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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 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
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.
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
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
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.
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
ROBOTS
55.90 24.40 0
160.60
242.02
116.13
55.90
0 20.37 33.07
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
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
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
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
10
ROBOTS
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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 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
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
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.
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CONTROLLERS
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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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
56 mm
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224
mm
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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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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
46 mm
13
224
mm
8m
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CONTROLLERS
Software
Motion control
Motor Drives
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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
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0m
38 mm
87 m
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General Specifications
Computational Hardware CPU and Dynamic Memory
CONTROLLERS
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
(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.
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CONTROLLERS
General Specifications
Input voltage Input frequency Output voltage Output power Operating temperature Storage temperature Dimensions
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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
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
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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
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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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
24 VDC Logic PS
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CONTROLLERS
Motion control
Motor Drives
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
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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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
REMOTE IO
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DEVELOPER TOOLS
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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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.
DEVELOPER TOOLS
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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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
Feature measurement
Inspection
VISION
Computed results
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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 29 30 31
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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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
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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
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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
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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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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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