APPLICATION EXAMPLES
TECHNICAL REFERENCE
PICK
& PLACE
PICK
& PLACE
INSTRUCTION
INTERPRETATION
#INITIAL
Label
HMXY
Drive X and Y to home
BGXY
Start motion
AMXY
Wait until completion
X0=0
Define starting position as zero
Y0=0
Define starting position as zero
#PICK Label
DX=X1-X0 Find X difference
DY=Y1-Y0 Find Y difference
VP DX,DY Command motion
VS 40000
Vector speed
VA 200000
Vector acceleration
VD 200000
Vector deceleration
VE
End of move
BGS
Start XY motion
AMS
Wait for motion completion
PR,,-50000
Move head down (Z-axis)
SP,,20000 Z speed
AC,,80000 Z acceleration
DC,,80000
Z deceleration
BGZ
Start Z motion
AMZ
Wait for Z motion completion
SB1
Set output bit -- solenoid
WT 20
Wait 20 ms
PR,,50000
Raise head
BGZ
Start Z motion
DX=X2-X1 Compute the X difference
DY=Y2-Y1
Compute the Y difference
VP DX,DY Motion command
VE
AMZ
Wait for Z completion
BGS Start XY motion
AMS
Wait for XY completion
PR,,-50000 Lower head
BGZ
Start head motion
AMZ
Wait for Z motion completion
CB1
Clear output bit--release solenoid
WT 20
Wait 20 ms
PR,,50000
Raise head
BGZ
Start Z motion
X0=X2
Update starting X position
Y0=Y2
Update starting Y position
EN
End program
Example--Pick & Place
An automated IC insertion machine is used to pick up a
part at an XY location then move it to the proper loca-
tion on the circuit board. A PC-based controller needs to
move an XY table along a straight line to the specified
locations. The pick-up head is controlled by the Z axis
which raises the head during movement and lowers the
head during placement.
Requirements
System resolution: .1 micron
Accuracy: 1 micron
Speed: 40,000 counts/sec
PC-based
Components Selected
DMC-1730: 3-axis ISA bus motion controller
ICM-1900: Interconnect module
WSDK: Servo design software for setup
Operation
The motion requirements are to pick up a part at coordinate
X1, Y1 and to place it at coordinate X2, Y2. Once the coor-
dinates are specified, the controller drives the XY table on a
straight line to the pick-up location. Once there, the pick-up
head, which is controlled by the Z axis, is lowered and the
holding solenoid is activated. Next, the pick-up head is
raised, the table is driven to the new location, and the pick-
up head is lowered. Finally, the solenoid is released and the
pick-up head is raised again.
The motion program includes two parts. The first,
#INITIAL, is performed once to initialize the system.
Consecutive moves are executed with the program #PICK.
Specifically, the controller computes the differences DX
and DY between the starting position X0,Y0 and the pick-up
position X1,Y1. It then commands the XY axes to move on
a straight line with the VP, DX,DY instruction. Upon com-
pletion, the Z axis is lowered and the output bit 1 is ener-
gized to activate the solenoid. The process is repeated to
move the motor to the new coordinate. The instructions are
given in the following program.
www.galilmc.com
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Galil Motion Control, Inc.
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