Technical Reference
Application Examples
18 www.galilmc.com / Galil Motion Control, Inc.
Pick & Place
An automated IC insertion machine is used to pick up a part at an
XY location then move it to the proper location on the circuit
board.A PC-based controller needs to move an XY table along a
straight line to the specified locations.The pick-up head is con-
trolled by the Z axis which raises the head during movement and
lowers the head during placement.
Requirements
System resolution: .1 micron
Accuracy: 1 micron
Speed: 40,000 counts/sec
PC-based
Components Selected
DMC-1830:3-axis PCI bus motion controller
ICM-1900:Interconnect module
WSDK:Servo design software for setup
Operation
The motion requirements are to pick up a part at coordinate X1,Y1
and to place it at coordinate X2,Y2.Once the coordinates are speci-
fied, the controller drives the XY table on a straight line to the pick-
up location.Once there,the pick-up head, which is controlled by
the Z axis,is lowered and the holding solenoid is activated.Next,
the pick-up head is raised,the table is driven to the new location,
and the pick-up head is lowered.Finally,the solenoid is released
and the pick-up head is raised again.
The motion program includes two parts.The first,#INITIAL, is
performed once to initialize the system.Consecutive moves are
executed with the program #PICK.
Specifically,the controller computes the differences DX and DY
between the starting position X0,Y0 and the pick-up position
X1,Y1.It then commands the XY axes to move on a straight line
with the VP, DX,DY instruction. Upon completion,the Z axis is low-
ered and the output bit 1 is energized to activate the solenoid.The
process is repeated to move the motor to the new coordinate.The
instructions are given in the following program.
INSTRUCTION INTERPRETATION
#INITIAL Label
HMXY Drive X and Y to home
BGXY Start motion
AMXY Wait until completion
X0=-RPX Starting position
Y0=-RPY Starting position
X1=10000 Pick position X
Y1=10000 Pick position Y
X2=20000 Place position X
Y2=20000 Place position Y
#PICK Label
DX=X1-X0 Find X difference
DY=Y1-Y0 Find Y difference
VP DX,DY Command motion
VS 40000 Vector speed
VA 200000 Vector acceleration
VD 200000 Vector deceleration
VE End of move
BGS Start XY motion
AMS Wait for motion completion
PR,,-50000 Move head down (Z-axis)
SP,,20000 Z speed
AC,,80000 Z acceleration
DC,,80000 Z deceleration
BGZ Start Z motion
AMZ Wait for Z motion completion
SB1 Set output bit — solenoid
PR,,50000 Raise head
BGZ Start Z motion
AMZ Wait for Z completion
DX=X2-X1 Compute the X difference
DY=Y2-Y1 Compute the Y difference
VP DX,DY Motion command
VE
BGS Start XY motion
AMS Wait for XY completion
PR,,-50000 Lower head
BGZ Start head motion
AMZ Wait for Z motion completion
CB1 Clear output bit—release solenoid
PR,,50000 Raise head
BGZ Start Z motion
AMZ Wait for Z motion completion
X0=X2 Update starting X position
Y0=Y2 Update starting Y position
X1=X1+20000
Y1=Y1+20000
X2=X2+20000
Y2=Y2+20000
JP #PICK
EN End program
Example—Pick & Place
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