 mm


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GUIDANCE 2000B SPECIFICATIONS:


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Motion control

Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to 32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consist of up to 16 controllers. AVAILABLE UPGRADES Kinematic Licenses – Control complex machines (including articulated, parallel and redundant axis robots) with simple Cartesian control. Advanced Kinematic License – For three and four axis robots. Complex Kinematic License – For six and unusual geometry robots. (Custom or additional Kinematic modules available subject to an NRE charge). Conveyor Tracking Software License – Allows controller to integrate with conveyor belts and permits a robot to automatically adapt to variable belt speeds. Advanced Controls License – Enables enhanced motion control modes including: high-speed position latching, real time trajectory modification, analog output controlled by robot speed, and support for EtherNet/IP.




Motion Control

Motor Drives

Up to four integrated motor drives compatible with a wide range of motors. 10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel. 20A option: 20A peak per channel, 9.5A RMS, 6.5A stall per channel. Four drives can be provided with the controller. Maximum electrical power per motor: Amplifiers up to 20 amps peak at 320 VDC.

Position Sensor Interface Four differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support for selected absolute encoders (may require “enhanced” controller option). Support for analog incremental encoders with interpolation for increased resolution (requires “enhanced” controller option).

Control signals Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. Brake signals Up to 1A at 24V available for releasing motor brakes. 3rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers Communication Interfaces

General communications RS-232 port with hardware flow control, four 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232 port (no hardware flow control), compliant with IEC Category 3 safety standards.



Analog I/O Channels Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs. Non-user accessible IO RS-485 multi-drop serial communications and I2C multi-drop serial communications Required Low Voltage, Logic Power


GUIDANCE 2000C CONTROLLERS

AVAILABLE GUIDANCE 2000C CONFIGURATIONS:

G2X -EA- 0Part number:

Version



10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) C241 - Four integrated 10A drives20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel) C242 - Four integrated 20A drives

GUIDANCE 2000C DIMENSIONS:

46 m

m

138

mm

224 mm


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Motion control

Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to 32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consist of up to 16 controllers. AVAILABLE UPGRADES Kinematic Licenses – Control complex machines (including articulated, parallel and redundant axis robots) with simple Cartesian control. Advanced Kinematic License – For three and four axis robots. Complex Kinematic License – For six and unusual geometry robots. (Custom or additional Kinematic modules available subject to an NRE charge). Conveyor Tracking Software License – Allows controller to integrate with conveyor belts and permits a robot to automatically adapt to variable belt speeds. Advanced Controls License – Enables enhanced motion control modes including: high-speed position latching, real time trajectory modification, and support for EtherNet/IP.




Motion Control

Motor Drives

Up to four integrated motor drives compatible with a wide range of motors. 10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel. 20A option: 20A peak per channel, 9.5A RMS, 6.5A stall per channel. Four drives can be provided with the controller. Maximum electrical power per motor: Amplifiers up to 20 amps peak at 320 VDC.

Position Sensor Interface Four differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support for selected absolute encoders (may require “enhanced” controller option).

Control signals Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. Brake signals Up to 1A at 24V available for releasing motor brakes. Communication Interfaces

General communications RS-232 port with hardware flow control, two 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232 port (no hardware flow control), compliant with IEC Category 3 safety standards.



Non-user accessible IO RS-485 multi-drop serial communications Required Low Voltage, Logic Power


GUIDANCE 1000 CONTROLLERS

AVAILABLE GUIDANCE 1000 CONFIGURATIONS:


Version



5 AMP DRIVES (5A peak, 2.8A RMS) 0140 - Four integrated 5A drives

Communication Interfaces

0 - Standard

GUIDANCE 1000 DIMENSIONS

44 m

m

83 mm

133 mm


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GUIDANCE 1000 SPECIFICATIONS:


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Computational Hardware CPU and Dynamic Memory 400 Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM.

Nonvolatile Memory Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage.

Software

Motion control

Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to 32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consist of up to 16 controllers. AVAILABLE UPGRADES Kinematic Licenses – Control complex machines (including articulated, parallel and redundant axis robots) with simple Cartesian control. Advanced Kinematic License – For three and four-axis robots. Complex Kinematic License – For six-axis and unusual geometry robots. (Custom or additional Kinematic modules available subject to an NRE charge). Conveyor Tracking Software License – Allows controller to integrate with conveyor belts and permits a robot to automatically adapt to variable belt speeds. Advanced Controls License – Enables enhanced motion control modes including: high-speed position latching, real time trajectory modification and support for EtherNet/IP.




Motion Control

Motor Drives Up to four integrated motor drives: 2.8A RMS, 5A peak Bus voltage & total power for all drives: 12 VDC to 42 VDC output, 470 W total.

Position Sensor Interface Four differential digital encoder interfaces. Support for several absolute encoders (may require “enhanced” controller option).

Control signals Brake signals. (Up to 1A at 24V available for releasing motor brakes.) Communication Interfaces

General communications RS-232 port, two 10/100 Mbps Ethernet ports. Optional – RS-232 pendant port, remote front panel interfaces.

Digital input channels 4 general purpose optically isolated digital inputs, configurable as sinking or sourcing (additional 8 digital inputs optionally available for a total of 12). 5 VDC to 24 VDC for logic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or 3rd party MODBUS/TCP devices.

Digital output channels 4 general purpose optically isolated digital outputs, individually configurable as sinking or sourcing (additional 8 digital outputs optionally available for a total of 12). 24 VDC maximum pull up if sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel. Additional remote I/O available via Precise RIO modules or 3rd party MODBUS/TCP devices.

Required Low Voltage, Logic Power 24 +/- 5% VDC power required for logic and I/O: 2.7A minimum, 4A recommended for typical use of digital I/O.

CONTROLLER ACCESSORIES

Guidance Quick Start Connector and Cable Kits (G3X0-EA-00002 - for G3000/2000)(G1X0-EA-00001 - for G1000)Guidance Controllers utilize several different types of connectors and cables to interface to motors, encoders, power supplies and peripheral equipment. These kits allow you to quickly begin interfacing your controller. Contains: all mating plugs for controller connectors (motor, encoder,DIO, analog input, DAC, front panel), RS-232 cable, Ethernet cables.

E-Stop Button in Enclosure(PP10-EA-00002)Emergency stop button with dual relays in an 80 mm x 70 mm x 65 mm enclosure. Includes eight foot cable that plugs into the front panel connector of Precise Robots, Guidance Controllers or Guidance Systems.

Guidance Controller Power Harnesses (PS10-EA-W0001 - for 500W PS)(PS10-EA-W0002 - for 2000W PS)Motor and 24 VDC power harness that interconnects the Guidance Controller with our standard 24 VDC power supply and a PrecisePower motor power supply. The compact harness greatly simplifies the process of connecting the power supplies to your controller and the motor power enable signal. Also includes AC power cord.


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Precise Manual Control Pendant (PP10-EP-00003)Handheld hardware MCP that permits a robot to be jogged in joint and Cartesian coordinates.Can be carried close to the robot when adequate safety precautions have been implemented. Includes: LCD with 4 lines of 20 characters for displaying system status and robot location, E-stop button with dual contact pairs, 3 m cable that plugs into the front panel connector of Precise Robots, Guidance Controllers or Guidance Systems.

24 VDC Power Supply(PS10-EP-00125)Supplies logic power for controller and IO. Alsosupplies power for some remote IO or Ethernetcameras. Recommended for all users withoutlogic power already available.

General Specifications Range & Features Input voltage 90-264 VAC Input frequency 47-63 Hz Output voltage 24 VDC Output power 125 watts Operating temperature 0-49 deg C Storage temperature -20-85 deg C Dimensions 127 mm x 76.2 mm x 34 mm


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PRECISEPOWER SUPPLIES

Intelligent Motor Power Supplies

Intelligent motor power supplies designed for use with the Guidance 3000/2000 Controllers. These units provide the high voltage DC power required to operate a wide range of motors. Recommended for all users that require a high voltage motor power source.

KEY FEATURES

• Integral relays for enabling and disabling motor power via commands from controller• Large value output filter capacitors to store deceleration energy for use when power is needed• Automatic shut-down if switched to a short or severely over-loaded (PrecisePower 2000 only) • Ability to absorb line spikes• Built-in fuses

PrecisePower 500

PrecisePower 2000


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PrecisePower 300

PRECISEPOWER SPECIFICATIONS:

Range & Features General Specifications PRECISEPOWER 300

(PS1D-EA-00300) PRECISEPOWER 500

(PS10-EA-00500) PRECISEPOWER 2000

(PS10-EA-02000)

Input voltage 90-264VAC Single phase Dual range: 90 to 132 VAC and 180 to 264 VAC single phase, auto selecting

90-240VAC single phase or three phase

Input frequency 50-60 Hz 50-60 Hz 50-60 Hz Input inrush current 6.8 A at 240 VAC in 3.4A at 120VAC in and 6.8

A at 240VAC in 6.7A at 240VAC input

Input current at 240VAC single phase & 2000 DC watts output

-- -- 12.4A RMS, 30A peak

Output power 300 watts RMS @ 120VAC 600 watts RMS @ 240VAC 500 watts RMS

MAXIMUM 1000 Watts free air @ 240VAC single phase input 2000 Watts forced air @ 240VAC single phase input 2100 Watts forced air @ 208VAC 3 phase input 3400 Watts forced air @ 240VAC 3 phase input

Output voltage

DC no load = (1.41 X VAC RMS input)– 2 Volts DC full load @ 300W = (DC no load) X 0.96 DC full load @ 600W = (DC no load) X 0.93 Nominal range of 167 VDC to 337 VDC

320VDC nominal at 120VAC or 240VAC input line voltage

DC no load = (1.41 X VAC RMS phase-to-phase input) - 2 Volts DC full load single phase = (DC no load) X 0.93 DC full load three phase = (DC no load) X 0.97

% Regulation -- -- 5 to 7%

Cat 3 No, single relay standard No, single relay standard Yes, when used with Precise Automation software and I2C communication, dual relay standard

Fault detection -- -- Output short circuit, output overload, missing third AC phase Dimensions 135 mm x 76 mm x 60 mm 165 mm x 76 mm x 58 mm 270 mm x 105 mm x 76 mm


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MOTION CONTROL SOFTWARE

Guidance Programming Language -included with every Guidance Controller

KEY FEATURES

The Guidance Programming Language (GPL) is a full-featured language for programming Guidance Controllers. It is modeled after object-oriented forms of the Basic Language such as Visual Basic.Net and includes built-in support for motion control and machine vision. This results in a language that is simple to use and familiar to many application developers, but is still equipped with modern features that promote good programming practices.

GPL can easily control a wide range of devices from simple, single axis mechanisms to complex systems with multiple robots operating cooperatively. The language’s built-in library of robot geometries (kinematics) makes it easy to control complex mechanisms in simple Cartesian coordinates. Motion control facilities include: blending of joint, Cartesian and circular interpolated motions (”continuous path”); s-curve profiles; base and tool offsets; mathematics for manipulating robot and part positions and orientations; and frames of reference including moving reference frames for conveyor tracking.

• Powerful on board programming language for embedded applications• Object oriented language - contains data classes and objects, math functions and control structures modeled after Visual Basic.Net• Motion features - continuous path, robot kinematics, pallet and moving reference frames, velocity/torque control, s-curve profiling, real-time path generation • Integrated configuration database and datalogger - stores all key controller setup and runtime data and permits logging of virtually any parameter. Supports tuning and local or remote diagnostic of motion system, digital I/O and other key interfaces.

GPL includes extensive Networking and IO capabilities plus the runtime error handling required to implement robust automation applications.


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1 ‘Created: 3/29/2007 7:37:00 AM 2 Module GPL 3 Public Sub MAIN() 4 Dim ii As Integer 5 Const gripper_on As Integer = 20001 ’ Gripper DIO signal 6 7 Robot.Attached = 1 ‘ Get control of the robot 8 Signal.DIO(gripper_on) = False ’ Turn off gripper 9 Move.Loc (safe_position, slow_and_stop)10 For ii = 1 To 1011 ‘ Go get the part12 Move.Approach (pickup_position, fast_motion)13 Move.Loc (pickup_position, slow_and_stop)14 Move.WaitForEOM ’ Synch with robot motion15 Signal.DIO (gripper_on) = True16 ‘ Go put the part down17 Move.Approach (pickup_position, slow_and_go)18 Move.Approach (placement_position, fast_motion)19 Move.Loc (placement_position, slow_and_stop)20 Move.WaitForEOM ’ Synch with robot motion21 Signal.DIO (gripper_on) = False2223 Move.Approach (placement_position, slow_and_go)2425 Next ii26 Move.Loc (safe_position, slow_and_stop)27 End Sub28 End Module

Performs a traditional pick-and-place operation 10 times, opening and closing the gripper as appropriate. Begins and ends by moving the robot to a safe location.

SAMPLE GPL PROGRAM

AVAILABLE UPGRADES

• Kinematic Licenses - Control complex machines including articulated, parallel and redundant axis robots with simple Cartesian manual and program control (Kinematics for one to four axis Cartesian robots included with GPL). • Advanced Kinematic License (GPL0-SA-01101) - For 3 and 4 axis robots such as SCARA or Semiconductor Wafer Handler robots. (Included with PreciseFlex robots.) • Complex Kinematic License (GPL0-SA-01102) - For 6 axis and unusual robot geometries such as the PUMA and Delta robots.• Conveyor Tracking Software License (GPL0-SA-00100) - Permits a robot to pick, place or track parts on a variable speed conveyor belt.• Advanced Controls License (GPL0-SA-00400) - Adds support for high-speed position latching, real- time trajectory modification, analog output controlled by robot speed, and EtherNet/IP communication.


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REMOTE IO (RIO) MODULE

Additional IO for your Precise Robot,Guidance Controller or Guidance System

Expand the capabilities of your Precise Robot, Guidance Controller or Guidance System with Precise’s Remote IO (RIO) Module. The RIO features additional optically isolated digital input and output signals, analog inputs and serial ports in an easy to use package.

• Ethernet based - can be placed anywhere within the controller’s local Ethernet network• Supports MODBUS/TCP• Simple configuration and use - digital inputs and outputs accessed in the same manner as local I/O from any Guidance Controller• Up to 4 RIO modules can be connected to a single controller• Expand your IO even further - enhanced RIO version can be expanded further with two digital I/O expansion boards for a total of 96 isolated digital inputs and 96 digital outputs.

KEY FEATURES

RIO -EA-0000

AVAILABLE RIO MODULE CONFIGURATIONS:

Part number:

Version

1 - Standard RIO Module (32 digital inputs, 32 digital outputs, 1 RS-232 serial line)A - Enhanced RIO Module (32 digital inputs, 32 digital outputs, 4 analog inputs, 2 RS-232 serial lines, 1 RS-422 serial line, expandable with two additional expansion boards)E - Expansion RIO Module (32 digital inputs, 32 digital outputs, requires Enhanced RIO Module)

Digital Ouputs

1 - Sinking outputs2 - Sourcing outputs


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RIO MODULE SPECIFICATIONS:

General Specifications Range & Features Interface to Guidance Controller Communications interface Interfaces via 10/100 Mbps Ethernet. Can be located anywhere within the local network of the Guidance Controller.

Communications protocol Supports the MODBUS/TCP communications protocol. Uses a variation of this protocol to interface to Guidance Controllers. Protocol is compatible with all standard Ethernet TCP/IP networks. Can be configured as a slave to standard MODBUS/TCP masters (cannot communicate with Guidance Controller in this mode).

Scanning rate Scanning rates for changes in inputs configurable. New input data sent to controller when values changed. New output data received from controller when values changed. Typical scanning rates are 5-10 milliseconds.

Number of units Up to 4 RIO’s can be simultaneously interfaced to a Guidance Controller. Input and Output Interaces

Ethernet port Standard and enhanced RIO: One 10/100 Mbps Ethernet port Expansion board: none

Serial ports Standard RIO: One RS-232 port with hardware flow control Enhanced RIO: Two RS-232 ports with hardware flow control, one RS-422/485 port Expansion board: None

Digital input channels 32 optically isolated digital inputs Configurable in banks of 8 as sinking or sourcing 5 VDC to 24 VDC for logic high if sinking 24 VDC supplied for logic high if sourcing

Digital output channels

32 optically isolated digital outputs Must be purchased as sinking or sourcing 24 VDC maximum pull up if sinking 24 VDC supplied if sourcing 100 mA maximum per channel

Analog I/O channels Standard RIO & expansion boards: None Enhanced RIO: 4 analog input channels, +/- 10 VDC, 12 bit ADC

Expansion boards Up to 2 Expansion Boards can be added to an Enhanced RIO

Required Low Voltage Power 24 VDC required for logic and input/output functions Standard RIO: 0.4A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.6A. Enhanced RIO: 0.4A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.6A. Each expansion board: 0.2A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.4A

Size 75 mm (W) x 195 mm (L) x 28 mm (H)


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GDE is a complete software development environment that supports on-line and off-line development of Guidance Programming Language (GPL) projects and on-line debugging.


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GUIDANCE DEVELOPMENT SUITE

Development software

The Guidance Development Suite (GDS0-SA-00010)is a collection of programs that execute on a Windows PC and supplement the real-time capabilities of the Guidance Controller. This suite includes applications for: setting the Ethernet address of controllers; configuring and tuning controllers; creating and editing GPL programs; datalogging controller parameters to assisting in diagnosing problems and tuning systems; and loading pre-developed web-based robot applications.

• Create and edit GPL projects.• Simple property pages - record and alter global Location and performance Profile objects that can be referenced throughout a GPL project.• Manage projects - use simple drag-on-drop techniques to load software into a controller or retrieve files for storage on a PC.• Execute and debug projects - set break points, single step and view real-time variable values.• Multiple threads - control execution and view subroutine stack for multiple threads.• Robot Control - enable and disable the robot's motor power, home the robot, monitor errors, and globally slow down the robot for testing.

KEY FEATURES

GUIDANCE DEVELOPMENT ENVIRONMENT (GDE)

• Graphical ("oscilloscope") displays - once the data has been captured and transferred back to the PC either locally or remotely via a controller's web interface, the Viewer is a very convenient tool for visualizing the information.• Data analysis - collected data can be selectively displayed for comparison; graphical data can be zoomed up to provide more detail; results can be used for tuning systems and diagnosing hardware and programming errors.

KEY FEATURES

PRECISE DATALOGGER VIEWER

Viewer displays real-time data captured using the integrated Database data logging capability embedded in all Guidance Controllers.

GUIDANCE DISCOVERYSets a Guidance Controller’s Ethernet IP


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License usage - Each copy of the Guidance Development Suite is licensed for use on a single PC. However, one license can be used to interact with an unlimited number of robots or controllers. Customers with multiple controllers or robots do not have to purchase additional copies unless they use the Guidance Development Suite on multiple PC’s.

• Step-by-step procedures - includes wizards for setting all parameters to customize a controller for a typical robot: type of kinematic model needed; number and type of motors; current and servo loop tuning; axis stop limits; axis speeds and

KEY FEATURES

PRECISE CONFIGURATION UTILITY

Provides step-by-step procedures for setting up a Guidance Controller that is being integrated to a mechanism for the first time.

• Simplified loading - for packaged applications like Guidance Dispense, loads program and any web files into standard folders on a controller’s flash disk• Simplified configuration - can setup controller to automatically load and execute the GPL application and web pages whenever the controller is restarted.• Free application - can be used whether or not a license for GDS has been installed

GUIDANCE WEB APPLICATION INSTALLATION WIZARD

Loads packaged GPL projects and any associated web pages into a controller’s flash disk.

KEY FEATURES

• Detects all controllers - displays the IP address of any Guidance Controller connected to the local network independent of the IP address of the PC and the controller.• Sets controller’s address - permits the IP address and subnet mask for any detected controller to be set to new values.• Free application - can be used whether or not a license for GDS has been installed.

KEY FEATURES

address from a PC to enable network communication.

accelerations; etc.• Simplified specification - includes many aids that simplify setup: automatic determination of the number of motor poles; graphical aids for current and PID loop tuning; tests to verify operation of encoder index signals; etc. • Quick touch-up - can be used to completely configure a new mechanism or modify selected parameters for a mechanism that has already been configured.

GDE SCREENSHOT:

ROBOT CONTROLDisplays the controller's system messages and state. Allows robot power to be enabled and disabled and the robot speed to be reduced for testing.

MAIN TOOLBARSet bookmarks and break points. Create, save, compile and execute projects.

EDITOR/DEBUGGERMain window for editing and debugging procedures and global motion data.

PROJECT MANAGERDisplays and manages projectsthat are loaded in the control-ler’s memory or flash disk or onthe PC’s hard drive. Projects can be copied or moved bydragging and dropping.

Displays controller’s text output including compilation messages and output from GPL projects.

GPL OUTPUT OBJECT BROWSERProvides a list of the methodsand properties for each GPLClass. Automatically displaysabbreviated help information as text is entered.


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DEVELOPER/DEMO KIT

Complete motion & vision systemin a travel ready case

The Developer/Demo Kit is a complete motion and optional vision system in a travel ready case. It features the Guidance Controller wired to motors, switches and a power supply. Just plug it into an outlet and its ready to work. Ideal for software development or on-site demonstrations.

KEY FEATURES• Complete motion system - includes Guidance Controller, 4 motors, 12 digital input switches, 8 LED’s, E-Stop button, 24 VDC power supply.• Ready to work out of the box - system fully wired and includes Ethernet and RS-232 cables for connecting to host PC. • Vision option available

DDK0-EA-

AVAILABLE DEMO/DEVELOPER KIT CONFIGURATIONS:

Part number:

Included Guidance Controller

A3410 - Guidance 3410A Controller (G3X0-EA-A3410)A3414 - Guidance 3414A Controller (G3X0-EA-A3414)A3416 - Guidance 3416A Controller (G3X0-EA-A3416)


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PRECISEVISION

Powerful, easy-to-use vision software

PreciseVision Software (PVS0-SA-00010) works seamlessly with any Guidance Controller including those in Precise robots. PreciseVision’sbuilt-in interface to Guidance Controllers makes incorporating vision results into a motion application extremely simple and enables the robot to respond almost instantly to new vision information. In fact, PreciseVision works so well with motion, a Precise vision guided motion control program can fit on a single piece of paper.

PreciseVision provides a simple solution forapplications requiring locating parts, correctingfor manufacturing tolerances, inspecting partsor visually closing a position loop (visual servoing). It features an easy-to-use graphical programming interface, patented object locator, visual inspection tools, visual measurement tools and more.

KEY FEATURES

program to measure parts for quality control, locating features or precision alignment purposes.• Easy-to-use graphical programming interface - vision tools are taught by dragging- and-dropping them onto a camera image. Tool parameters are presented in a familiar object property table. Multiple tools can be easily chained together for more complex processes.• Simple storage and replaying of vision images - facilitates analyzing problem images and remotely duplicating image processing.• Supports an Ethernet camera interface - PreciseVision interfaces to Ethernet cameras or via an Ethernet adapter to standard analog cameras. (Support for USB cameras is currently being developed.) Multiple cameras can be accessed over the network. (Hardware can be purchased directly from supported vendors.)• Both economical 640 by 480 pixel resolution and megapixel grayscale and color cameras are supported

• 2D machine vision software package - can execute on a PC connected to a Guidance Controller by Etherent or (in the future) in the Guidance series motion controllers. • Patented Object “Finder” - most sophisticated and general tool in the toolkit. Used for finding and identifying objects regardless of their position, orientation or size in the field of view, based on a single picture taken of the object. Used for part feeding, fiducial finding, and general object and pattern recognition.• Powerful library of vision operators - for performing measurement and inspection functions. Used by a vision application


VISION

PRECISEVISION SPECIFICATIONS:

General Specifications Range & Features

Programming interface Windows PC application that enables vision tools to be graphically positioned on camera images. Tools can be chained together to produce more complex vision processing.

Visual tools

Object identification and locating

Patented Object “Finder” Tool – locates and identifies translated, rotated and scaled objects in grayscale images in a matter of milliseconds. Extremely easy to use for objects with both simple and complex 2D grayscale features. Blob Finder – Locates isolated regions in binary images and returns the region’s statistics. Provides an extremely fast alternative to the Finder for simple binary images

Feature measurement

Line Fitter Tool – Provides an easy method for locating linear edges in the camera image. This tool can be used together with others to refine the position or orientation of an object. Arc Fitter Tool – Locates the center and/or the radius of a circle or an arc. Edge Locator Tool – Searches for edges along a linear path through an image. Rotating Edge Locator Tool – Arc version of the Edge Locator Tool.

Inspection Pixel Counting Tool – Returns statistical data on the grayscale or binary pixels within a rectangular region of an image. Histogrammer Tool – Returns statistics on the distribution of grayscale values within a region of an image. Pixel Color Window Tool - Tests if the color of a region matches a trained color.

Computed results

Clear Grip Tool – Defines a bounding area that can be used to represent robotic gripper fingers. Tests to ensure that the regions for the fingers are free of objects. Computed “Feature” Tools – A group of tools that can compute geometric relationships between the results of other tools, e.g. the point of intersection of two lines, the line represented by two points, etc. Tool Filter – Applies a filter to a tool that returns multiple results, e.g. the Finder, and returns only the results that satisfy specific criteria.

Image Acquisition Processing

Acquire Tool – Performs the basic image acquisition function from a camera. This tool allows the user to specify which physical camera to utilize and to easily store images to a disk file for later replay. Motion Sensing Tool – Indicates when all objects in a rectangular region are stationary. Convolving Tool – Applies a number of low-level filtering operators to a region of an image, e.g. low pass, Laplacian, Gaussian, sharpening, etc. Morphology Tool – Modifies all pixels in an image region based on the value of neighboring pixels. Typical operations include image “dilation” and “erosion”.

Tool linking One of the most powerful features of PreciseVision™ is the ability to link one vision tool to another. This provides the required features to build up custom vision algorithms without the need to write code.

Features Built-in robot-to-vision calibration procedures for many configurations including stationary and arm-mounted cameras; gain/offset configuration from within a vision process.

System Requirements Windows XP, 512 MB RAM, 2.3 Pentium 4 with MMX, 1GB Hard Disk Space, Gigabit Ethernet (recommend and required for certain cameras), otherwise 100Mb Ethernet.

Cameras Directly interfaces to Ethernet GigE cameras or standard RS274 cameras interfaced via a GigE converter. (An interface to USB cameras is currently being developed.) Includes support for standard 640x480 and higher resolution, grayscale and color cameras.


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1 Public Sub MAIN 2 Dim vis As New Vision 3 Dim vResult As New VisResult 4 5 Robot.Attached = 1 6 Move.Loc (safe, vsProfile) 7 8 vis.Process(”Main”) ‘ Run vision process “Main” 9 If vis.ResultCount(”part1”) = 0 Then10 Console.Writeline(”Vision object not found”)11 Goto done12 End If13 vResult = vis.Result (”part1”, 1) ’ Get results1415 ‘ Create a reference frame object and set it16 ’ equal to the returned vision location17 Dim vsRefFrame As New RefFrame18 vsRefFrame.Loc.PosWrtRef = vResult.Loc1920 ‘ Pickup point is relative to new frame21 vsRelPoint.RefFrame = vsRefFrame2223 Move.Approach (vsRelPoint, vsProfile)24 Move.Loc (vsRelPoint, vsProfile)25 Move.Approach (vsRelPoint, vsProfile)2627 ’ Move back to safe location28 Move.Loc (safe, vsProfile)29 30 done:31 End Sub

SAMPLE VISION GUIDED MOTION CONTROL PROGRAMOn command from the robot program, a picture is taken and the image is analyzed. If a specific vision tool finds a part, the robot moves above the part, reaches down to touch the part, moves back up and finally moves to a safe location.

PRECISEVISION SCREENSHOT:


VISION

PROPERTY DISPLAYWhenever a copy of a vision tool is selected in the Vision Tool Definition window, all of the properties of the tool are displayed in this window

VISION CAMERA DISPLAYDisplays camera output (liveimage or snapshot). Tool Results graphics are overlayed on top of the image. To reposition or resize a tool, simply drag its handles in the window

VISION RESULTS WINDOWWhenever a Vision Process is executed, the output of each tool is displayed in thiswindow.

PROCESS MANAGERDisplays and permits editingof all of the Vision Processesdefined within the VisionProject. To add a new tool,simply drag and drop it on a process name.

VISION TOOLBOXLists all of the possible types of Vision Tools that can be created. Create new toolsby double clicking on toolname

VISION TOOL DEFINITIONDisplays all of the createdtools. Provides a quick visual queue as to the relationship between tools.


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PreciseVision is a software package and does not include hardware. This software is designed to capture vision images that are transmitted over Ethernet. PreciseVision supports two basic third party Ethernet hardware configurations:

SUPPORTED VISION HARDWARE

PC withPreciseVision


GuidanceController

GuidanceController

EthernetSwitch

EthernetSwitch

Genie CameraGenie Camera

PreciseVision using DALSA Genie Camera

CameraPower

CameraPowerEthernet

Ethernet Ethernet



GuidanceController

GuidanceController

EthernetSwitch

EthernetSwitch



CameraPower

CameraPower



GuidanceController

GuidanceController

EthernetEthernetSwitch



CameraCameraPowerEthernet

Ethernet Ethernet

Pleora iPORT Pleora iPORT


PC withPreciseVisionGuidance

Controller

GuidanceController

EthernetSwitch

EthernetSwitch

PreciseVision using Analog Camera with Pleora iPORT

Video Cable

Video Cable

iPORTPower

iPORTPower

AnalogCamera

AnalogCamera

CameraPower

CameraPower

Pleora iPORT Pleora iPORT


PC withPreciseVisionGuidance

Controller

GuidanceController

EthernetSwitch

EthernetSwitch

PreciseVision using Analog Camera with Pleora iPORT

Video Cable

Video Cable

iPORTiPORTPower

AnalogCamera

AnalogCamera

CameraCameraPower

OPTION 1 - DALSA ETHERNET CAMERA

OPTION 2 - PLEORA iPORT ETHERNET CONVERTER

Option 1 is simpler and more direct, while Option 2 allows for the use of a wider variety of available cameras. Part numbers for the supported hardware and recommended accessories are provided to allow items to be directly purchased from the hardware vendors.

OPTION 2 - images generated by analog cameras that are digitized and transmitted by a Pleora iPORT Ethernet converter.

OPTION 1 - images generated by DALSA Ethernet Cameras

Supported cameras

Ethernet camera DALSA Genie M640-1/3 GigE Vision Camera, part # CR-GEN3-M6400, 640x480 pixel monochrome sensor, 60 frames/second raw frame rate. Progressive scan, 1/3” sensor. Effective frame-to-frame time depends on the exposure time, which ranges from 100 microseconds to 4 seconds, controlled via software. For total time, add vision processing which is typically less than 100ms. PreciseVision supports up to 6 DALSA cameras. High resolution and color cameras also available.

Mounting Adapter Optional DALSA mounting bracket assembly, 1/4" screw mount, part # CA-GENA-BRA00. This bracket is used for mounting the camera on a standard tripod.

Camera power Each camera requires 4 watts, 11 VDC to 13 VDC. Order DALSA part # CA-GENA-PS120 if you wish to break out the camera's I/O pins with the DALSA Power and I/O Cable. An alternate supply is the Intercon PSISP10, which includes a connector compatible with the camera but no I/O signal break out. For info visit www.nortechsys.com/intercon/index.html.

Power and I/O cable DALSA Genie I/O and power breakout cable assembly, part # CA-GENC-IOP00. Ethernet Switch Standard 100/1000Mbit Ethernet Switch. Netgear GS605 10/100/1000, or equivalent Ethernet Card Standard 100/1000Mbit PC Ethernet card. Netgear GA311 PCI Gigabit Adaptor, or equivalent. Ethernet Cable Standard Cat-5 Ethernet cable. Total of 3 required.


VISION

Option 1 - DALSA Ethernet camera

PreciseVision supports up to 6 DALSA Genie GigEEthernet cameras. The recommended cameramodel is the Genie M640-1/2 GigE. DALSA cameras can be directly connected to a PC running PreciseVision or through an Ethernet switch. The PC must be equipped with a standard Ethernet card (1000Mbit card recommended). For more information on DALSA cameras, visit the DALSA website at imaging.com. To order: USA/Canada - contact 1st Vision, Inc. phone (978) 474-0044; outside USA/Canada - contact Manish Shelat at DALSA Digital Imaging, phone: (510) 249-5664, email: [email protected]

Analog video to Ethernet converter iPORT Analog Video IP Engine, part #PT1000-ANL-2-6-E, supports 1 to 6 RS-170 or NTSC analog cameras. Effective frame-to-frame time is 50ms average for repeated pictures on a single camera. Time for switching between cameras of the same type is 134ms. Time for switching between cameras of different types is up to 250ms. For total time, add vision processing which is typically less than 100ms.

Converter power iPORT power supply with cable and connector (12 volts), part #PT1000PWR-H. Camera, recommended Pulnix TM-250 or equivalent. For info visit www.pulnix.com. Note: Other cameras are also compatible.

Camera power For Pulnix TM-250 camera: Pulnix PD-12UU power supply + Pulnix 12P-02S power cable. An alternate supply is the Intercon IPS-102/3.05, which includes a connector compatible with the camera but no I/O signal break out. For info visit www.nortechsys.com/intercon/index.html.

Video cable Standard RG-59 coaxial video cable. Ethernet switch Standard 100/1000 Mbit Ethernet Switch. Netgear GS605 10/100/1000, or equivalent. Ethernet card Standard 100/1000 Mbit PC Ethernet card. Netgear GA311 PCI Gigabit Adaptor, or equivalent. Ethernet cable Standard Cat-5 Ethernet cable. Total of 3 required.

Option 2 - Pleora iPORT Ethernet converter

PreciseVision supports up to 6 RS-170 or NTSC analog cameras using the Pleora Technologies iPORT Analog Video to Ethernet Converter. The iPORT converter supports a wide variety of analog cameras and can be connected directly to the PC running PreciseVision or through a 100Mbit or 1000Mbit Ethernet switch. The PC must include a standard 100Mbit or 1000 Mbit Ethernet card. For more information, including a list of supported analog cameras, please contact: Pleora Technologies, phone: (613) 270-0625 email: [email protected] or visit the website pleora.com


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The choice of lens is based on the applicationand a lens is necessary whether using the camera scheme in Option 1 or Option 2. The smaller the “mm” size of the lens, the larger the field of view. However, smaller lens may have more distortion. Navitar, Inc. supplies a variety of compatible lenses and offersdiscounted prices to Precise Automationcustomers.

For help in choosing a lens, please visit:http://machinevision.navitar.com/opticalwizard

For additional assistance choosing a lens or to order, contact Joe Corsi at Navitar, Inc.phone: (800) 828-6778 ext 3238, email:[email protected]. Be sure to mentionPrecise Automation to receive discountedpricing.

Camera lens

LightingThe choice of lighting is based on the applicationand lighting is necessary whether using the camera scheme in Option 1 or Option 2.

Navitar, Inc. supplies a variety of lightingsolutions and offers discounted prices to Precise Automation customers. For moreinformation, contact Joe Corsi at Navitar, Inc.phone: (800) 828-6778 ext 3238, email:[email protected].

See also: http://www.nertlite.com/Products.html http://www.stockeryale.com/i/fluo/index.htm


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GUIDANCE DISPENSE

Dispensing hardware and software

Guidance Dispense is a hardware and software package that augments a Precise controller or robot to automatically dispense adhesives, sealants and other fluids along both simple and arbitrarily complex paths. Path programming is performed using simple teach and repeat methods without the need forprogramming. Dispensing can be enhanced by adding machine vision to automatically correct for deviations in part position and orientation.

The software executes on any Precise Guidance Controller (including those in robots and controlling any third party mechanism). A graphical user interface provides all the tools for teaching straight and curved three-dimensional paths and controlling the operation of syringes. Our advanced control tools allow dispensing to be turned on and off at programmable distances along the path and switches the air supply from pressure to vacuum to eliminate dripping.

All hardware components are designed for easy mounting on the PrecisePlace robot’s Z-axis and for simple electrical integration to the robot’s power harness.

Specifications Range & Features Dispensing system pressure regulator range 7-100 PSI (PrecisePlace’s internal air lines – 75 PSI max)

Syringe clamp diameter Can accommodate syringes up to 25 mm in diameter. For smaller diameter syringes, a standard plastic insert can be obtained.

Sliding syringe total travel 30 mm Compatible syringes The choice of syringe is based on application. A variety of compatible syringes are available.

GUIDANCE DISPENSE SOFTWARE(PP1D-SA-00001)• Primarily open source package - executes on any Guidance Controller (including those in Precise robots and those controlling any 3rd party mechanism). • Web based operator interface - can be viewed locally or remotely via a web browser• Graphical user interface - provides all the tools for teaching straight and curved three- dimensional paths and controlling the operation of syringes. Dispensing paths and processes can be taught and executed without the need for programming.• Includes operator control panel and runtime - permits path play back while maintaining accurate speed control to enable consistent results.• Advanced dispensing control - allows dispensing to be turned on and off at programmable distances along the path and switches the plunger air supply from pressure to vacuum to eliminate dripping.

KEY FEATURES

GUIDANCE DISPENSE HARDWARE• Designed for the PrecisePlace - all components are designed for easy mounting on the Z-axis and for simple electrical integration to the robot.• Available configurations include: DUAL DISPENSING SYSTEM (PP1D-MA-00001) - includes dual control air dispenser, fixed position syringe clamp and pneumatically operated variable position syringe clamp with Z-contact sensor. SINGLE DISPENSING SYSTEM (PP1D-MA-00002) - includes single control air dispenser and variable position syringe clamp with Z-contact sensor. SLIDING SYRINGE CLAMP (PP1D-MA-00003) - includes Z-contact sensor. FIXED SYRINGE CLAMP (PP1D-MA-00004)

DISPENSE HARDWARE SPECIFICATIONS:


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www.preciseautomation.com ♦ [email protected] ♦ (408) 224-2838 ♦ Version 1.1.1

Innovation Matrix, Inc. 3080 Olcott Street, Suite 125-A, Santa Clara, CA 95054 USA TEL: 408-329-4422 FAX: 408-716-2553 USA: [email protected] IM Japan: [email protected] IM Taiwan: [email protected] IM Beijing: [email protected]

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