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PRODUCT CATALOG

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 or in part without the prior written approval of Precise Automation Inc. The information herein is subject to change without notice and should not be construed as a commitment by Precise Automation Inc. This information is periodically reviewed and revised. Precise Automation Inc. assumes no responsibility for any errors or omissions in this document. Copyright 2004-2010 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 0200 Slave Amplifier, Guidance 0006, Guidance 0004, Guidance Controller, Guidance Development Environment, GDE, Guidance Development Suite, GDS, Guidance Dispense, Guidance Programming Language, GPL, Guidance System, Guidance System D4/D6, 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. Other product names, logos, designs, titles, words or phrases mentioned within this publication may be trademarks, service marks, or trade names of Precise Automation Inc. or other entities and may be registered in certain jurisdictions including internationally. Any trademarks from other companies used in this publication are the property of those respective companies. In particular, Visual Basic, Visual Basic 6 and Visual Basic.NET are trademarks of Microsoft Inc. Disclaimer PRECISE AUTOMATION INC., MAKES NO WARRANTIES, EITHER EXPRESSLY OR IMPLIED, REGARDING THE DESCRIBED PRODUCTS, THEIR MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR 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 Road Los Altos, California 94024 U.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 1000A Series ..........................................................................................21 Controller Accessories .........................................................................................23 PrecisePower Intelligent Motor Power Supplies ...................................................25 Guidance Programming Language.......................................................................27 Guidance System D4/D6..........................................................................................29 Remote IO Module...................................................................................................32 Developer Tools.......................................................................................................34 Guidance Development Software Suite................................................................34 PreciseVision Software ............................................................................................38 PreciseVision Hardware Information ....................................................................42 Application Tools......................................................................................................46 Guidance Dispense..............................................................................................46

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 experience to make the automation process easier.

Our versatile table-top Cartesian and SCARA robots come fully assembled and are easy to set up. Our low cost vision-guided motion controllers integrate motor drives in an extremely compact design that can fit inside many robot structures. The controller's powerful features allow OEMs 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.

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PRECISE ROBOTS Low cost, vision-guided robots with fast and easy set-up
ROBOTS
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 robots structure resulting in a much smaller footprint. No controller integration is required, no harness to purchase or thread and no extra controller cabinets.

PrecisePlace 2400A

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 for applications where size, smooth operation, and budget are critical. Precises machine vision software

PreciseFlex 1300

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integrates seamlessly with Precise robots. A graphical user interface makes camera calibration and programming easy and intuitive. By visually closing the robots 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.

KEY FEATURES
Guidance Vision-Guided Controller and power supplies

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.

ROBOTS

PrecisePlace 2210A

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PRECISE ROBOT SERIES

ROBOTS

PRECISEPLACE 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.

PRECISEFLEX ROBOTS
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 robots 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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PRECISEPLACE 2000A ROBOTS


AVAILABLE PRECISEPLACE 2000A CONFIGURATIONS:
Part number: Cleanroom option 0 - Standard PrecisePlace Robot C - PrecisePlace ISO Class 2 Robot

PP2 -MA-A2

0- -

- -

ROBOTS

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 travel 060 - 600 mm X travel 070 - 700 mm X travel 080 - 800 mm X travel 090 - 900 mm X travel 100 - 1000 mm X travel Available Y-axis travel 20 - 200 mm Y travel 30 - 300 mm Y travel 40 - 400 mm Y travel 50 - 500 mm Y travel 60 - 600 mm Y travel Available Z-axis travel 2 - 240 mm Y travel

AVAILABLE PRECISEPLACE 2000A OPTIONS:


PP20-MA-A0001 - High Resolution Option - Improves X and Y axis encoder resolution to +/- 0.002 mm. PP20-MA-A0003 - ISO Class 2 Upgrade Option - Upgrades PrecisePlace Robot to ISO class 2 cleanroom standards.

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PRECISEPLACE 2000A DIMENSIONS:


X Stroke + 272

339.40 324.40 295.90

ROBOTS

55.90 24.40 0

160.60

Y-Stroke Y-Stroke + 60 X-Stroke +265 800 150 n + 73.26 73.26 0 6.74

Y Stroke + 356 400 Y-Stroke 622

242.02

116.13

622 Max Z-Stage Envelope

55.90

0 20.37 33.07

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400 Standard Y Stroke

PRECISEPLACE 2000A SPECIFICATIONS:

ROBOTS

General Specifications
Range of Motion & Resolution X-Axis Y-Axis Z-Axis Optional: Theta Axis Resolution Repeatability Performance and Payload Maximum Acceleration Maximum Speed Z Force Payload Controller Interfaces General Communications Digital I/O Channels Analog I/O Channels Pneumatic Lines Operator Interface Programming Interface Required Power Weight

Range & Features


Available X-Axis Travel: 500 mm 1000 mm Available Y-Axis Travel: 200 mm 600 mm Available Z-Axis Travel: 240 mm +/- 360 degrees +/- 0.008 mm in X, Y and +/- 0.002 mm Z standard +/- 0.002 mm in X, Y and Z available with high resolution option +/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion 0.6G 2,000 mm/sec Continuous upwards Z force 60N Continuous downwards Z force 80N 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 AVAILABLE GUIDANCE CONTROLLERS: Guidance 3410A (G3XD-EA-A3410), Guidance 3414A (G3XD-EA-A3414), Guidance 3416A (G3XD-EA-A3416) RS-232 channel, Ethernet port, remote front panel 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 Facilities for 2 analog inputs included on controller and 4 or 6 optional analog outputs optionally available on controller 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. Web based operator interface supports local or remote control via browser connected to embedded web server Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum 30 kg typical, will vary with size

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PRECISEFLEX 1000 ROBOTS


AVAILABLE PRECISEFLEX 1000 CONFIGURATIONS:

ROBOTS

Part number:

PF10-MA-01

0- -

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 Controller 6 - Guidance 2316B/2416B Controller Available Z-axis travel 3 - 300 mm X travel 6 - 600 mm X travel

AVAILABLE PRECISEFLEX 1000 OPTIONS:


PF14-MA-00001 - Solenoid and IO Harness - Adds solenoids mounted in the outer link, connected to the robots internal pneumatic lines and wired to the IO provided on the outer link. The solenoids are software controlled by actuating the outer link digital output signals.

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PRECISEFLEX 1300 DIMENSIONS:

279.6

181.5

69.3

383

238.8

650

ROBOTS

R3 7.5

162 J3 Rotation

176 J1 Rotation

19 R1 .4

165.27 789 300 Vertical Travel 389.90 311.90 186 144 0 213.90 131.98 0

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PRECISEFLEX 1000 SPECIFICATIONS:

ROBOTS

General Specifications
Range of Motion & Resolution J1 Axis Z Axis J3 Axis Optional: J4/Theta Axis Resolution Repeatability Performance and Payload Maximum Acceleration Maximum Speed Payload Z Force Controller Interfaces General Communications Digital I/O Channels Analog I/O Channels Pneumatic Lines Operator Interface Programming Interface Required Power Weight

Range & Features


+/- 176 degrees Configurations from 300 mm (standard) to 600 mm (optional) +/- 162 degrees +/- 270 degrees +/- 0.005 mm in x-y plane +/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion 2G with 2 kg payload; 1.3G with 4 kg payload 1,000 mm/sec with 4 kg payload PreciseFlex 1300 5 kg PreciseFlex 1400 4 kg Maximum Z down force 200N AVAILABLE GUIDANCE CONTROLLERS: Guidance 2410C (G2XD-EA-C2410), Guidance 2410B (G2XD-EA-B2410) Guidance 2414B (G2XD-EA-B2414), Guidance 2416B (G2XD-EA-B2416) RS-232 channel, Ethernet port, remote front panel 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 Two analog inputs optionally available on controller. Four or six analog outputs optionally available on controller. Two air lines, each 75 PSI maximum, provided at Outer Link and routed internally to fittings on J1-Axis housing Facilities Panel. Web based operator interface supports local or remote control via browser connected to embedded web server Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum 34 kg typical, will vary with size

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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.

ROBOTS

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)


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.

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GUIDANCE CONTROLLERS 4-axis vision-guided motion control in the palm of your hand
CONTROLLERS
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 robots structure, eliminating the need for controller cabinets, long and 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.

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

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KEY FEATURES
CONTROLLERS
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-topoint motions. Continuous path planning. Integrated machine vision option.

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GUIDANCE CONTROLLER SERIES


GUIDANCE 3000/2000 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.

Guidance 3000A

Guidance 2000B

Guidance 2000C

CONTROLLERS

Three different controller series (3000A, 2000B, 2000C) are available in Precises high power controller line. These controllers offer an extensive set of features that are shared across all three controller series (please see the following pages for complete spec sheets). The differences between the controller series are as follows:
GUIDANCE 3000A SERIES
Motor Drives Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers Optional support for analog incremental encoders with interpolation for increased resolution 2 or 4 analog +/- 10VDC 12-bit input I/O channels. 4 or 6 analog outputs optionally available I2C multi-drop serial communications Additional two drives (for a total of six drives) available via Guidance Slave Amplifiers Up to four integrated motor drives, bus voltage 24VDC to 340VDC, up to 30A peak/15A RMS/10A stall per motor Yes Yes Yes Yes No

GUIDANCE 2000B SERIES


Up to four integrated motor drives, bus voltage 24VDC to 340VDC, up to 20A peak/10A RMS/6.5A stall per motor Yes Yes Yes Yes No

GUIDANCE 2000C SERIES


Up to four integrated motor drives, bus voltage 24VDC to 340VDC, up to 20A peak/10A RMS/6.5A stall per motor No No No No Yes

GUIDANCE 1000A SERIES


Designed to significantly reduce costs for lower voltage/power applications. Includes up to four integrated 12-48VDC motor drives with up to 15A peak/6A RMS/5A stall for channels 1 & 2 and 10A peak/4A RMS/3.3A stall for channels 3 & 4. Delivers Precises advanced motion capabilities and integrated vision in a smaller package and at a lower price than ever before.

CONTACT US FOR SPECIAL OEM PRICING ON RECOMMENDED MOTORS


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GUIDANCE 3000A CONTROLLERS


AVAILABLE GUIDANCE 3000A CONFIGURATIONS:
Part number:

G3X

-EACONTROLLERS

Version D - Standard controller E - Enhanced controller option Integrated Motor Drives NO MOTOR DRIVES 0000 - No motor drives 10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) A341 - Four integrated 10A drives A321 - Two integrated 10A drives 20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel) A342 - Four integrated 20A drives A322 - Two integrated 20A drives 30 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 Dac 4 - Four Dacs 6 - Six Dacs

GUIDANCE 3000A DIMENSIONS

49 mm

72 mm

80 m

80 m
10 or 20 Amp drive configuration

82 mm

20 0 m m

20 0 m m

0 25 m m

8m 98.

No Amp drive configuration

30 Amp drive configuration


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GUIDANCE 3000A SPECIFICATIONS:


General Specifications
Computational Hardware CPU and Dynamic Memory Nonvolatile Memory Software 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 be integrated with conveyor belts and permits a robot to automatically adapt to varying 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. Web based operator interface supports local or remote control via browser connected to embedded web server. Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP 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. 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, 10A 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. 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). Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. Up to 1A at 24V available for releasing motor brakes. Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers 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. 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. 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. Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs. RS-485 multi-drop serial communications I2C multi-drop serial communications 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. 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage

Range & Features

CONTROLLERS

Motion control

Operator interface Programming interface Machine vision (optional) Motion Control

Motor Drives

Position Sensor Interface Control signals Brake signals 3rd party amplifiers (optional) Communication Interfaces General communications Digital input channels Digital output channels Analog I/O Channels Multi-Drop Serial I/O Non-user accessible IO Required Low Voltage, Logic Power

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GUIDANCE 2000B CONTROLLERS


AVAILABLE GUIDANCE 2000B CONFIGURATIONS:

Part number:

G2X

-EACONTROLLERS

Version D - Standard controller E - Enhanced controller option Integrated Motor Drives 10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) B241 - Four integrated 10A drives 20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel) B242 - Four integrated 20A drives Analog Output Channels 0 - No Dac 4 - Four Dacs 6 - Six Dacs

GUIDANCE 2000B DIMENSIONS:

56 mm

13

224

mm

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GUIDANCE 2000B SPECIFICATIONS:


General Specifications
Computational Hardware CPU and Dynamic Memory Nonvolatile Memory Software 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 be integrated with conveyor belts and permits a robot to automatically adapt to varying 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. Web based operator interface supports local or remote control via browser connected to embedded web server. Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP 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. 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, 10A 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. 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). Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. Up to 1A at 24V available for releasing motor brakes. Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers 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. 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. 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. Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs. RS-485 multi-drop serial communications I2C multi-drop serial communications 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. 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage

Range & Features

CONTROLLERS

Motion control

Operator interface Programming interface Machine vision (optional) Motion Control Motor Drives

Position Sensor Interface Control signals Brake signals 3rd party amplifiers (optional) Communication Interfaces General communications Digital input channels Digital output channels Analog I/O Channels Multi-Drop Serial I/O Non-user accessible IO Required Low Voltage, Logic Power

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GUIDANCE 2000C CONTROLLERS


AVAILABLE GUIDANCE 2000C CONFIGURATIONS:
Part number:

G2X

-EA-

0
CONTROLLERS

Version D - Standard controller E - Enhanced controller option Integrated Motor Drives 10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) C241 - Four integrated 10A drives 20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel) C242 - Four integrated 20A drives

GUIDANCE 2000C DIMENSIONS:

46 mm

OPTIONAL SIX-AXIS CONTROLLER CONFIGURATIONS:


Guidance 2600C Controller - Consists of Enhanced Guidance 2000C Controller plus a Guidance 0200C Slave Amplifier. Guidance 0200C Slave Amplifier adds two additional drives to Enhanced Guidance 2000C Controllers. AVAILABLE CONFIGURATIONS G2XE-EA-C2611 - Four integrated 10A and two slave 10A drives G2XE-EA-C2612 - Four integrated 10A and two slave 20A drives G2XE-EA-C2621 - Four integrated 20A and two slave 10A drives G2XE-EA-C2622 - Four integrated 20A and two slave 20A drives

13

224

mm

8m

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GUIDANCE 2000C SPECIFICATIONS:


General Specifications
Computational Hardware CPU and Dynamic Memory Nonvolatile Memory 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage 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 be integrated with conveyor belts and permits a robot to automatically adapt to varying belt speeds. Advanced Controls License Enables enhanced motion control modes including: high-speed position latching, real time trajectory modification, and support for EtherNet/IP. Web based operator interface supports local or remote control via browser connected to embedded web server. Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC controlled over Ethernet using TCP/IP 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. 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, 10A 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. Additional 10A/20A two drives (for a total of six drives) available via Guidance Slave Amplifiers (requires enhanced controller option). Position Sensor Interface Control signals Brake signals Communication Interfaces General communications Digital input channels Digital output channels Multi-Drop Serial I/O Required Low Voltage, Logic Power 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. 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. 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. RS-485 multi-drop serial communications 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. Four differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support for selected absolute encoders (may require enhanced controller option). Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. Up to 1A at 24V available for releasing motor brakes.

Range & Features

CONTROLLERS

Software

Motion control

Operator interface Programming interface Machine vision (optional) Motion Control

Motor Drives

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GUIDANCE 1000A CONTROLLERS


AVAILABLE GUIDANCE 1000A CONFIGURATIONS:

Part number:

G1X

-EACONTROLLERS

Version 0 - Standard controller A - Enhanced controller option Integrated Motor Drives 15 AMP DRIVES (15A peak, 6A RMS, 5A stall) 10 AMP DRIVES (10A peak, 4A RMS, 3.3A stall) A140 - Four integrated drives. Drives 1&2 - 15A drives; Drives 3&4 - 10A drives Communication Interfaces 0 - Standard

GUIDANCE 1000A DIMENSIONS

15

0m

38 mm

87 m

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GUIDANCE 1000A SPECIFICATIONS:

General Specifications
Computational Hardware CPU and Dynamic Memory

Range & Features


400 Mhz high performance, low-power CPU with 16MB or 32MB of dynamic RAM. Flash disk with 16MB or 32MB of storage for OS, firmware and user program and data storage 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 be integrated with conveyor belts and permits a robot to automatically adapt to varying belt speeds. Advanced Controls License Enables enhanced motion control modes including: high-speed position latching, real time trajectory modification and support for EtherNet/IP. Web based operator interface supports local or remote control via browser connected to embedded web server. Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled after Visual Basic.Net), PC/Unix/Linux controlled over Ethernet using TCP/IP 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. Up to four integrated motor drives: Drives 1&2- 15A peak/6A RMS/5A stall per drive; Drives 3&4- 10A peak/4A RMS/3.3A stall per drive Bus voltage & total power for all drives: 12 VDC to 48VDC, 796W total with proper heat sinking Four differential digital encoder interfaces. Support for several types of absolute encoders (may require enhanced controller option). Brake signals. (Up to 1A at 24V available for releasing motor brakes.) RS-232 port with hardware flow control, second RS-232 port (without hardware flow control) for manual control pendant or general communication. Dual E-Stop interfaces. Two 10/100 Mbps Ethernet ports. 4 general purpose optically isolated digital inputs, configurable 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 or 3rd party EtherNet/IP devices. 4 general purpose optically isolated digital outputs, individually configurable as sinking or sourcing. 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 or 3rd party EtherNet/IP devices. RS-485 multi-drop serial communications. 24 +/- 5% VDC power required for logic and I/O: 2A minimum, 4A recommended for systems with remote IO, Ethernet cameras or several motors with brakes.

CONTROLLERS

Nonvolatile Memory Software

Motion control

Operator interface Programming interface Machine vision (optional) Motion Control Motor Drives Position Sensor Interface Control signals Communication Interfaces General communications Digital input channels Digital output channels Multi-Drop Serial I/O Required Low Voltage, Logic Power

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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.

CONTROLLERS

Guidance Controller Power Harnesses

(PS10-EA-W0001 - for G3000 with 500W PS) (PS10-EA-W0002 - for G3000 with 2000W PS) (PS10-EA-W0003 - for G2000 with 500W PS) (PS10-EA-W0004 - for G2000 with 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.

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.

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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.

CONTROLLERS

24 VDC Power Supply (PS10-EP-00125)


Supplies logic power for controller and IO. Also supplies power for some remote IO or Ethernet cameras. Recommended for all users without logic power already available.

General Specifications
Input voltage Input frequency Output voltage Output power Operating temperature Storage temperature Dimensions

Range & Features


90-264 VAC 47-63 Hz 24 VDC 125 watts 0-49 deg C -20-85 deg C 127 mm x 76.2 mm x 34 mm

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PRECISEPOWER SUPPLIES Intelligent Motor Power Supplies


CONTROLLERS

PrecisePower Intelligent Motor Power Supplies interface to Guidance 3000/2000 controllers and provide the high voltage DC power required to drive a wide range of motors. Recommended for all users that require a high voltage motor power source. PrecisePower 2000

KEY FEATURES
Supply 165VDC to 340VDC depending upon AC input voltage Integral relays for enabling and disabling motor power via commands from the 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 300

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PRECISEPOWER SPECIFICATIONS:

CONTROLLERS

General Specifications
Input voltage Input frequency Input inrush current Input current at 240VAC single phase & 2000 DC watts output Output power 50-60 Hz

Range & Features


PRECISEPOWER 300 (PS1D-EA-00300) 90-264VAC Single phase 6.8 A at 240 VAC in -50-60 Hz 6.7A at 240VAC input 12.4A RMS, 30A peak 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 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 5 to 7% Yes, when used with Precise Automation software and I2C communication, dual relay standard Output short circuit, output overload, missing third AC phase 270 mm x 105 mm x 76 mm PRECISEPOWER 2000 (PS10-EA-02000) 90-240VAC single phase or three phase

300 watts RMS @ 120VAC 600 watts RMS @ 240VAC 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 -No, single relay standard -135 mm x 76 mm x 60 mm

Output voltage % Regulation Cat 3 Fault detection Dimensions

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MOTION CONTROL SOFTWARE Guidance Programming Language included with every Guidance Controller
CONTROLLERS
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 languages 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. GPL includes extensive Networking and IO capabilities plus the runtime error handling required to implement robust automation applications.

KEY FEATURES
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.

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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, realtime trajectory modification, analog output controlled by robot speed, and EtherNet/IP communication.

CONTROLLERS

SAMPLE GPL PROGRAM


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.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28

Created: 3/29/2007 7:37:00 AM Module GPL Public Sub MAIN() Dim ii As Integer Const gripper_on As Integer = 20001 Gripper DIO signal Robot.Attached = 1 Get control of the robot Signal.DIO(gripper_on) = False Turn off gripper Move.Loc (safe_position, slow_and_stop) For ii = 1 To 10 Go get the part Move.Approach (pickup_position, fast_motion) Move.Loc (pickup_position, slow_and_stop) Move.WaitForEOM Synch with robot motion Signal.DIO (gripper_on) = True Go put the part down Move.Approach (pickup_position, slow_and_go) Move.Approach (placement_position, fast_motion) Move.Loc (placement_position, slow_and_stop) Move.WaitForEOM Synch with robot motion Signal.DIO (gripper_on) = False Move.Approach (placement_position, slow_and_go) Next ii Move.Loc (safe_position, slow_and_stop) End Sub End Module

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GUIDANCE SYSTEM D4/D6 Complete 4 or 6-axis vision-guided motion control system for DENSO robots
The Guidance System D4/D6 is a complete motion control system for customers who desire an out of the box, ready-to-use solution. It provides a convenient alternative to purchasing, mounting and wiring all of the motion control components necessary to control a 3rd party robotic mechanism.

CONTROLLERS

The system features the Guidance 2000C Series Motion Controller and delivers all of the outstanding features of Precise Automations control products. The controller is integrated to motor and logic power supplies, fans and filters and a motor/encoder connector that mates directly to standard DENSO robot cables.

This hardware is combined with Precise's modern, full-featured programming language, multi-axis kinematic library, and optional vision system. So, this system integrates easily with third party mechanisms such as the DENSO Robotics HS-45552G SCARA or VP-6242G 6-Axis Articulated Robots. The Guidance System enables you to deliver a superior product to your customers by improving your robot's flexibility and space requirements.

KEY FEATURES
Complete 4 or 6-axis vision-guided motion control system in a compact enclosure - includes Precise Guidance Controller, motor and logic power supplies, cooling system, and a plug compatible connector for standard DENSO robot cables. Compact design - mounts easily under a workstation or other locations where space is a premium. Small size allows it be attached very close to the mechanism, thus eliminating extra control cabinets and reducing cable lengths. Amplifiers and integrated motor power supply drive DENSO 4-axis SCARA, 4-axis Cartesian or 6-axis Articulated mechanisms to their full capability.

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AVAILABLE GUIDANCE SYSTEM CONFIGURATIONS:


Part number:

G2SD-MA-C

Hardware package
Guidance System D4 (GS-D4) - four axis package: includes Enhanced Guidance 2000 Controller, PrecisePower 300 and 24VDC power supply. 2410 - Four 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) 2420 - Four 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) Guidance System D6 (GS-D6) - six axis package: includes Enhanced Guidance 2000 Controller, PrecisePower 300 and 24VDC power supply. 2611 - Six 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) 2612 - Four 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) and two 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) 2621 - Two 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) and four 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) 2622 - Six 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel)

CONTROLLERS

PrecisePower 300

Auxiliary I/O Board

24 VDC Logic PS

Guidance 0200C Slave Amplifier (GS-D6 only)

Valve/Brake Control Board

Guidance 2000C Controller

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GUIDANCE SYSTEM-D4/D6 SPECIFICATIONS:


General Specifications
Computational Hardware CPU and Dynamic Memory Nonvolatile Memory Software Extensive robotic and low-level motion control available: Continuous path following, s-curve profiling, straight-line and circular motions, torque and velocity control, 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), optional conveyor belt tracing, optional kinematic models for various robot geometries, optional Advanced Control 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. Web based operator interface supports local or remote control via browser connected to embedded web server. Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone), PC controlled over Ethernet using TCP/IP 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. Up to four (GS-D4) or six (GS-D6) motor drives (5th and 6th motor drives provided by Guidance 0200C Slave Amplifiers): 10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel. 20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel. Motor bus voltage: 320 VDC Total power for all drives: 600 watts RMS DENSO 4-axis SCARA or Cartesian (GS-D4) or DENSO 6-axis Articulated mechanism (GS-D6) connects to system using standard DENSO robot cable. Built-in interface to special DENSO absolute encoders. Two Auxiliary Encoder Interfaces (optional) that each contain: One differential incremental encoder input, one singleended incremental encoder interface and optional support for selected absolute encoders. Optional support for analog encoders with interpolation (GS-D4 only) Communication Interfaces General communications Digital input channels RS-232 port with hardware flow control. Remote front panel interface with second RS-232 port (no hardware flow control), compliant with IEC Category 3 safety standards. Two 10/100 Mbps Ethernet ports. 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 or EtherNet/IP. 8 general purpose optically isolated outputs, individually configurable as sinking or sourcing, signals turn on in 2 usec and turn off in 40 usec. 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 or EtherNet/IP. Additional DIO and power typically wired to robot to control gripper and/or end-of-arm tooling. 8 sinking isolated inputs, 4 msec scan time. 8 sourcing isolated outputs, 4 msec scan time. Power supply (optional) for powering 12VDC Ethernet camera and 9VDC ring light, controllable via software. Last two standard digital output channels converted as follows: 24VDC output for 0.5 msec. 3.9VDC output for duration of on time. 2 or 4 analog +/- 10 VDC 12-bit inputs (GS-D4 only) 90 to 264 VAC single-phase. However, some mechanism may require 220 VAC single-phase to achieve maximum speed and acceleration. Frequency: 50-60 Hz GS-D4 246.7 mm (W) x 320.1 mm (H) x 190 mm (D), 4.08 kg GS-D6 294.7 mm (W) x 320.1 mm (H) x 215 mm (D) *The depth includes approximately 40 mm for the protrusion of the DENSO motor plug. If rubber feet are attached, height will increase by approximately 13 mm 400 Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM. Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage.

Range & Features

CONTROLLERS

Motion control

Operator interface Programming interface Machine vision (optional) Motion Control

Motor Drives

Position Sensor Interface Auxiliary Position Sensor Interface

Digital output channels

Auxiliary Digital IO Valve Control Output Analog I/O Channels (Optional) Input AC Input Voltage Frequency Dimensions*

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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 Precises 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.

REMOTE IO

KEY FEATURES
Ethernet based - can be placed anywhere within the controllers 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

AVAILABLE RIO MODULE CONFIGURATIONS:


Part number: Version

RIO

-EA-0000

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) Digital Outputs 1 - Sinking outputs 2 - Sourcing outputs

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RIO MODULE SPECIFICATIONS:

General Specifications
Interface to Guidance Controller Communications interface Communications protocol Scanning rate Number of units Input and Output Interaces Ethernet port Serial ports Digital input channels

Range & Features


Interfaces via 10/100 Mbps Ethernet. Can be located anywhere within the local network of the Guidance Controller. 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 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. Up to 4 RIOs can be simultaneously interfaced to a Guidance Controller. Standard and enhanced RIO: One 10/100 Mbps Ethernet port 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 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 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 Standard RIO: None Enhanced RIO: 4 analog input channels, +/- 10 VDC, 12 bit ADC 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. 75 mm (W) x 195 mm (L) x 28 mm (H)

REMOTE IO

Digital output channels

Analog I/O channels Required Low Voltage Power Size

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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.

GUIDANCE DEVELOPMENT ENVIRONMENT (GDE)


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.

DEVELOPER TOOLS

KEY FEATURES PRECISE DATALOGGER VIEWER


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

GUIDANCE DISCOVERY
Sets a Guidance Controllers Ethernet IP

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address from a PC to enable network communication.

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 controllers 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.

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.

GUIDANCE WEB APPLICATION INSTALLATION WIZARD


Loads packaged GPL projects and any associated web pages into a controllers flash disk.

DEVELOPER TOOLS

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.

KEY FEATURES
Simplified loading - for packaged applications like Guidance Dispense, loads program and any web files into standard folders on a controllers 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

KEY FEATURES
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

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 PCs.

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GDE SCREENSHOT:
PROJECT MANAGER Displays and manages projects that are loaded in the controllers memory or flash disk or on the PCs hard drive. Projects can be copied or moved by dragging and dropping. MAIN TOOLBAR Set bookmarks and break points. Create, save, compile and execute projects. ROBOT CONTROL Displays the controller's system messages and state. Allows robot power to be enabled and disabled and the robot speed to be reduced for testing.

DEVELOPER TOOLS

GPL OUTPUT Displays controllers text output including compilation messages and output from GPL projects.

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

OBJECT BROWSER Provides a list of the methods and properties for each GPL Class. Automatically displays abbreviated help information as text is entered.

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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. PreciseVisions built-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.

VISION

PreciseVision provides a simple solution for applications requiring locating parts, correcting for manufacturing tolerances, inspecting parts or 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
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

program to measure parts for quality control, locating features or precision alignment purposes. Easy-to-use graphical programming interface - vision tools are taught by draggingand-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 GigE and USB cameras PreciseVision interfaces to DALSA Genie GigE cameras that communicate via a 10/100/1000 Ethernet connection, IDS Imaging uEye cameras that communicate via a USB 2.0 connection and other 3rd party USB cameras (Precise is not able to provide support for 3rd party USB cameras that have not been qualified) Both economical 640 by 480 pixel resolution and megapixel grayscale and color cameras are supported

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PRECISEVISION SPECIFICATIONS:

General Specifications
Programming interface Visual tools Object identification and locating

Range & Features


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. 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 regions statistics. Provides an extremely fast alternative to the Finder for simple binary images 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. 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. 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. 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. 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. Built-in robot-to-vision calibration procedures for many configurations including stationary and arm-mounted cameras; gain/offset configuration from within a vision process. 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. Directly interfaces to DALSA GigE Ethernet Cameras or IDS uEye USB Cameras. Includes support for standard 640x480 and higher resolution, grayscale and color cameras.

Feature measurement

Inspection

VISION

Computed results

Image Acquisition Processing

Tool linking Features System Requirements Cameras

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AVAILABLE PRECISEVISION OPTIONS:


PVS0-SA-0001M - PreciseVision Multi-Instance PC Software License - Enhanced version of PreciseVision PC that permits multiple instances of the vision software to execute concurrently on a single PC. Each instance can execute its own set of vision processes and can be interfaced to a different robot and to a different set of cameras.

SAMPLE VISION GUIDED MOTION CONTROL PROGRAM


On 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.

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VISION

Public Sub MAIN Dim vis As New Vision Dim vResult As New VisResult Robot.Attached = 1 Move.Loc (safe, vsProfile) vis.Process(Main) Run vision process Main If vis.ResultCount(part1) = 0 Then Console.Writeline(Vision object not found) Goto done End If vResult = vis.Result (part1, 1) Get results Create a reference frame object and set it equal to the returned vision location Dim vsRefFrame As New RefFrame vsRefFrame.Loc.PosWrtRef = vResult.Loc Pickup point is relative to new frame vsRelPoint.RefFrame = vsRefFrame Move.Approach (vsRelPoint, vsProfile) Move.Loc (vsRelPoint, vsProfile) Move.Approach (vsRelPoint, vsProfile) Move back to safe location Move.Loc (safe, vsProfile) done: End Sub

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PRECISEVISION SCREENSHOT:

PROCESS MANAGER Displays and permits editing of all of the Vision Processes defined within the Vision Project. To add a new tool, simply drag and drop it on a process name.

VISION CAMERA DISPLAY Displays camera output (live image 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

PROPERTY DISPLAY Whenever 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

VISION TOOL DEFINITION Displays all of the created tools. Provides a quick visual queue as to the relationship between tools.

VISION TOOLBOX Lists all of the possible types of Vision Tools that can be created. Create new tools by double clicking on a tool name

VISION RESULTS WINDOW Whenever a Vision Process is executed, the output of each tool is displayed in this window.

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SUPPORTED VISION HARDWARE


Supported cameras
PreciseVision is a software package and does not include hardware. This software is designed to capture vision images that are generated by either Ethernet or USB cameras. PreciseVision permits three camera options: OPTION 1 - DALSA Genie GigE cameras that communicate via a 10/100/1000 Ethernet connection. OPTION 2 - IDS Imaging uEye cameras that communicate via a USB 2.0 connection. OPTION 3 - Other 3rd party USB cameras (Precise is not able to provide support for 3rd party USB cameras that have not been tested and qualified) When using the standard version of PreciseVision, the system can connect to multiple DALSA cameras or multiple USB cameras. However, you cannot connect to both DALSA and USB cameras simultaneoulsy. In the Multi-Instance version of PreciseVision, the same rule applies to each instance, i.e. a single instance cannot be connected to a mix of DALSA and USB cameras. However, different instances can be connected to either DALSA or USB cameras.

VISION

Characteristics
Cost Resolutions Acquisition time Hardware synchronization PC CPU Loading Cable length Installation and support

DALSA GigE
Typically more expensive 640x480 up to 1600x1200 Similar to IDS for same resolution Supports trigger input and acquisition output Reduced load relative to USB cameras 100M Fewer steps but more prone to complications due to firewalls, Ethernet card compatibility, Ethernet switch problems, and somewhat more complicated driver installation. Simpler to install on Precise robots since both Ethernet cable and power are available at end-of-arm 12VDC 4 watts provided in second cable from extra PS 29x44x67 mm, <125g

IDS uEye USB


Typically 20% less expensive than equivalent DALSA cameras. Nonindustrial 3rd party USB cameras can be significantly less expensive. 640x480 up to 2560x1920 with even higher resolutions to be announced soon. Similar to DALSA for same resolution using USB 2.0 (480 Mbits/sec). USB 3.0 (4.8Gbits/sec) due in 2011 will reduce the acquisition time. Same as DALSA. Higher load relative to Ethernet cameras. Multiple cameras will require a higher performance CPU. 5 or more cameras may degrade acquisition time. 5M. Powered USB hubs might be able to extend length Typically easier for single cameras if wired point to point since no firewall, less issues with USB hardware interface, simpler driver installation. Multiple cameras are a bit more difficult to setup since each must be assigned an ID and registered with the DirectShow interface. Requires extra external cable for Precise robots 5VDC taken from single USB cable 34x32x34.4 mm, 75g

Arm-mounted cameras Power Size/weight

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Option 1 - DALSA Ethernet camera


PreciseVision supports up to 6 DALSA Genie GigE Ethernet cameras that can be directly connected to the PC running PreciseVision or through an Ethernet switch. The PC must include a standard Ethernet card, but a GigE card is recommended for the best performance. For more information, visit the DALSA website (http://www.imaging.com/). For ordering, contact Manish Shelat at DALSA Digital Imaging, phone: (510) 249-5664, email: manish.shelat@DALSA.com.

Ethernet camera

PreciseVision fully supports the DALSA Genie GigE Vision Cameras. All models listed below provide Progressive scan, have metal cases, C-Mount or CS mount lens adapters, are available in monochrome (M) or color (C), and support an external trigger (DIN) and a digital output (DOUT). Effective frame-to-frame time depends on the exposure time, which ranges from 100 microseconds to 4 seconds, controlled via software, plus PC overhead. For total time, add vision processing time, which is typically less than 100ms. Precise Vision supports up to 6 DALSA cameras. RECOMMENDED CAMERA MODELS: M640-1/3 - 640x480 resolution, 60 frames/second raw frame rate, 1/3 sensor. M1024 - 1034x779 resolution, 20 frames/second raw frame rate, 1/3 sensor. M1400 - 1392x1040 resolution, 15 frames/second raw frame rate, 1/2" sensor. M1600 - 1600x1200 resolution, 15 frames/second raw frame rate, 1/1.8 sensor. Optional DALSA mounting bracket assembly, 1/4" screw mount, part # CA-GENA-BRA00. Used for mounting the camera on a standard tripod. Each camera requires 4 watts, 11 VDC to 13 VDC. Option 1: If you wish to break out the cameras I/O pins, order DALSA part # CA-GENA-PS120 and the DALSA Genie I/O and power breakout cable assembly, part # CA-GENC-IOP00. Option 2: If you do not need I/O signal break out, an alternative is the Intercon PSISP10, which includes a connector compatible with the camera but no I/O signal break out, http://www.nortechsys.com/intercon. Standard GigE Ethernet Switch. Netgear GS605 10/100/1000, or equivalent Standard GigE PC Ethernet card. Netgear GA311 PCI Gigabit Adaptor, or equivalent. Standard Cat-5 Ethernet cable. Total of 3 required.

VISION

Mounting Adapter Camera power Ethernet Switch Ethernet Card Ethernet Cable

Option 2 - IDS uEye USB 2.0 Camera


PreciseVision supports up to 6 IDS uEye USB 2.0 cameras. These cameras are typically connected directly to the PC running PreciseVision although a USB hub can be used. The PC must support USB 2.0 (not 1.0). PreciseVision uses DirectShow to interface to the camera driver. It is highly recommended that only uEye cameras that support Global shutters be utilized and not Rolling shutters. A Global shutter exposes all of the pixels of the imaging element at one time. A Rolling shutter exposes lines at different times and can result in smearing if there is a moving image. For flexibility in selecting the appropriate lens for your application a camera with a C-Mount or CS-Mount is highly desirable.

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USB Cameras

PreciseVision fully supports the IDS Imaging Development System GmbH uEye Series-USB 2.0 Cameras. All models listed below have Global Shutters, metal cases, C-mount lens adapters, are available in monochrome (M) or color (C), DB9 signal/power connector, and support an external trigger (DIN) and a digital output (DOUT). Effective frame-to-frame time depends on the exposure time and PC overhead. For total time, add vision processing time, which is typically less than 100ms. PreciseVision supports up to 6 USB cameras. RECOMMENDED CAMERA MODELS: UI-2410-M/C - 640x480 resolution, 75 frames/second raw frame rate, 1/3 CCD sensor. UI-2230SE-M/C - 1024x768 resolution, 30 frames/second raw frame rate, 1/3 CCD sensor. UI-2240SE-M/C - 1280x1024 resolution, 15 frames/second raw frame rate, 1/2" CCD sensor. UI-2250-M/C - 1600x1200 resolution, 12 frames/second raw frame rate, 1/1.8 CCD sensor. Power is supplied directly by the USB cable and is generated by the PCs power supply. PC must be equipped with USB 2.0 interface (not 1.0) IDS uEye industrial camera cable: High speed 2.0 Extension cable Screw type 4-Pin USB type A (F) TO 5-Pin micro-USB type B (M). 3 meter length. Cable breaks out trigger input as separate input. CB-IDS-9UD-A-T-3M. Right angled trigger cable for uEYE-Cameras, 3 meter uEye Micro Sub-D connector, 90 angled with screws. USB signal via shielded USB 2.0 cable to USB-A. Breakout cable for trigger input and digital output, cable with open ends. CB-IDS-9UD-A-ST3M-RT.

Camera Power USB Interface USB Cable, Trigger Support, No DOUT USB Cable, Trigger and DOUT Support

VISION

Option 3 - Other 3rd Party USB 2.0 Camera


There are a wide variety of 3rd party USB 2.0 cameras that are available for the home, hobbyist, commercial and industrial markets. Due to the large number of vendors, their different installation procedures and their individual idiosyncrasies, Precise cannot guarantee that any camera brand that you select will work properly and we cannot provide assistance for any camera that has not been tested and qualified by Precise. Nonetheless, if you wish to interface an unsupported camera without Precise's assistance, please consider the following when selecting a USB camera. PreciseVision utilizes DirectShow to interface to the camera. Therefore, the USB camera must be compatible with DirectShow, which is quite common. PreciseVison's image acquisition tool has been specially optimized for the IDS uEye family of cameras. Other USB cameras will take somewhat more time to acquire an image. For similar features, a camera in a plastic case will be less expensive than a camera in a metal case. You must determine if the additional ruggedness of a metal case is important for your environment. Many inexpensive cameras utilize the standard USB connectors that are retained by friction. It is relatively easy for these to become accidentally disconnected as compared to screw in DB connectors such as those used in the IDS uEye cameras. Many inexpensive cameras either have integrated fixed lens or lens mounts that do not support the full range of lens that are available. Also, many lens do not have screws for locking in the focus or F-stop adjustments. Most cameras do not have trigger inputs and digital outputs. These are important features for conveyor belt tracking and other real-time image capture requirements. Also, since communication standards have not been established for these features, even if the camera has these hardware features, PreciseVision will probably not be able to access this capability.

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Camera lens
The choice of lens is based on the application and a lens is necessary whether using the camera scheme in Option 1 or Option 2. The smaller the focal length (mm size) of the lens, the larger the field of view. However, smaller focal lengths typically have more optical distortion. Navitar, Inc. supplies a variety of compatible lenses and offers discounted prices to Precise Automation customers. 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: joecorsi@navitar.com. Be sure to mention Precise Automation to receive discounted pricing.

VISION

Lighting
The choice of lighting is based on the application and lighting is necessary whether using the camera scheme in Option 1 or Option 2. Navitar, Inc. supplies a variety of lighting solutions and offers discounted prices to Precise Automation customers. For more information, contact Joe Corsi at Navitar, Inc. phone: (800) 828-6778 ext 3238, email: joecorsi@navitar.com. See also: http://www.nertlite.com/Products.html http://www.stockeryale.com/i/fluo/index.htm

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GUIDANCE DISPENSE Dispensing software


Guidance Dispense (PP1D-SA-00001) is a 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 for programming. Dispensing can be enhanced by adding machine vision to automatically correct for deviations in part position and orientation.

This software executes on any Precise Guidance Controller (including those in Precise robots and those that control third party mechanisms). A graphical user interface provides all the tools for teaching straight and curved threedimensional 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 can switch the air supply from pressure to vacuum to eliminate dripping.

APPLICATION TOOLS

KEY FEATURES
Open source (except for a few modules) 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 threedimensional 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 can switch the plunger air supply from pressure to vacuum to eliminate dripping.

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