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AIM PCB User`s & Reference Guide

1. enter path Y execute LOCATE no next vision statement defined yes path location is robot loc halt enter path move to cam cal move to i location offset by path path location location dump part at first Y exit location perform vision operation no yes yes y calculate tool correction from defined vision ops i halt Apply correction to tool move to reject location and dump part Y Figure 5 2 TRANSFER FP Flow Diagram Continued AIM PCB User s amp Heference Guide Rev A 31 Chapter 6 Special PCB Vision Tools 6 1 Introduction The TRANSFER FP and LOCATE ASSEMBLY statements use vision tools to refine robot motions based on the actual conditions of the workcell The standard vision record types are described in the VisionWare User s Guide AIM PCB has two special vision tools that are used with printed circuit board assembly The special tools are the lead finder and the frame finder The lead finder inspects the leads of a surface mount device The frame finder creates a vision reference frame for rectangular parts These tools are described in this chapter 6 2 Lead Finder Vision Tool The first special PCB vision tool is the lead finder This tool inspects the lead width and spacing of a surface mount devi
2. the strategy routine rn ac pallet 56 AIM PCB User s amp Heference Guide Rev A Feeder Database Table 8 3 Record Definition for the Feeder Database Continued Field Type Variable Field Name Size Description 59 pallet row integer The number of rows columns and layers see Table 8 5 count 2 on the pallet 60 pallet col integer see Table 8 5 count 2 61 pallet layer integer see Table 8 5 count 2 62 pallet row integer The row column and layer indexes for the see Table 8 5 index 2 next part to be accessed from a pallet These values are updated after each access 63 pallet col integer see Table 8 5 index 2 64 pallet layer integer see Table 8 5 index 2 65 pallet row real The spacing between pallet rows columns see Table 8 5 spacing 4 and layers 66 pallet col real see Table 8 5 spacing 4 67 pallet layer real see Table 8 5 spacing 4 68 pallet signal integer An array of three V output or soft signal fd sig pal 2 3 numbers that are asserted when a row see Table 8 5 column or layer reaches its maximum index value If a signal number is zero it is ignored 7 69 user real This is a group of four fields not a database fd user parameter 1 4 array that are available for general use fd user num These fields are not used by standard AIM Number of user routines parameters 70 user real parameter 2 4 71 user real parameter 3 4 72 use
3. Insert the part into the assembly by executing the part insertion strategy routine rn insert TO assembly If the visual inspection fails or the insertion fails and the optional reject path is specified follow the reject path and discard the bad part REJECT path In this case if the optional reject path is not specified AIM stops processing the sequence and sends an error message to the operator If the optional departure path is specified depart from the assembly area along that path DEPART path If the insert operation succeeds set the OK_SIGNAL variable to TRUE Otherwise set it to FALSE The following general items should be observed when defining data for this statement 1 2 3 A part type and at least one feeder must be assigned to each part in the Part database All location data must be taught with the proper tool transformation in place The camera calibration s for the vision locations must have been performed with the proper tool transformation in place When defining data for the first and second vision operations REFINE vision AND vision the following points should be observed 1 The vision operation should return a reference frame result that determines the position and orientation of the part being grasped by the robot The vision operation should reference a stationary camera The picture record should have 8 Vision target location selected for the location and a path name sp
4. ready signal that indicates a part is ready to be fed and grasped If this signal is omitted the feeder is assumed to always be ready subject to the timing described below A cycle time value cycle time that indicates how long a feeder takes to become ready The feeder will not be accessed for at least this long after it has fed a part even if the part ready signal is TRUE A time out value maximum time that indicates the maximum amount of time to wait fora feeder to become ready An optional output signal alarm signal that is enabled whenever a feeder fails to feed a part as expected or when a pallet becomes empty For example this signal can be connected to an alarm The main acquire routine follows the algorithm described below Refer to the description of the Feeder database for details on the data structure 1 9 Call the routine rn update tool to make sure the current robot tool is the correct one for this part The new tool to use may be specified by an argument to rn acquire If not specified the tool is read from the Part Type database If the current tool is different from the desired one the Tool database is read to obtain the new tool transformation See the description of the Tool database for more details Check if an optional feeder approach path is specified If so enter the path and move along it toward the first exit location Scan through all the feeders indicated by t
5. AIM PCB User s amp Reference Guide Version 3 0 Part Number 00713 00530 Rev A August 1996 Cit J 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 Otto Hahn Strasse 23 44227 Dortmund Germany Phone 0231 75 89 40 Fax 0231 75 89 450 adapt technology inc 11 Voie la Cardon 91126 Palaiseau France Phone 1 69 19 16 16 Fax 1 69 32 04 62 1 2 Aza Nakahara Mitsuya Cho Toyohashi Aichi Ken 441 31 Japan 0532 65 2391 Fax 0532 65 2390 The information contained herein is the property of Adept Technology Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be con strued as a commitment by Adept Technology Inc This manual is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in this doc ument Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation A form is provided at the back of the book for submitting your comments Copyright 1992 1996 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc Adept AdeptOne AdeptOne MV AdeptThree AdeptThree MV PackOne PackOne MV HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Ade
6. AIM PCB User s amp Heference Guide Rev A 59 Chapter 8 Databases 8 4 Part Database Each record in this database defines a single part The fields in a record define the part name type and feeders for the part Internal fields in the Part database are filled in during linking A single part can have multiple feeders but normally a feeder feeds only a single part For feeders that feed different parts the same feeder can be referenced by multiple Part database records When using this feature it is the responsibility of the system customizer to keep track of what part will be fed next All the record fields are listed and summarized in Table 8 6 in the order in which they occur within a record The data in a record can be accessed from an application program by using the V variable names shown in the first column The global variable for referencing the Part database is pa db TASK Table 8 6 Record Definition for the Part Database Field Type Variable Field Name Size Description 0 name name A standard name that identifies this part This is cc name 15 the primary sort field and must be unique in this database This name is referenced in assembly sequence statements 1 1 update date date The date and time when this record was last cc update time modified This field is automatically set to the 4 current date when the record is edited 2 part type name A standard name that
7. Type Variable Field Name Size Description 1 update date date The date and time when this record was last cc update time modified This field is automatically set to 4 the current date when the record is edited 2 device integer The number of the robot device associated cc device 2 with this record For AIM systems with only one device this field is normally set to 1 3 menu page name The name of the menu page in the file cc page name name 15 FEEDER MNU used to display this feeder record If this name is blank the page named main is used by default 4 reference name The name of the Reference Frame database fd loc frame frame name 15 record that is the frame for this location This field is used only if the location type bits indicate relative to a named frame 1 5 location transform The basis location for the next motion block fd loc 48 This corresponds to the location of the tool when the part is gripped while being removed from the feeder 2 6 approach name The name of the approach strategy name or fd app strategy strategy 1 sequence 1 4 name 7 approach integer Start of a standard robot motion parameter fd loc data 2 block for the motion to approach the part grip location See the MotionWare Reference Guide 3 52 AIM PCB User s amp Reference Guide Rev A Feeder Database Table 8 3 Record Definition for the Feeder Database Continued Field Type Va
8. see Figure 2 1 You can enter a signal number or variable database record for each feeder control signal Feeder Enabled Signal The feeder enabled signal lets AIM PCB know that a feeder is available for use If an input signal is not installed a software signal from 2001 to 2512 must be specified If a soft signal is used to enable or disable a feeder select Enable and specify the soft signal If this signal is left blank AIM PCB will assume the feeder has been deactivated and will not attempt to access it AIM PCB User s amp Heference Guide Rev A 13 Chapter 2 Feeders Feeder Input Signal Digital input senses the state of the input signal circuit If a switch is off circuit is open the digital input signal is considered off The feeder input signal is Ready This signal indicates that a part is ready If there is no part ready sensor for this feeder leave the signal data box blank and AIM PCB will assume a part is ready whenever the feeder is enabled If an open off signal from a feeder sensor indicates the part is ready enter a negative signal number and the part ready signal will be properly interpreted Feeder Output Signals Digital output signals act as switches for user supplied current applied to equipment in the workcell The feeder control output signals are Alarm This signal will be set when a feeder becomes empty or the robot fails to acquire a part from the feeder If no signal is entered the alarm s
9. you will find a review of this manual useful AIM CAD Data CAD data translator only This manual covers using the Translator User s Guide CAD data translator to automatically create database records from CAD data How Do I Use AIM PCB The AIM PCB implementations you will be creating involve picking up parts from a feeder location and placing them at a given location Basic AIM PCB operations require you to complete the following actions 1 Create an assembly An assembly is the thing your robot system will actually build Creating an assembly involves specifying the locations at which parts will be placed Define the parts that will be placed on the assembly Parts are the objects you actually pick up and place on an assembly Every part has an associated part type that defines how the part is to be picked up and placed Chapter 1 covers creating parts and part types Define the feeders that will supply the parts A feeder is simply a location at which to pick up a part Every part requires an associated feeder to let the robot know where to pick up the parts and what to do when the feeder is empty Chapter 2 covers creating feeders In addition to the required actions AIM PCB allows you to take several optional actions to control the robot more effectively and accurately These actions are 1 Create paths or safe corridors along which the robot can move without damaging any equipment in the workcell or
10. Bit number set if reject uses a V routine Otherwise it uses an AIM sequence pt fl ac fp H10 Bit mask set if acquire uses force processing pt fl in fp H20 Bit mask set if insert uses force processing pt fl rj fp HA40 Bit mask set if reject uses force processing AIM PCB User s amp Heference Guide Rev A 63 Chapter 8 Databases 8 6 Tool Database The Tool database describes multiple tools or grippers that are used by the robot when it handles parts Each record in this database defines a single tool The fields in a record define the robot motion device associated with the record the offset from the end of the robot to the tool grip point tool transformation and tool controls I O signals and delay times for up to three different tool configurations All the record fields are listed in the order in which they occur within a record The data ina record can be accessed from an application program by using the V variable names shown in the first column Table 8 9 Record Definition for the Tool Database Field Type Variable Field Name Size Description 0 name name A standard name that identifies this record This 15 is the primary sort field and must be unique in cc name this database 1 1 update date date The date this record was last modified This cc update 4 field is automatically set to the current date when the record is edited 2 device integer The number of the ro
11. Declare the feeder location to be relative to this reference frame 3 Teach the row 1 column 1 layer 1 location as the location of the feeder When the robot accesses the pallet feeder it will start at row 1 column 1 layer 1 and if row column layer is specified add the value specified in Row Spacing to each successive access until the number of accesses specified in Row Count have been made The robot will then return to the original row offset and add the value specified in Column Spacing for the next access When the current layer is completed the robot will return to row 1 column 1 and add the value specified in Layer Spacing for the next access When column count row count and layer count have reached their specified values the feeder will be disabled and the feeder alarm signal will be set See the Motion Ware User s Guide and the MotionWare Reference Guide for more information on pallets 2 3 Feeder Control Signals The feeder control signals are digital I O signals that are used to indicate the status of a part feeder Before these signals can be used The hardware that sets the signal or receives the signal must be installed The required digital I O modules must be installed in the controller see the controller user s guide The individual signal numbers must be entered into the feeder record see below Specifying Feeder Control Signals To enter feeder control signal numbers display the feeder menu page
12. PCB and module initialization PART DB Part global database PART MNU Part database menus PART RFD Part database record format definition PARTTYPE DB Part Type global database PARTIYPE MNU Part Type database menus PARTTYPE RFD Part Type database record format definitions PCBAUTO V2 Autostart command file for single robot systems PCBAUTO2 V2 Autostart command file for dual robot systems PCBCTL 001 Control sequence from module PCBCTL PCBCTL 002 Control sequence from module PCBCTL PCBCTL 003 Control sequence from module PCBCTL PCBCTL 004 Control sequence from module PCBCTL PCBCTL 005 Control sequence from module PCBCTL PCBCTL 006 Control sequence from module PCBCTL PCBICON DAT PCB icon definitions PCBINI DB PCB initialization database PCBMOD DB Module database for PCB PCBMOD ON Overlay for PCB module initialization PCBMOD OVR Squeezed version of PCBMOD OV2 PCBRES SQU Resident PCB specific routines PCBRTINI DB PCB vision record type initialization database PCBRUN SQU Squeezed version of PCBRUN V2 PCBRUN V2 Statement and primitive routines 108 AIM PCB User s amp Reference Guide Rev A Disk Files for the PCB Module Table A 2 Disk Files for the PCB Module Continued File Name Description of Contents PCBSAM 001 Database from sample PCB module PCBSAM PCBSAM AS Database from sample PCB module PCBSAM PCBSAM FD Database from sample PCB modul
13. action should be taken by the calling routine See the standard AIM operator error response values If the insertion fails and the part is automatically rejected the value rn opr fail is returned Since retry action is handled internally by this routine the value rn opr retry is never returned Global Variable rn ctl TASK rn ctl ins suc Element containing an AIM control variable that is initially set to FALSE by the scheduler and is set to TRUE by the insertion strategy routine if the insertion operation was successful This variable may be manually set to TRUE or FALSE by the operator to override automatic operation Details This primitive routine is called for all parts to insert a part into an assembly This routine in turn calls special part insertion strategy routines to operate different types of tools and to perform special insertion procedures AIM PCB User s amp Heference Guide Rev A 103 rn insert The part must be held in the robot gripper with the proper tool transformation selected before this routine is called The main insert routine follows the algorithm described below 1 8 Check if an optional assembly approach path is specified If so enter the path and move along it toward the first exit location Read the assembly location from the Assembly database and move along the approach path to the appropriate exit location Move to the assembly approach location Read the name of the insertion
14. assembly This routine moves the robot and operates the tool Input Parameters rtn The name of the part insertion strategy routine This must exactly match the name specified in the Part Type database record for the corresponding part type This name is extracted from the Part Type database by the gen eral insertion routine rn insert loc Absolute location for the current assembly destination to opr Array of real values for operating the tool See Table 8 10 for the standard tool operation values The following databases are open upon entry assembly part type tool Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard operator error response code values Details If insertion succeeds global value rn ctl TASK rn ctl ins suc is set to TRUE Otherwise it is unchanged 90 AIM PCB User s amp Heference Guide Rev A Reject Primitives 10 3 Reject Primitives A part reject primitive is called to discard a defective part that is currently held in the robot gripper It is normally called when a part insertion routine fails or a part inspection routine detects a bad part This routine calls part reject strategy routines to handle different types of parts Before calling this routine the part must be held in the robot gripper with the proper tool transformation selected Upon succes
15. contains detailed information regarding the internal organization of the software the data structures and the databases An understanding of the information contained in the remainder of this document is not required in order to operate the AIM system For a description of how to operate the AIM system please refer to the previous chapters and to the MotionWare User s Guide or the VisionWare User s Guide 7 2 Prerequisite Background Information Before reading this manual we recommend that you first become familiar with the following documents MotionWare User s Guide MotionWare Reference Guide These manuals describe in detail the general purpose robot control routines and data structures used by the AIM MotionWare Module NOTE AIM PCB is an add on module for MotionWare e V Reference Guide This manual describes the V robot control and programming system Since all of the AIM software is written in the V programming language most customizers will find it necessary to have a good working knowledge of the V programming language In particular customizers wishing to make use of the advanced features of the operator interface or those wishing to add new statements or strategy routines will find it necessary to understand V However simple changes to the operator interface or the addition of new menu pages can be accomplished without knowledge of the V programming language AIM PCB User s amp Heference Guide Rev A 41 C
16. delay allows the gripper position to stabilize before the robot begins moving Notes 1 If this field is modified the database is marked for updating 2 This field is specified in a linking rule and is filled in automatically by the linker Table 8 10 Offset Values From Tool Database Field 9 to opr Field Name Value Reference to opr part sig 0 9 to opr opn sig 1 10 to opr cls sig 2 11 to opr rai sig 3 12 to opr low sig 4 13 to opr opn del 5 14 to opr cls del 6 15 to opr rai del 7 16 to opr low del 8 17 Chapter 9 Statements This chapter describes the functions and calling sequences of the statement routines that are defined in the Statement database STATPCB DB distributed with the AIM PCB Application Module These statements are considered fundamental for all AIM PCB installations and they provide specific examples from which other statements can be developed These routines may be called by application software written by a system customizer Source code for these routines is provided with this application module Thus these routines may be modified by a system customizer CAUTION In general AIM routines should not be modified in any way that changes the calling sequence or the interpretations of the program parameters This restriction is required to maintain compatibility with calls by other AIM routines for which source code is not available The descriptions of
17. determines the assembly location where the part is placed The operation is passed to this routine as args 8 No visual assembly location is defined if args 8 is zero that is the LOCATE clause is not specified When the third vision operation is specified before the part is placed at the assembly location the robot moves to position a robot mounted camera where it can view the assembly location A vision operation inspects and precisely determines this location by directly viewing pads or fiducial marks The exact series of robot motions performed by the TRANSFER FP statement is determined by the strategy routines and the data values specified in the various arguments The general sequence of operations performed by this statement is as follows the relevant portion of the statement syntax is shown for each step 1 If the optional tool transformation is specified apply that tool to describe the current robot gripper USING tool 2 Ifthe optional approach path is specified move along that path to the feeder locations APPROACH path 3 Select a feeder and pick up a part by executing a part acquisition strategy routine rn acquire PART part 4 Ifthe optional transit path is specified move along that path to the vision refinement location APPROACH path 5 If the first optional vision refinement is specified move to each of the picture taking locations inspect the part and compute the part position Save a rob
18. error Function Main runtime primitive routine to reject a part that is held in the robot gripper Usage Considerations The database records containing data for the current part and part type must be opened prior to calling this routine A different Path database record may be opened by this routine This routine handles walk thru training of the reject path Input Parameters path Real value that defines the number of the record in the Path database for the path to be followed when rejecting the part The reject operation is skipped if this value is zero to opr Real array containing standard values for operating the tool See Table 8 10 for the standard tool operation values Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM operator error response values Details This primitive routine is called to reject a part that is held in the robot gripper and place it at a specific location This routine in turn calls special part reject strategy routines to operate the robot gripper The main reject routine follows the algorithm described below 1 If the Path record number path is zero return immediately with error set to zero No robot motion is generated in this case 2 Otherwise open the specified Path record enter the path and move along it to the first exit point 3 Read the nam
19. error message to the operator 13 If the optional departure path is specified depart from the assembly area along that path DEPART path 14 If the statement completes all defined arguments through the DEPART argument the output signal is set to TRUE Otherwise the output signal is set to FALSE OK_SIGNAL variable 5 2 Required Records for TRANSFER FP The records required by TRANSFER FP are the same as the standard TRANSFER statement These records are e Part Part Type Feeder Assembly See Chapter 4 for details on these records 5 3 Optional Records for TRANSFER FP TRANSFER FP uses five optional records The first two records are identical to the standard TRANSFER statement They are e Path Tool See Chapter 4 for details on these records The three additional optional records used by TRANSFER FP are vision records These records are detailed in the rest of this section Vision Refinement for the Gripped Part The REFINE visionand AND vision clauses of the TRANSFER FP statement require a vision record that returns a vision frame defining the actual location of a part in the robot gripper The center and orientation of this frame are used to calculate the true center of the part If both vision clauses are used the results of both operations are averaged to calculate the true part center The offset of the true part center from the actual gripper center will be taken into account when the robot attem
20. for monitoring forces Strategy routines also perform special algorithms for acquiring a part from a feeder or searching for an insertion location The strategy routines are named in the Part Type database and can be changed easily by the user The strategy routines make use of standard AIM routines that are supplied with the AIM Baseline Module the MotionWare Module or other optional AIM modules See the respective reference guides for these modules for complete descriptions of standard AIM routines and low level primitives AIM PCB User s amp Reference Guide Rev A 45 This chapter describes the databases used by the PCB Application Module It also provides Chapter 8 Databases detailed information on databases that are unique to this application 8 1 Identification Numbers Table 8 1 lists all the databases added by the PCB Module their type numbers and the global variables that can be used to refer to the databases Table 8 1 Database Identification Numbers Type Variable Resource Database Variable Type Name Module File Ext Number Description Assembly as ty 33 Defines the location where a part is to as db TASK be placed and how to place it There is ER no global assembly database Feeder fd ty 26 Defines the feeders used by the system fd db TASK Global database is FD DB fd Part pa ty 25 Each record in this database defines the pa db TASK parameters for a single part par
21. handy for instructions on any utility programs you may have to run Table 2 Manuals Used for Custom Programming Manual Material Covered AIM reference manuals These reference manuals cover the AIM database structures and the routines used to drive the AIM system There will be a manual or section of a manual for the base AIM system and each AIM module you have If you are going to use AIM PCB as delivered you can ignore this material V Reference Guide This set of reference manuals covers the operating system and language in which all V and AIM programs are written Unless you are writing custom V or AIM code you can ignore this material AdeptVision Reference Vision only This reference manual is a companion to the V Guide Reference Guide It details the vision enhancements to V 2 AIM PCB User s amp Heference Guide Rev A How Do Use AIM PCB Table 2 Manuals Used for Custom Programming Continued Manual Material Covered AdeptVision VME User s Vision only This manual contains the how to material Guide for Adept s vision system Unless you are programming custom vision applications you can ignore this manual A quick review of the manual will give you an idea of how the vision system works VisionWare User s Guide Vision only This manual covers the stand alone vision inspection module for AIM If you are using the vision capability of AIM PCB
22. location has two additional variables pickup offset X and Y These variables behave like approach heights only the offset is in the X Y plane rather than along the Z axis If an X Y offset is specified the robot will a move to the approach height offset by the specified amount if an approach has been defined b move to the offset location c move to the feeder location d depart from the feeder location If the feeder is a pallet choose Pallet to specify the dimensions of the pallet see section 2 2 NOTE As delivered by Adept User parameters are not used If a gripper with a part present sensor is used and a signal for the sensor has been configured Retry count specifies the maximum number of attempts that should be made to acquire a part Maximum time specifies the total time that should be spent trying to acquire a part These two parameters are used with the acquire strategy routine rn ac standard Cycle time specifies the time in seconds required by a feeder to present a new part after one is acquired AIM PCB will not attempt another access to this feeder until Cycle time seconds have passed used when there is no hardware part ready signal Indicates the status of the digital I O signals When the button and the signal name are dimmed no signal has been defined If a question mark appears in place of the button the signal defined is not the right type or is not properly
23. of walk thru training 6 This field is specified in a linking rule and is filled in automatically by the linker 8 3 Feeder Database Feeders are the source of all parts handled by the PCB Module This section presents a detailed description of the records in the Feeder database which describes all the feeders used by the system Each record in this database defines a single feeder The fields in a Feeder record define the location of the feeder and the parameters required to operate the feeder All the record fields are listed and summarized in Table 8 3 in the order in which they occur within a record The data in a record can be accessed from an application program by using the V variable names shown in the first column The global variable for accessing the Feeder database is fd db TASK Table 8 3 Record Definition for the Feeder Database Field Type Variable Field Name Size Description 0 name name A standard name that identifies the feeder cc name 15 This is the primary sort field and must be unique in this database This name is used by the AIM linker to link Part records to their associated Feeder records This name is also displayed to the operator during training and when reporting errors 1 AIM PCB User s amp Reference Guide Rev A 51 Chapter 8 Databases Table 8 3 Record Definition for the Feeder Database Continued Field
24. other parts on the assembly A path is a series of locations Once the robot enters a path it should be able to move from one location in the path to another without causing any damage See the MotionWare User s Guide Create reference frames If assemblies will not always be in the same location in the workcell reference frames simplify updating of the locations on an assembly If you have the vision option reference frames can be automatically updated using vision data See the MotionWare User s Guide If your system has the vision option the vision system can ee wo qi ip Update an assembly reference frame Chapter 6 Update the true location and orientation of parts picked up by the robot Chapter 5 Update the actual locations where the robot is to place parts Chapter 5 Inspect parts before they are placed Chapter 6 AIM PCB User s amp Heference Guide Rev A 3 Read Me First How Can I Get Help Service Calls Adept Technology maintains a fully staffed Customer Service Center at its headquarters in San Jose California When calling an Adept Customer Service Center select the appropriate phone number from the following list 800 232 3378 from anywhere in the continental United States 49 231 75 89 40 from within Europe 408 434 5000 from outside the continental US or Europe When calling Customer Service please have the serial number of the controller and the system software version The controller
25. path If the insertion fails and the optional reject path is not specified AIM PCB pauses the sequence and sends an error message to the operator If the optional depart path is specified depart from the assembly area along that path DEPART path AIM PCB User s amp Reference Guide Rev A 19 Chapter 4 Using the Transfer Statement 4 2 How TRANSFER Uses the Databases Table 4 1 shows the statement clause the databases accessed by that clause and the information retrieved from each database Table 4 1 TRANSFER Statement Clause Database Information APPROACH path Path Path to use moving from current robot location to the part feeder Entry point nearest the current robot location Exit point nearest the location being moved to Transit locations between the entry and exit points PART part Part Type Feeder The part being acquired The part type associated with this part The possible feeders The part acquisition insertion and reject strategies A tool transformation to use overridden if USING tool is defined Transit location to move through on way to feeder The feeder location including Approach and depart heights Arm configuration Reference frame Motion parameters for all moves X Y offsets for approaching the Pallet feeder parameters Feeder digital I O signals Retry limits for grippers with part present sensors Minimum cycle time for feeder access ALONG p
26. response indicates success and the optional depart path is specified enter the path and move along it to the first exit location 9 If no error occurs rn insert exits with the part inserted in the assembly the robot gripper empty and the robot either executing the last motion requested by the insertion strategy routine or moving along the optional depart path if one is defined Standard Part Insertion Strategy Routine Each part has an associated part type and each part type specifies the name of a part insertion strategy routine That routine is called by the main insertion primitive routine rn insert as described previously The standard insertion routine supplied with the PCB Module is rn in standard A separate insertion strategy routine may exist for every different type of part in the system These routines should all perform the following steps 1 Verify that the gripper is closed and that any part present sensors are in the correct state 2 Approach the assembly location and insert the part using an appropriate strategy 3 Open the gripper to release the part 4 Indicate successful insertion by setting the system control variable rn ctI TASK cv ins success to TRUE 5 Depart from the insertion location 6 Verify that any part present sensors are in the correct state In addition the routine should handle any expected error conditions and take appropriate action such as retrying the insertion operati
27. rnin standard 8 85 88 90 101 rninsert 74 75 79 80 87 88 90 103 104 rn move oc 85 90 rn reject 91 93 105 rn rb standard 8 91 106 rn update pallet 56 95 rn update tool 82 99 rn vis pic ist 71 79 80 T TRANSFER 73 TRANSFER FP 76 V vifitframe 71 AIM PCB User s amp Reference Guide Hev A 113 Index of Global Variables A as app mve 49 as app seqnum 49 as app strategy 48 as db 48 74 as dep mve 50 as dep seqnum 50 as dep strategy 50 as loc 48 as loc data 48 as loc frame 48 as loc frm rec 49 asloc mve 50 as loc seqnum 50 as loc strategy 49 as user 51 as usernum 51 C cc device 48 52 64 cc name 48 51 60 61 64 cc page name 52 cc update 48 52 60 61 64 cv ins success 87 88 F fd alarm name 58 fd app mve 53 fd app seqnum 53 fd app strategy 52 fd db 51 fd dep mve 54 fd dep seqnum 54 fd dep strategy 54 fd enable name 58 fdloc 52 fd loc data 52 fd loc frame 52 fd loc frm rec 53 fdlocmve 54 fdlocseqnum 54 fd loc strategy 53 fd opr 56 85 96 98 fd opr alarm 59 85 94 96 97 98 fd opr enable 59 85 94 96 97 98 fd oprnum 56 fd opr ready 59 85 fd opr retry 59 85 97 fd opr time 59 85 fd opr timeout 59 85 fd opr usig 59 85 fd opr usig 2 59 85 fd opr usig 3 59 85 fd opr xoffset 59 85 94 95 97 98 fd opr yoffset 59 85 94 95 97 98 fd pal 56 fd ready name 58 fd sig pal 57 fd sig pal name 58 fd transit 55 fd transit data 55 fd tr
28. strategy routine or sequence from the Part Type database and call it to insert the part It is assumed that the strategy routine departs from the assembly location If the strategy routine returns the response code rn opr retry retry action loop and repeat the previous two steps If the insertion failed rn ctl TASK rn ctl ins suc is FALSE and the strategy routine returns the response code rn opr fail or zero and the optional reject path is specified call the primitive routine rn reject to reject the part If no reject path is specified report the insertion failure to the operator and wait for an operator error response If the insertion succeeded rn ctl TASK rn ctl ins suc is TRUE the error response is zero and the optional assembly depart path is specified enter the path and move along it to the first exit location If any other error response is returned return from rn insert with that response If no errors occur rn insert returns with the part inserted in the assembly the robot gripper empty and the robot either executing the last motion requested by the insertion strategy routine or moving along the optional depart path if one is defined See Insertion Primitives on page 87 for more information on this routine and on part insertion strategy routines Related Routine rn in standard 104 AIM PCB User s amp Heference Guide Rev A rn reject Calling Sequence CALL rn reject path to opr
29. taught with the proper tool transformation in place 3 Ifthe acquire strategy routine rn ac pallet is used the reference frames specified for the feeder and assembly database locations must be defined with respect to a named reference frame 4 Each module must have an associated assembly You cannot use assembly global databases AIM PCB User s amp Heference Guide Rev A 21 Chapter 5 Transferring Parts Using Vision The TRANSFER FP statement performs pick and place operations for PCB assembly using the vision system to improve the placement accuracy It acquires a part from a feede visually inspects the part and determines precisely how the part is being held visually inspects the assembly location and determines its precise location and then places the part at that location See TRANSFER FP Flow Diagram on page 30 for details The vision operations permit high accuracy placement even when the initial part grasping location and the final assembly placement location are known only approximately In addition this statement allows optional paths to be followed while moving to the feeder moving to the vision inspection locations rejecting a bad part moving to the assembly rejecting a part that failed to be placed and departing from the assembly AIM PCB User s amp Reference Guide Rev A 23 Chapter 5 Transferring Parts Using Vision 5 1 Statement Syntax and Arguments The syntax for this statement is as f
30. to display a list of tool records Choose Done to exit the Tool Controls display 18 AIM PCB User s amp Reference Guide Rev A Chapter 4 Using the Transfer Statement TRANSFER is the basic AIM PCB statement It performs a pick and place operation acquiring a part from a feeder and inserting it into an assembly In addition it can follow optional paths while moving to the feeder moving to the assembly rejecting a bad part and departing from the assembly 4 1 Statement Syntax and Arguments The syntax for this statement is as follows where braces enclose optional clauses TRANSFER APPROACH path PART part ALONG path TO assembly DEPART path USING tool REJECT path Sequence of Operations The sequence of operations performed by this statement is as follows the relevant portion of the statement syntax is shown for each step 1 If the optional tool transformation is specified apply that tool to describe the current robot gripper USING tool If the optional approach path is specified move along that path to the feeder locations APPROACH path Select a feeder and pick up a part PART part If the optional transit path is specified move along that path to the assembly location ALONG path Place the part onto the assembly TO assembly If the placement fails and the optional reject path is specified follow the reject path and dis card the bad part REJECT
31. via input parameter args 2 If this argument is specified the current reference frame is set equal to the value of the specified frame Otherwise the current reference frame is used The general operation of this statement is 1 Open the optional default Frame database record and copy the frame value to the frame reference frame 2 Set the robot tool to the value specified or to NULL 3 Move along the optional path to the location of the first fiducial mark 70 AIM PCB User s amp Reference Guide Rev A 7 8 LOCATE ASSEMBLY Move so that the fiducial mark is seen by the camera Locate the fiducial mark using the vision runtime routine rn vis pic list If the vision operation is successful save the data for later computation Loop to step 4 for all the defined fiducial marks Compute the new reference frame value using the general vision routine vi fit frame and store the value in the Frame database If no error has occurred move along the optional depart path The following general items should be observed when defining data for this statement 1 2 3 All location data must be taught with the proper tool transformation in place The fiducial marks must be defined relative to the specified frame reference frame The camera calibration s for the vision locations must have been performed with the proper tool transformation in place When defining data for the vision operation LOCATE vision
32. 24 Sequence of Operations i eure I OO ERAN ERR ER CHE EE UR AT a 24 5 2 Required Records for TRANSFER FP 25 5 3 Optional Records for TRANSFER TEP 44 eso lee aede ato fete 25 Vision Refinement for the Gripped Part sssssssssesesss 25 Vision Frame for the Insert Location 27 Additional Considerations s ees 28 Chapter 6 Special PCB Vision Fools eee rero ha e e on ee ia 33 GL Introduction socer Rar pen encoun aces Seen 33 6 2 Lead Finder Vision Tool 33 6 3 Lead Finder Record 34 Lead Finder Record Options eer EE 35 64 Frame Finder TOOL a ee et d eee et e X 36 6 5 Frame Finder Record 37 Frame Finder Tool EE aed ten pieta teer eyes 37 Chapter 7 Customizing OVEerVIe Ww esee bea ine b d Vedi 41 ZA OV TEE 41 7 2 Prerequisite Background Information 41 7 35 Databases onu Maece eRe Morse e tly stale ana eie Mecha olestie adeo 42 74 Overview of the AIM PCB Module sse nann oa annn rrn nn 42 Database SUMMATY cased Ree 43 lee ee E e 44 Zb R un meBRoultmnes uie ENER A 44 Chapter 8 Databases o soot EE 47 8 1 Identification Numbers 47 8 2 Assembly Database a tok to ee d Po eter ede els 48 8 amp 3 Beeder Database oco HER NE UPS we o es 5 iv AIM PCB User s amp Reference Guide Hev A Table of Contents B4 Parpiatabase EE 60 55 E GER E 61 86 Tool Databases 44 cote e OE eerte p ON EET og LEONE ance o 64 Chapter 9 Stale MOIS WT PT 67 Chapte
33. 8 AIM PCB User s amp Reference Guide Rev A LOCATE ASSEMBLY Statement Syntax LOCATE ASSEMBLY FRAME framel DEFAULT frame2 APPROACH path LOCATE vision AT locl loc2 loc3 loc4 DEPART path USING tool OK_SIGNAL variable Function Statement routine for the LOCATE ASSEMBLY statement This routine uses vision to determine the reference frame for an entire assembly based on one to four fiducial marks Usage Considerations This routine must be called from a runtime task and the AIM Vision Module must be loaded Calling Sequence CALL locate assembly args error Input Parameter args Real array containing the arguments for this statement The individual elements are described below framel 1 Frame database record number that specifies the default reference frame to be used when positioning the camera to view the fiducial marks DEFAULT frame2 2 Optional Frame database record number specifying the default reference frame to be used when positioning the camera to view the fiducial marks APPROACH path 3 Optional Path database record number that specifies the path to use when approaching the assembly The value of this element must be 0 if no path is specified LOCATE vision 4 Vision database record number specifying the vision operation to evaluate in order to locate a fiducial mark This vision operation must return frame type data AT loc1 loc4 5 8 Optional Ass
34. AIM sequence that will be run to acquire the part from the feeder The standard acquire routines are rn ac pallet which is used when a pallet type feeder is used The parameters of the pallet are specified in the feeder that supplies this part type rn ac standard which is used with a simple feeder that supplies one part at a time to the same location This routine also supports force sensing using either a simple switch or a force sensor AIM PCB User s amp Heference Guide Rev A 7 Chapter 1 Parts and Part Types e Specify the V routine or AIM sequence that will be run to insert the part in the assembly The standard insertion routine is rn in standard which opens the gripper when the location is reached This routine also supports force sensing using either a simple switch or a force sensor Q Specify the V routine or AIM sequence that will be run to discard the part if it cannot be inserted The standard reject routine is rn rj standard This routine moves the robot onto a reject path and dumps the part at the first exit location on that path See the Motion Ware User s Guide for details on paths 8 AIM PCB User s amp Heference Guide Rev A Chapter 2 Feeders 2 1 What Are Feeders Feeders identify the locations where parts will be acquired Every part requires at least one feeder from which the part is acquired An acquire strategy is specified in the part type record associated with the part this feeder
35. JECT path 6 Optional Path database record number that specifies the path to follow 76 AIM PCB User s amp Reference Guide Rev A Output Parameter error Global Variable rn frame TRANSFER FP to reject the part if the part refinement fails The value of this element must be 0 if no path is specified ALONG path 7 Optional Path database record number specifying the path to follow when moving from the part refinement location to the assembly location The value of this element must be 0 if no path is specified LOCATE vision 8 Optional Vision database record number specifying the vision operation to evaluate in order to visually locate the assembly position The specified operation must return frame type data The value of this element must be 0 if no visual assembly location is specified TO board 9 Assembly database record number specifying the nominal location where the part is to be placed This location is used when positioning the camera to visually determine the assembly location This record is found in the current Assembly database associated with the current sequence DEPART path 10 Optional Path database record number specifying the path to follow when departing from the assembly location if the transfer succeeds The value of this element must be 0 if no path is specified USING tool 11 Optional Tool database record number specifying the tool to use when performing this transfer operat
36. Read Me First Software Installation and Start up The MotionWare User s Guide covers installing the software on your hard drive a hard drive is required to run AIM To load and execute the software follow the procedure described in the MotionWare User s Guide Substitute the commands load Ipcb and comm Ipcb for load Imow and comm Imow respectively Do I Have to Read All the Manuals AIM PCB comes with a complete set of reference material that allows you not only to use AIM PCB but to customize AIM PCB at the programming V level and write your own vision and robot programming applications The manuals you should read are listed in Table 1 The manuals you can ignore unless you are customizing AIM are listed in Table 2 Table 1 Manuals You Should Read or Review Manual Material Covered MotionWare User s How to use MotionWare Guide AIM PCB User s amp How to use the AIM PCB software Reference Guide Robot user s guide Basic capabilities of your robot as well as how to perform the start up procedures Controller user s guide Basics of using the controller If you are using digital I O pay particular attention to the requirements for initializing and installing the digital I O hardware Instructions for Adept Instructions for running the different Adept utility Utility Programs programs Depending on which options you use you may have to run different Adept utility programs Keep the manual
37. ame that identifies a part cc name 15 location in this assembly This is the primary sort field and must be unique in this database This name is referenced in a statement to specify the destination of a part 1 1 update date date time The date and time when this record was last cc update 4 modified This field is automatically set to the current date when the record is edited 2 device integer The number of the robot device associated with cc device 2 this assembly location This field is set to one for single robot systems 3 reference name The name of the Frame database record that as loc frame frame name 15 defines the frame for this location This field is used only if the location type bits indicate relative to a named frame 1 4 location transform The basis location for the next motion block as loc 48 This corresponds to the location of the tool when the part is inserted into the assembly with no approach offset 5 5 approach name The name of the approach strategy routine or as app strategy strategy 1 sequence 1 3 name 6 approach integer Start of a standard robot motion parameter as loc data 2 block for the motion to approach the part location See the MotionWare Reference Guide for details 2 48 AIM PCB User s amp Reference Guide Rev A Assembly Database Table 8 2 Record Definition for the Assembly Database Continued Field T
38. and Columns Are Determined sssssssss 13 2 9 seeder Control Signals scc E o eet ae eo teet 13 Specifying Feeder Control Signals erer geed 13 Feeder Enabled Signal ie eed ahiebee eere gripon ete oed sod 13 Feeder Miput Eeer 14 Feeder Output Signals oos veru e e eie vii o Ee dne tiis 14 Regnabling qd ESdeE eoa este f Db e i Ek Lote Ec 14 Chapter3 Tool Records aneen oed eb decir rk Re ph RU RETIRER Be EE 15 3 1 What Are Tool Records Aaea a aa ARA AAAA meme eee 15 3 2 Th Tool Menu Pages cue ee teet p ete te ES DE ENS MS ded 16 Tool Menu Pase Options cu eee Er toc eee et ose 16 Get Tool Control Signals ee ere tim ha Po RD OMS CER 17 AIM PCB User s amp Reference Guide Hev A iii Table of Contents Specifying Tool Control Signals 15 ike arreter eere bd 17 PAPE presentino tadar o eer ere een CUm cone dt spas d vito duds 17 OPEN EE 17 Close or ppe uoo c elatis Rot ee cue Ef 17 Raise ue EE 17 LOWerenpper e este Gaeta EE 17 3 4 Displaying the Tool Controls Values a rrt dete bn 18 Chapter4 Using the Transfer Statement osse 19 4 1 Statement Syntax and Arguments usse er cree ror p EN n oA 19 Sequence Of Operations sei eL eve tolto vero Pe by Ehre de ge 19 4 2 How TRANSFER Uses the Databases sess 20 Z3 Lhingsto Remember 4i al vise E a Ho Peto CI Vb E a 21 Chapter 5 Transferring Parts Using Vision 23 5 1 Statement Syntax and Arguments uoce re eb RS ERE vti d
39. ariable should have the value zero if no raise gripper signal is connected 2 13 lower gripper integer Element containing the number of the digital output signal that lowers the robot gripper The robot gripper should lower when the signal is set to TRUE This signal is controlled as the complement of the signal to opr rai sig The variable should have the value zero if no lower gripper signal is connected 2 14 open gripper delay real Element containing the time in seconds that the robot should delay after activating an open gripper signal This delay allows the gripper to open before the robot begins moving 15 close gripper delay real Element containing the time in seconds that the robot should delay after activating a close gripper signal This delay allows the gripper to close before the robot begins moving AIM PCB User s amp Reference Guide Rev A 65 Table 8 9 Record Definition for the Tool Database Continued Field Type Variable Field Name Size Description 16 raise gripper real Element containing the time in seconds that the delay 4 robot should delay after activating a raise gripper signal This delay allows the gripper position to stabilize before the robot begins moving 17 lower gripper real Element containing the time in seconds that the delay 4 robot should delay after activating a lower gripper signal This
40. ase record as the picture taking location Y Auto select is selected the first vision refinement operation REFINE vision will use segment 1 of the specified path and the second refinement argument AND vision will use segment 2 of the specified path This allows you to use the same vision operation for each argument If you enter a value in the Path segment data box that segment will be used during the refine operation 26 AIM PCB User s amp Heference Guide Rev A Optional Records for TRANSFER FP Vision Frame for the Insert Location The LOCATE vision clause of TRANSFER FP also requires a vision record returning a frame result This record must return the actual center of the placement location The offset of the true center of the placement location from the defined assembly location is taken into account when the robot attempts to place the part The vision tools commonly used to return a frame result are Blob Finder VisionWare User s Guide Prototype Finder VisionWare User s Guide Frame Finder Chapter 6 Computed Frame VisionWare User s Guide The camera record used to generate the vision frame should have the following characteristics e It should be a robot mounted camera The camera should have been calibrated using the Arm Mounted Camera Calibration option described in the MotionWare User s Guide The vision frame must have its Z axis pointing away from the camera Se
41. ath Path Path to use moving from the feeder to the assembly location Entry point nearest the current robot location Exit point nearest the location being moved to Transit locations between the entry and exit points TO assembly Assembly The part insertion location including Approach and depart heights Arm configuration Reference frame Motion parameters for all moves DEPART path Path Path to use when leaving the insertion location Entry point nearest the current robot location Exit point nearest the location being moved to Transit locations between the entry and exit points USING tool Tool A tool transformation to use for all robot motions 20 AIM PCB User s amp Reference Guide Rev A Things to Remember Table 4 1 TRANSFER Statement Continued Clause Database Information REJECT path Path Path to use moving from the assembly location when rejecting a part that failed to be inserted Entry point nearest the current robot location First exit point after entry point the part will be dumped at this location 4 3 Things to Remember 1 The minimum information required to execute a TRANSFER statement is A part A part type for the part including insert and acquire strategies A feeder for the part including The feeder location An enabled digital I O signal An assembly with at least one insertion location 2 Alllocation data must be
42. ational 4 speed 25 location byte profile 1 26 location integer 4 7 fd loc seqnum sequence 2 27 depart name The name of the depart strategy name or fd dep strategy strategy 1 sequence 1 4 name 28 depart integer Start of a standard robot motion parameter 2 block for the motion to depart from the part grip location See the MotionWare Reference Guide 3 29 depart integer Part of the standard robot motion fd dep mve motion bits 2 parameter block for the motion to depart from the part grip location See the 30 depart speed E Motion Ware Reference Guide 4 31 depart byte acceleration 1 32 depart byte deceleration 1 33 depart real rotational 4 speed 34 depart byte profile 1 35 depart integer 4 7 fd dep seqnum sequence 2 54 AIM PCB User s amp Reference Guide Rev A Feeder Database Table 8 3 Record Definition for the Feeder Database Continued Field Type Variable Field Name Size Description 36 transit name The name of the Reference Frame database fd trn frame reference 15 record that is the frame for the transit frame name location described below This field is used only if the transit type bits indicate relative to a named frame 1 37 transit transform Optional basis location through which the fd transit 48 robot tool tip will move on the way to and from the feeder If not defined this field is ignored and no intermediate transit m
43. bot motion device cc device 2 associated with this record 3 tool transform Each element of this array defines an offset from to loc transformation 48 3 the robot tool mounting flange to the actual part to array num grip point These transformations should be Number of defined so that the positive Z axes of the tools elements in tool point in the approach direction The multiple array array elements are intended to be used with a tool that changes configuration such as a pivoting gripper 4 part present string A variable database record name that specifies to part sig nam input signal 15 the input signal to be monitored to determine when a new object is present at the pickup location 1 5 open gripper string A variable database record name that specifies to opn sig nam output signal 15 the output signal used to open the robot gripper 1 6 close gripper __ string A variable database record name that specifies to cls sig nam output signal 15 the output signal used to close the robot gripper 1 7 raise gripper string A variable database record name that specifies to rai sig nam output signal 15 the output signal used to raise the robot gripper 1 8 lower gripper string A variable database record name that specifies to low sig nam output signal 15 the output signal used to lower the robot gripper 1 64 AIM PCB User s amp Reference Guide Rev A Table 8 9 Tool Database Record Definition for the T
44. ccessful and what action should be taken by the calling routine See the standard AIM operator error response code values Global Variable as db TASK Real array containing the number of the current Assembly database Details This statement routine performs a simple transfer operation with no vision The exact series of robot motions is determined by the strategy routines and data values specified in the various arguments The sequence of operations performed by this statement is as follows the relevant portion of the statement syntax is shown for each step 1 If the optional tool transformation is specified apply that tool to describe the current robot gripper USING tool If the optional approach path is specified move along that path to the feeder locations APPROACH path Select a feeder and pick up a part by executing the part acquisition strategy routine rn acquire PART part If the optional transit path is specified move along that path to the assembly location ALONG path Insert the part into the assembly by executing the part insertion strategy routine rn insert TO assembly If the insertion fails and the optional reject path is specified follow the reject path and discard the bad part REJECT path If the insertion fails and the optional reject path is not specified AIM stops processing the sequence and sends an error message to the operator If the optional departure path is spe
45. ce and returns a line based on the average position and orientation of the leads Figure 6 1 shows the layout of the lead finder tool Figure 6 1 Lead Finder Tool The dimensions of the tool can be set either with the drag handles or by entering absolute values in the tool record AIM PCB User s amp Reference Guide Rev A 33 Chapter 6 Special PCB Vision Tools The lead finder tool will stop locating leads if the primary ruler fails to find an edge or an individual search area fails to find leads that meet the spacing requirements If the number of leads specified are located and pass inspection a line will be generated based on the average orientation of the leads Frame finder tools can use the lines generated by four lead finders to create a frame for a surface mount device 6 3 Lead Finder Record To create a new lead finder record perform Edit Vision Edit New Record enter lead finder record name Other Record Types Lead Finder OK To edit an existing lead finder record perform Edit Vision Seek Index double click lead finder record name The following screen is displayed Lead Finder pc sampl Seek Edit Help pe_ldf 661 Z TopLevel 2 87 Dec 95 16 25 F Show at runtime Picture name e picture 1 Tool Loc Relative to o Primary Ruler Specifications D OU Ruler edge data Binary Edge Background 9 Dark Light T
46. cified depart from the assembly area along that path DEPART path The following items should be observed when defining data for the TRANSFER statement 74 A part type and at least one feeder must be assigned to the Part database All location data must be taught with the proper tool transformation in place The reference frames specified for the Feeder and Assembly databases depend upon the strategy routines being used For example the acquire strategy routine rn ac pallet requires that the feeder locations be defined with respect to a named reference frame Check the documentation on the individual strategy routines for details AIM PCB User s amp Heference Guide Rev A TRANSFER For more details see the descriptions of the routines rn acquire and rn insert in Chapter 9 Related Routines transfer fp rn acquire rn insert AIM PCB User s amp Heference Guide Rev A 75 TRANSFER FP Statement Syntax TRANSFER FP APPROACH path PART part APPROACH path REFINE vision AND vision REJECT path ALONG path LOCATE vision TO board DEPART path USING tool REJECT path OK_SIGNAL variable Function Statement routine for TRANSFER FP the fine placement transfer statement It can use vision to refine the part in hand position and to locate the assembly location Usage Considerations This routine must be called from a runtime task The AIM Vision Module must be
47. configured A button with a gray center indicates that the signal is off a button with a green center indicates that the signal is on Double click on the signal name box to select an existing signal name or define a new signal name for these controls See the controller user s guide for details on the physical installation and configuration of digital I O See section 2 3 for details on using these specific signals AIM PCB User s amp Reference Guide Rev A 11 Chapter 2 Feeders 2 2 Using Pallet Feeders If parts are being acquired from evenly spaced locations on a pallet the pallet parameters tell the robot how many rows columns and layers are on a pallet and how far apart those components are If you are using a pallet feeder the acquire routine rn ac pallet must be specified in the part type record for the part types being acquired at this feeder To specify pallet parameters choose Pallet from the feeder menu page The following screen is displayed WW Pallet Parameters Pallet frame o e Spacing Count Index Done Signal OC BN IW 1 M ENS IW NM NM QO Index Update Ordering First Second Third Column Row Layer Column Layer Row Layer Column Row Figure 2 2 Pallet Parameters Pallet Parameters Menu Page Options oO If a reference frame has been declared for the feeder the name of the frame is displayed here Enter the space between ind
48. dentical but vary in resistance value All these resistors would be acquired and inserted in the same manner In this example you would create 15 part records to identify the different resistors and the feeders that supply the resistors but only one part type record that specifies how to acquire and insert the 15 different resistors Parts that are physically unique will have a part type record for each part record AIM PCB User s amp Heference Guide Rev A 5 Chapter 1 Parts and Part Types 1 2 Part Records To create a new part record perform Edit Part Edit New Record To edit an existing part perform Edit Part Seek Index double click part record name Part xGlobalx LJ Go Seek Edit Help Ei eme 1 of 1 af n ae rere o Part Type Feeders m MG mu 3 3w3 Em 3 A 333 3P O Figure 1 1 Part Menu Page Part Menu Page Options 1 Shows the name of the current part record the number of this record in the database and the total number of records in the database o Shows the date this record was last modified Entera part type to be associated with this part Double clicking this data box when it is empty displays a pick list of defined part types that can be selected Part types are detailed in the next section Q Enter the feeders that supply this type of part Double clicking these data boxes when they are empty displays a pick list of defin
49. e PCBSAM PCBSAM FP Database from sample PCB module PCBSAM PCBSAM FR Database from sample PCB module PCBSAM PCBSAM LC Database from sample PCB module PCBSAM PCBSAM MP Database from sample PCB module PCBSAM PCBSAM DA Database from sample PCB module PCBSAM PCBSAM PH Database from sample PCB module PCBSAM PCBSAM PT Database from sample PCB module PCBSAM PCBSAM TO Database from sample PCB module PCBSAM PCBSAM MA Database from sample PCB module PCBSAM PCBSAM VI Database from sample PCB module PCBSAM PCBVIS HLP PCB vision tools help file PCBVIS MNU Menu file for editing PCB vision tools STATPCB DB PCB statement definitions VCALPCB VI Database from the vision calibration module VCALPCB VCAMPCB DB Camera global database for AIM PCB VPCB OV2 Overlay for PCB vision tool initialization VPCB OVR Squeezed version of VPCB OV2 VPCB SQU Runtime routines for PCB vision tool AIM PCB User s amp Reference Guide Rev A 109 Index A routine 88 101 Acquisition part 81 sequence 89 Application information 4 reject 91 105 Assembly database 48 strategy routine 91 106 D sequence 92 Data files 107 Part Type database 61 Databases 47 Placement 73 Assembly 48 high accuracy 76 Feeder 51 Primitive routines Part 60 part acquisition 81 99 Part Type 61 partinsertion 87 103 summary 43 part reject 91 105 Tool 64 Program files 107 Disk files 107 R E Reference manuals 41 European customer assistance 4 Reject part 91 105 Ro
50. e along an optional path in preparation for the next operation The full part insertion procedure is performed by two routines a main primitive routine that handles the optional paths before and after the insertion and a part insertion strategy routine that handles the actual insertion of the part and the tool operation The main insertion routine calls the part insertion strategy routine indicated by the part type of the part to be inserted The main routine is intended to be used as is for most applications although it can be copied and modified if necessary The system customizer will normally have to write one or more part insertion strategy routines or sequences to handle special parts and grippers In addition to the standard control variables the PCB Module uses the control variable rn ctl TASK cv ins success to indicate whether or not a part has been successfully placed in the assembly This control variable is set to FALSE before each statement is executed The statement then sets the variable to TRUE if the part insertion or placement was successful The operator control panel can also change the value of this variable That is due to operator intervention it is possible for a statement primitive to complete with a success indication without having actually inserted or placed a part The scheduler can ignore this variable automatically retry if it is FALSE or simply log failures as desired Details of the Insertion Routine Pa
51. e name A standard AIM name that specifies a record pt ac fp name forceprocess 15 in the force process database This is used name when acquiring inserting or rejecting a part 1 12 insert force name A standard AIM name that specifies a record pt in fp name process 15 in the force process database This is used name when acquiring inserting or rejecting a part 1 13 reject force name A standard AIM name that specifies a record pt rj fp name process 15 in the force process database This is used name when acquiring inserting or rejecting a part 1 14 acquire integer The record number corresponding to the field pt ac fprocess force 2 acquire force process name 2 process 15 insert force integer The record number corresponding to the field pt in fprocess process 2 insert force process name 2 16 reject force integer The record number corresponding to the field pt rj fprocess process 2 reject force process name OI Notes 1 If this field is modified the database is marked for updating 2 This field is computed during linking 62 AIM PCB User s amp Heference Guide Rev A Part Type Database Table 8 8 Flag Bits Defined in pt flags Name Setting Description pt flb ac rtn 1 Bit number set if acquire uses a V routine Otherwise it uses an AIM sequence pt flb in rtn 2 Bit number set if insert uses a V routine Otherwise it uses an AIM sequence pt flb rj rtn 3
52. e of the reject strategy routine or sequence from the Part Type database and call it to reject the part 4 If the reject strategy routine returns any error response code other than zero return immediately with that error response 5 Otherwise continue along the reject path and exit the path at the next exit point 6 Pause if Pause After Action is requested and no error has occurred When this routine returns the robot is moving toward the second exit point on the path See Reject Primitives on page 91 for more information on this routine and on part reject strategy routines Related Routine rn rj standard AIM PCB User s amp Heference Guide Rev A 105 rn rj standard Calling Sequence CALL rn rj standard to opr error Function Part reject strategy routine called from the reject primitive routine to operate the robot gripper Usage Considerations This routine assumes that the tool database is open to the correct record Input Parameter to opr Real array containing standard values for operating the tool See Table 8 9 for details The following values are used by this routine to opr part sig to opr cls sig to opr opn sig to opr opn del Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM operator error response code values The value zero indicates that the r
53. e only guidelines The actual steps performed and their order will depend on the particular part and gripper Customizer written part reject strategy routines must conform to the calling sequence described in the following section NOTE The variable names used in this description are for explanation purposes only Your application program can use any variable names you want Part Rejection Strategy Sequence AIM PCB provides the option to use an AIM sequence in place of a V routine for the part rejection strategy Refer to Part Type Menu Page Options on page 7 for details An example of this method is shown in Figure 10 1 NOTE The guidelines described for using a part reject strategy routine also apply to this method 92 AIM PCB User s amp Reference Guide Rev A Reject Primitives Reject Strategy Routine The reject strategy routine is passed an array containing the tool control parameters The robot is moving to the first exit point on the reject path Calling Sequence CALLS rtn Function to opr error Called from a part reject primitive routine to reject a part This routine moves the robot and operates the tool Input Parameters rtn to opr Output Parameter error The name of the part reject strategy routine This must exactly match the name specified in the Part Type database record for the corresponding part type This name is extracted from the Part Type database by the gen e
54. e size of the search areas for individualleads can also be set using the search area drag handles Enter the effort level to use when searching for a lead Higher effort levels require more processing time Adept recommends 100 unless vision processing time is critical Individual leads are searched for based on the grayscale image Use the slide bar to set the difference in graylevel values required to detect an edge In the Minimum and Maximum data boxes enter the minimum and maximum acceptable lead width and spacing If any of the leads do not fall within these values the inspection will fail In the Number of Leads data box enter the number of leads that should be searched for If all the leads are not found the inspection will fail In the Nominal data boxes enter the ideal values the lead width and spacing should have The Result information box shows the average width and spacing of the leads Displays the center of the calculated line centered on the first lead and the angle with respect to the vision X axis of the calculated line AIM PCB User s amp Reference Guide Rev A 35 Chapter 6 Special PCB Vision Tools Figure 6 3 shows a typical lead finder tool inspecting the first five leads on a surface mount device a Calculated line Figure 6 3 Lead Finder Tool Example 6 4 Frame Finde
55. e the Camera Record Options section in the VisionWare User s Guide for details on making this change e If this camera also is being used for a LOCATE ASSEMBLY statement load two virtual cameras one with the Z axis pointing towards the camera for the LOCATE ASSEMBLY operation and one with the Z axis pointing away from the camera for the TRANSFER FP operation The picture record should be set up as follows see the description of the Robot Motion Information pop up window in the MotionWare User s Guide Do not select 8 Object moved by robot If Vision target location is selected Specify a path name in the PATH name data box The path record controls the motion parameters for moving to the picture taking location These include speed motion type etc The path record also controls the offset of the vision target with respect to the assembly location Set the path reference frame to 8 Dynamic see the description of the Path Segment menu page in the Motion Ware User s Guide When the robot moves the camera over the assembly it uses the camera to robot offsets created during camera calibration to move the camera rather than the gripper over the assembly location Specify the path segment in the Path segment data box located on the Robot Motion Information pop up window If the path segment contains all zeros the center of the assembly location will be used as the vision target Nonzero values for X and Y move the vision tar
56. ecified in the PATH name data box The specified path record controls the motion parameters for moving to the picture taking location These parameters include speed motion type etc This path record also controls the offset of the vision target with respect to the robot tool tip The path reference frame must be set to 8 World The path location is an offset in robot coordinates for the vision target The value NULL causes the tool tip to be used as the vision AIM PCB User s amp Heference Guide Rev A 79 TRANSFER FP target Non zero values for X Y and roll move and rotate the vision target within the vision plane When debugging the refinement operation you should observe the robot TOOL transformation before and after the refinement If it changes drastically either the camera calibration is incorrect the parameters are set up incorrectly in the picture or camera records or the parameters are set up incorrectly for the associated path When defining data for the third vision operation LOCATE vision the following items should be observed 1 The vision operation should return a reference frame result that determines the position and orientation of the assembly location where the part is to be placed The vision operation should reference a robot mounted camera The picture record should have 8 Vision target location selected for the location and a path name specified in the PATH name data box The specified pat
57. ed feeders that can be selected All feeders specified must use the same acquisition strategy specified in the part type record Feeders are detailed in Chapter 2 Each part requires at least one feeder If the first defined feeder is empty or inactive the robot will attempt to access the next defined feeder and so on until all defined feeders are either inactive or empty 6 AIM PCB User s amp Reference Guide Rev A Part Type Records 1 3 Part Type Records To create a new part record perform Edit Part Type Edit New Record To edit an existing part perform Edit Part Type Seek Index double click part type record name The following screen is displayed 2 Seek Edit Help 2 e Q9 E 16 58 P 1 of 1 Tool O ficquire Strategy 9 AIM sequence rn ac standard V Routine Force process po Insert Strategy AIM sequence rn in standard V Routine Force process LL 1 Reject Strategy 2 AIM sequence rn rj standard V Routine Figure 1 2 Part Type Menu Page Part Type Menu Page Options Q Shows the name of the current part type record the number of this record in the database and the total number of records in the database Shows the date this record was last modified e Specify an optional tool transformation to be used when acquiring and inserting this part see the MotionWare User s Guide Specify the V routine or
58. eject operation has succeeded the robot gripper is empty and the robot is ready to continue moving along the reject path Details This is a simple part reject strategy routine that is provided as a model for strategy routines written by customizers The commented V source code for this routine is provided This routine operates the gripper to reject a part It is called with the robot moving toward the reject location It performs the following steps 1 Wait for the current robot motion to complete 2 Open the robot gripper to release the part and delay the specified time 3 Verify that the robot gripper is empty After successful completion the robot is stationary at the part reject location with the gripper open Related Routine rn reject 106 AIM PCB User s amp Heference Guide Rev A Appendix A Disk Files There are several file name extensions used for the disk files suplied with the AIM PCB Application Module They indicate the type of information in each file as described in Table A 1 Table A 2 lists all the disk files these files are distributed on the PCB Module diskette Table A 1 Extensions for AIM Disk File Names Extension File Contents V2 V programs with all comments included GOU V programs with comments removed to reduce the amount of system memory occupied ON V programs with all comments included that are loaded into memory only when needed for the function they perfo
59. embly database record numbers specifying the nominal location of additional fiducial marks The actual fiducial marks must be visible when the camera is aimed at these locations These records are found in the current Assembly database that is associated with the current sequence DEPART path 9 Optional Path database record number that specifies the path to follow when departing from the assembly location The value of this element must be 0 if no path is specified USING tool 10 Optional Tool database record number that specifies the tool to use AIM PCB User s amp Reference Guide Rev A 69 LOCATE ASSEMBLY when performing this transfer operation The value of this element must be 0 if the NULL tool is to be used OK_SIGNAL variable 11 An optional code for a Variable database output variable that receives 1 if the reference frame was successfully computed Otherwise it is set to zero This argument should be set to the value of the global variable va undef var if the clause is omitted Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM operator error response code values Details This statement uses vision to determine the precise value of the reference frame associated with an entire assembly The statement is useful when assembly locations are specified relative to a genera
60. enter the path and move along it toward the first exit location 3 Scan through all the feeders indicated by the desired part looking for one that is enabled has its ready signal set and has not been accessed for a specified time interval The scanning begins with the feeder that was accessed most recently This tends to empty one feeder before moving on to the next 4 f no feeders are ready continue moving along the feeder approach path until the first enabled feeder is reached Wait there until a feeder becomes ready An error is signaled if there are no feeders available after the specified time out interval AIM PCB User s amp Heference Guide Rev A 99 rn acquire 5 When a feeder becomes ready and an approach path is specified move along the path to the appropriate exit location 6 If the optional feeder transit location is defined move to it 7 Read the name of the part acquisition strategy routine or sequence from the Part Type database and call it to acquire the part 8 If the part acquisition strategy routine returns rn opr retry as the error response code loop and scan the feeders again If the error response code rn opr skip is returned by the strategy routine rn acquire assumes that a part was obtained and returns with success If any other error response is returned by the strategy routine rn acquire returns with that error response 9 If the optional feeder transit location is defined move to i
61. erator error response code values The value zero indicates that the acquisition has succeeded and the robot is holding the part in its gripper AIM PCB User s amp Heference Guide Rev A 97 rn ac standard The value rn opr retry indicates that the acquisition from the current feeder has failed and a different feeder should be tried Details This is a simple part acquisition strategy routine that is provided as a model for strategy routines written by customizers The commented V source code for this routine is provided This routine acquires a part from a standard feeder This feeder has no digital I O signals associated with it Presence of a part is detected by attempting to grip the part and detecting it in the gripper If no part is detected the robot retries the acquire operation for this feeder up to the specified maximum retry count The fd opr xoffset and fd opr yoffset values in the Feeder database are used to implement a special pickup offset feature These values specify X and Y offsets in tool coordinates that are used to approach the part pickup location The robot moves to the offset location first then to the actual location This capability is useful for grippers that have one fixed position finger In detail the steps performed by the routine are 1 Verify that the part present signal specified by the value of to opr to opr part sig indicates that the gripper is empty 2 Open the gripper 3 Move to
62. etails see the discussion of the part reject routine in Chapter 10 1 5 tool name name A standard name that specifies the tool to be pt toolnam 15 used when handling parts of this type This name identifies the record in the Tool database that contains data defining the tool This name must be present in the Tool database See the description of the Tool database in section 8 6 1 AIM PCB User s amp Heference Guide Rev A 61 Chapter 8 Databases Table 8 7 Record Definition for the Part Type Database Continued Field Type Variable Field Name Size Description 6 tool integer The number of the record in the Tool database pt tool 2 that describes the tool to be used for this part 2 7 flags integer These fields define parameters that can be pt flags 2 used by an insertion strategy routine See Table 8 8 for flag bit definitions See the discussion of part insertion strategy routines in Chapter 10 for details on motion blocks 8 acquire integer Number of the acquire insert or reject pt ac seqnum sequence 2 sequence if field 2 3 or 4 specifies a strategy sequence 2 9 insert integer Number of the acquire insert or reject pt in seqnum sequence 2 sequence if field 2 3 or 4 specifies a strategy sequence 2 10 reject integer Number of the acquire insert or reject pt rj seqnum sequence 2 sequence if field 2 3 or 4 specifies a strategy sequence 2 11 acquir
63. from feeders and inserted into or placed on the circuit board A collection of databases that contain data about the parts feeders and circuit boards Menu files that permit these databases to be displayed and that also permit robot related cell control operations High level statements and support routines for interfacing with the AIM Vision Module Custom vision operation routines for inspecting component leads and pad arrays and for locating components and fiducial marks AIM PCB User s amp Heference Guide Rev A Overview of the AIM PCB Module These components are used along with the components supplied with MotionWare Database Summary Table 7 1 contains a brief summary of the databases that are included with the PCB Module These databases are in addition to the standard AIM baseline databases and the databases for the AIM MotionWare Module Refer to the respective reference guides for information on those databases Table 7 1 Database Descriptions Database Description Assembly This database describes the circuit board locations where parts are placed and the motions parameters used to place the part It contains the destination locations that is part attachment locations for a single assembly Feeder This database describes the feeders from which parts are obtained and the I O signals and parameters used to operate the feeders Part This database describes the part type and part feeder for each
64. get within the vision plane If the camera is not mounted on the final link of the robot the values of Z and orientation control the tool height and orientation with respect to the assembly location when the picture is taken NOTE An important use of the path is to move the quill out of the way of the assembly the camera to robot transformation does not take into account any Z offset Since assembly locations have a pitch of 180 a negative value for the Z offset must be used to keep the gripper above the board See robot approach minimum in the robot initialization database file ROBINLDB AIM PCB User s amp Heference Guide Rev A 27 Chapter 5 Transferring Parts Using Vision If you are using a computed frame to calculate the true assembly location and the tools needed to compute the frame will not fit on a single screen you can use multiple picture records with different path segments to move the camera to the different locations AIM PCB will take care of the necessary calculations to generate the frame Choose Here and the current robot offsets from the assembly location will be recorded in the specified path segment during walk thru training only If 8 Robot location is selected The path segment specified in the Location data box will be the location the robot moves to when taking a picture Choose Here To record the current robot location in the specified path segment If 8 Aut
65. h record controls the motion parameters for moving to the picture taking location These parameters include speed motion type etc This path record also controls the offset of the vision target with respect to the nominal assembly location The path reference frame must be set to Dynamic The path location is an offset in robot coordinates for the vision target The value NULL causes the center of the assembly location to be used as the vision target Nonzero values for X and Y move the vision target within the vision plane If the camera is not mounted on the final link of the robot the values of Z and orientation control the tool height and orientation with respect to the assembly location when the picture is taken NOTE To position the tool above the assembly a negative Z offset is required When debugging the locate operation you should observe the robot TOOL transformation before and after the location correction If the value changes drastically either the camera calibration is incorrect the parameters are set up incorrectly in the picture or camera records or the parameters are set up incorrectly for the associated path For more details see the descriptions of the routines rn acquire and rn insert in Chapter 9 and the routine rn vis pic list in the MotionWare Reference Guide 80 AIM PCB User s amp Heference Guide Rev A Chapter 10 Primitive and Strategy Routines This chapter describes the higher level run
66. hapter 7 Customizing Overview AIM Customizer s Reference Guide This manual describes in detail the structure of the AIM baseline software and how to customize it e AdeptVision VME User s Guide AdeptVision Reference Guide These manuals describe all the aspects of the V programming system that pertain to the AdeptVision VME system VisionWare User s Guide VisionWare Reference Guide These manuals describe in detail the general purpose vision routines and data structures used by the AIM VisionWare Module If your AIM system includes additional system modules you should also refer to the user s guide and reference guide for each of those modules 7 3 Databases The PCB databases and type codes are listed below 7 4 Database Type Database Global File Code Name Variable Variable Name md Module md ty md db pcbmod db as Assembly as ty as db None fd Feeder fd ty fd db feeder db pa Part pa ty pa db part db pt Part Type pt ty pt db parttype db vc Camera vc ty vc db vcampcb db Overview of the AIM PCB Module The AIM PCB Module is a collection of programs databases and menu pages that direct robot devices to assemble printed circuit boards The major components of the AIM PCB Module are 1 42 High level statements that specify which parts are to be transferred to which locations on a printed circuit board Strategy routines that determine how parts are acquired
67. he desired part looking for one that is enabled has its ready signal set and that has not been accessed for a specified time interval The scanning begins with the feeder that was accessed most recently to empty that feeder before moving on to the next one If no feeders are ready continue moving along the feeder approach path until the first enabled feeder is reached Wait there until a feeder becomes ready An error is signaled if there are no feeders available after the specified time out interval When a feeder becomes ready and an approach path is specified move along the path to the appropriate exit location If the optional feeder transit location is specified move to it Read the name of the part acquisition strategy routine or sequence from the Part Type database and call it to acquire the part See the following section for details on that routine If the part acquisition strategy routine returns a retry action error response code loop and scan the feeders again If the error response code skip action is returned the routine rn acquire assumes that a part was obtained and returns with success If any other error response is returned from the routine rn acquire exits with that error response If the optional feeder transit location is specified move to it again 10 If no error occurs rn acquire exits with the part in the robot gripper and with the robot 82 either completing the last motion reque
68. he record in the Part database that defines the part to be acquired This record must be the Part record currently open path Real value that defines the number of the record in the Path database for the path if any to be followed in approaching feeders for this part No path is followed if this value is zero to opr Real array containing standard values for operating the tool See Table 8 10 for the standard tool operation values Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM operator error response values This parameter returns zero if the part was successfully acquired It returns the value rm opr abort if a fatal nonrecoverable error occurs The operator response rn opr retry is handled by this routine and cannot be returned as an output value The operator response rn opr skip is translated to zero and cannot be returned as an output value Details This primitive routine is called for all parts to acquire the part from a feeder This routine in turn calls special part acquisition strategy routines to operate different types of feeders and tools This main acquire routine follows the algorithm described below 1 Call the routine rn update tool to make sure the current robot tool is the correct one for this part 2 Check if an optional feeder approach path is specified If so
69. his must exactly match the name specified in the Part Type database record for the corre sponding part type This name is extracted from the Part Type database by the general acquisition routine rn acquire fd opr Array of real values for operating the feeder The array index values are global variables defined as follows Variable Description fd opr enable enable signal fd opr ready ready signal fd opr alarm empty alarm signal fd opr usig 1 user signal element 1 fd opr usig 2 user signal element 2 fd opr usig 3 user signal element 3 fd opr retry retry count fd opr timeout maximum time fd opr time cycle time fd opr xoffset pickup offset x value fd opr yoffset pickup offset y value to opr Array of real values for operating the tool Table 8 10 lists the standard tool operation values The following records are currently open upon entry feeder part type AIM PCB User s amp Heference Guide Rev A 85 Chapter 9 Primitive and Strategy Routines Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard operator error response code values Pallet Part Acquisition Strategy Routine The PCB Module contains an alternate strategy routine rn ac pallet for acquiring parts from a pallet Instead of picking parts from a single feeder location this r
70. hreshold se Uu 9 ro Lead side Search Parameters Length Width Effort Level Edge Strength EC ie e 2 Lead Parameters idth Spacing Minimum 8 888 8 800 Maximum 800 900 900 900 Nominal 15 000 15 080 Result 000 0 000 Line Results Number of Leads u fingle Figure 6 2 Lead Finder Record 34 AIM PCB User s amp Heference Guide Rev A Lead Finder Record Lead Finder Record Options o o oo 60 Shows the name of this lead finder record and the date it was created or last modified Select lw TopLevel to have this tool displayed in pick lists of vision tools Select V Show at Runtime if you want the tool graphics for the lead finder displayed when a sequence using this tool is executed Enter the picture record to be used by this finder tool Choose this button to display a pop up window from which you can edit the absolute values of the primary ruler Select this button to make the tool relative to a vision frame If Binary is selected the first lead will be searched for based on the binary image Use the slide bar to set the binary threshold If 8 Edge is selected the first lead will be searched for based on the grayscale image Use the slide bar to set the difference in graylevel values that must be detected before an edge is found Indicate whether the background is light or dark relative to the surface mount device Enter th
71. ignal is not activated User1 This signal can be used in custom strategy routines or sequences User2 This signal can be used in custom strategy routines or sequences User3 This signal can be used in custom strategy routines or sequences Reenabling a Feeder Once a feeder has been refilled to reenable the feeder perform 1 O Feeder Controls The feeder control page will be displayed If the wrong feeder record is displayed perform Index double click on desired feeder When the correct feeder record is displayed press the enabled push button The center of the push button should turn green to indicate the feeder is enabled 14 AIM PCB User s amp Heference Guide Rev A Chapter 3 Tool Records 3 4 What Are Tool Records A tool record contains information pertaining to a tool for a robot This information includes the name of the robot motion device the tool transformation offset from the end of the robot to the tool grip point and tool controls I O signals and delay times The information entered into each field of a tool record is stored in the Tool database See section 8 6 for details on the Tool database AIM PCB User s amp Reference Guide Rev A 15 Chapter 3 Tool Records 3 2 The Tool Menu Page The Tool menu page is used to create and edit tool records To create a new tool record perform Edit Tool Edit New Record To edit an existing tool record perform Edit Tool See
72. ion if the tool specified in the Part Type database is not desired The value of this element must be 0 if the tool specified in the Part Type database is to be used REJECT path 12 Optional Path database record number specifying the reject path to follow when departing from the assembly location if the visual inspection of the assembly location fails or the insert operation fails The value of this element must be 0 if no path is specified OK SIGNAL variable 13 An optional code for a Variable database output variable that receives 1 if all the robot motions and strategies complete without error and 0 if any fail This argument should be set to the value of the global variable va undef var if the clause is omitted Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM operator error response code values Transformation array variable that contains the current dynamic reference frame value for each task The element rn frame TASK receives the nominal assembly location during processing of this statement to allow the second vision operation to be specified relative to the assembly location AIM PCB User s amp Heference Guide Rev A 77 TRANSFER FP Details This statement routine performs a transfer operation using vision sensing to improve placement accuracy During the transfer operation the statement can o
73. ion results This additional step compensates for any camera position errors in the X Y plane but does not compensate for rotational errors AND vision If either vision refinement inspection fails and the optional reject path is specified follow the reject path and discard the bad part and acquire a new part loop to step 2 REJECT path If the optional reject path is not specified AIM stops processing the sequence and sets the operator alert signal If the optional transit path is specified move along that path to the assembly location ALONG path If the optional vision assembly locating operation is specified move to each of the pic ture taking locations inspect the assembly location and compute the precise assembly loca tion Adjust the robot TOOL based on the vision results LOCATE vision If one or both of the optional vision part position refinement operations have been per formed apply the saved robot tool adjustment value to the robot TOOL to compensate for any error in grasping the part Place the part onto the assembly TO board AIM PCB User s amp Heference Guide Rev A Required Records for TRANSFER FP 12 If the visual inspection fails or the placement fails and the optional reject path is specified fol low the reject path and discard the bad part and acquire a new part loop to step 2 REJECT path If the optional reject path is not specified AIM stops processing the sequence and sends an
74. ions but can be used for any tasks that involve placing multiple parts onto a single assembly What Do I Already Need to Know You should be familiar with your robot and the capabilities of the robot In particular you should know How to power up the controller How to power up and perform start up calibration of the robot How to power up and adjust any other devices in the workcell The safety requirements of your robot and any other devices that operate in the workcell When run carelessly or by inexperienced operators robots and other motion devices can severely injure personnel and cause equipment damage Basic operation and use of the optional Manual Control Pendant if you will be using the MCP How to use MotionWare What Should Have Already Done The hardware that AIM PCB will be controlling should already be installed and tested If you are using any of the following hardware it should be installed The robot and any of the following options you may be using Fifth axis Force sensing module The controller see the controller user s guide and any of the following options Digital I O see the controller user s guide Cameras and strobes see the Motion Ware User s Guide Cell equipment including Part feeders Conveyors Connections between the cell equipment and the digital I O system Safety devices needed to prevent injuries during workcell operation AIM PCB User s amp Heference Guide Rev A 1
75. is supplying This strategy must agree with the actual type of feeder For example if the feeder is a pallet feeder the acquire strategy rn ac pallet must be specified in the part type record AIM PCB User s amp Heference Guide Rev A 9 Chapter 2 Feeders To create a new feeder perform Edit Feeder Edit New Record To edit an existing feeder perform Edit Feeder Seek Index double click feeder record name The following screen is displayed Feeder Global Figure 2 1 Feeder Menu Page 10 AIM PCB User s amp Reference Guide Rev A What Are Feeders Feeder Menu Page Options 9 o e Enter a name for this feeder The name can be changed but part records that reference this feeder will not be able to find the feeder unless the name change is also made in the part record The numbers indicate the number of this record and the total number of records in the database Shows the date this record was last modified Shows the name of the robot device that will access this feeder Choose Transit to create a location the robot will move through on the way to the feeder This location is used when the robot must approach a feeder from a specific side or at a critical angle Choose Feeder to create or edit the location at which the robot will acquire a part from this feeder In addition to the standard location parameters and approach and depart heights the feeder
76. ividual part locations in the row column and layer directions Enter the number of part locations in an individual row column and layer Shows the column row and layer that the robot will access when the next part is picked up from this pallet These fields are updated as the feeder is accessed When all index values equal the count values the last part will be acquired the feeder enabled signal will be turned off and the index values will be reset to 1 Indicate a digital signal that should be set to the indicated state when the row column or layer is complete Indicate in which order parts should be removed If Freeze all indices is selected the index is not changed useful for debugging See below for details on what constitutes a row or column AIM PCB User s amp Reference Guide Rev A Feeder Control Signals How Rows and Columns Are Determined Pallet rows are considered to be parallel to the feeder frame X axis Columns are parallel to the feeder frame Y axis Layers are parallel to the feeder frame Z axis If the world coordinate system is used for the feeder the pallet will have to be lined up exactly with the axes of the world coordinate system Since this could be difficult to set up pallet feeders normally use calculated reference frames Reference frames are described in the MotionWare User s Guide The strategy for using a pallet feeder is 1 Create a reference frame based on three locations on the pallet 2
77. k Index double click tool record name The following screen is displayed WW Tool xGlobalx Seek Edit Help A o um seng 14 45 t1 1 of 1 Device x Y Zz y p r 9 Set Tool 1 Set Tool 2 Set Tool 3 Tool Control Signals Part present 6 i Open gripper Close gripper gt 8 80 sec Raise gripper 8 80 sec Lower gripper 8 80 sec Figure 3 1 Tool Menu Page Tool Menu Page Options 1 Enter a name for the tool record The total number of records in the Tool database 1 of 1 in the above figure indicates the number of this record in the database and the total number of records for this tool Double click this data box to display a list of motion devices and select the one you want associated with this Tool record Shows the date and time that this record was last modified 4 Enter the values for the tool offset tool transformation When a sequence statement that has a tool argument is executed the value of tool 1 is used See the MotionWare User s Guide for more details on tool transformations 16 AIM PCB User s amp Reference Guide Rev A Tool Control Signals Choose a Set button to use the values in item as the current tool e Q Specify the digital I O signal number or variable name for each tool control signal These signals do not appear in MotionWare See section 3 3 for details 9 Specify the delay ti
78. l assembly reference frame Then the problem is to precisely determine the assembly reference frame before performing a series of part placement operations NOTE You should use the TRANSFER FP statement to visually determine the location of a single part in an assembly This statement visually locates from one to four fiducial marks on the assembly and uses them to correct the value for the reference frame If multiple fiducial marks are used the position of the new reference frame is computed so that the centroid of all the database specified fiducial marks is positioned at the centroid of all the visually determined fiducial marks The orientation of the new reference frame is computed by 1 The angle of each fiducial mark with respect to the centroid 2 The difference in angle between the database specified fiducial marks and the visually determined fiducial marks 3 Anangular correction that is equal to the weighted average of all the angular differences The weight used for each difference is equal to the distance from the centroid to the respective fiducial mark 4 The angular correction is applied to the current frame value To assist with having this statement driven by CAD data the locations of the fiducial marks should be specified relative to a reference frame used by the Assembly database locations To position a camera for viewing each fiducial mark an approximate reference frame is required This frame can be specified
79. ld be taken by the calling routine See the standard AIM operator error response values Since retry action is handled internally by this routine the value rn opr retry is never returned Global Variable rn ctl TASK rn ctl ins suc Element containing an AIM control variable that is initially set to FALSE by the scheduler and is set to TRUE by this routine if the insertion operation was successful This variable may be manually set to TRUE or FALSE by the operator to override automatic operation Details This is a simple part insertion strategy routine that is provided as a model for strategy routines written by customizers The commented V source code for this routine is provided This routine places a part at a specified assembly location Upon entry to the routine the robot should be moving to the primary approach location specified with the assembly location This routine performs the following steps 1 Verify that the optional part present signal is on Ignore this sensor if its signal number is zero 2 If force sensing is enabled perform the force process specified in the part type database 3 Move to the insertion location AIM PCB User s amp Heference Guide Rev A 101 rn in standard 4 Open the gripper set the global array element rn ctl TASK rn ctl ins suc to TRUE and delay for the specified open gripper delay time 5 If no error has occurred depart from the insertion location 6 If error is rn op
80. lement must be 0 if no path is specified PART part 2 Part database record number specifying which part is to be transferred ALONG path 3 Optional Path database record number specifying the path to follow when moving from the part feeder to the assembly location The value of this element must be 0 if no path is specified TO assembly 4 Assembly database record number specifying where the part is to be placed This record is found in the current Assembly database that is associated with the current sequence DEPART path 5 Optional Path database record number specifying the path to follow when departing from the assembly location if the transfer succeeded The value of this element must be 0 if no path is specified USING tool 6 Optional Tool database record number specifying the tool to use when performing this transfer operation if the tool specified in the Part Type database is not desired The value of this element must be 0 if the tool specified in the Part Type database is to be used REJECT path 7 Optional Path database record number specifying the path to follow when departing from the assembly location if the transfer failed and the part being transferred should be rejected The value of this element must be 0 if no path is specified AIM PCB User s amp Heference Guide Rev A 73 TRANSFER Output Parameter error Real variable that receives a value indicating whether or not the operation was su
81. loaded Calling Sequence CALL transfer fp args error Input Parameter args Real array containing the arguments for this statement The individual elements are described below APPROACH path 1 Optional Path database record number that specifies the path to use when approaching the part feeder The value of this element must be 0 if no path is specified PART part 2 Part database record number specifying which part is to be transferred APPROACH path 3 Optional Path database record number specifying the path to follow when moving from the part feeder to where the part is viewed to visually determine its location with respect to the robot The value of this element must be 0 if no path is specified REFINE vision 4 Optional Vision database record number specifying the vision operation to evaluate in order to determine the part location and refine the tool transformation This operation must return frame type data The value of this element must be 0 if no vision refinement is specified AND vision 5 Optional Vision database record number that specifies the vision operation to evaluate in order to further determine the part location refine the tool transformation and compensate for any translational errors in the camera location This vision operation must return frame type data The value of this argument must be 0 if no vision refinement is specified This element is ignored if args 4 is zero RE
82. me in seconds that the robot will wait after the corresponding tool control signal is activated 3 3 Tool Control Signals The tool control signals are digital I O signals that are used to control the operation of the robot grippers See the MotionWare User s Guide for additional information on using digital I O Before these signals can be used The hardware that sets the signal or receives the signal must be installed The required digital I O modules must be installed in the controller see the controller user s guide The individual signal numbers must be entered into the tool record see below Specifying Tool Control Signals To enter tool control signal numbers or variables display the Tool record page see Figure 3 1 You can enter a signal number or variable database record for each tool control signal Part present The part present input signal lets AIM PCB know that a part is held in the robot gripper This digital signal or variable should have the value zero if no part present sensor is connected Open gripper The open gripper output signal opens the robot gripper when the signal is set to TRUE This signal is controlled as the complement of the close gripper signal This digital signal or variable should have the value zero if no open gripper signal is connected Close gripper The close gripper output signal closes the robot gripper when the signal is set to TRUE This signal is controlled as the comple
83. ment of the open gripper signal This digital signal or variable should have the value zero if no close gripper signal is connected Raise gripper The raise gripper output signal raises the robot gripper when the signal is set to TRUE This signal is controlled as the complement of the lower gripper signal This digital signal or variable should have the value zero if no raise gripper signal is connected Lower gripper The raise gripper output signal raises the robot gripper when the signal is set to TRUE This signal is controlled as the complement of the raise gripper signal This digital signal or variable should have the value zero if no lower gripper signal is connected AIM PCB User s amp Heference Guide Rev A 17 Chapter 3 Tool Records 3 4 Displaying the Tool Controls Values To display the signal values for the tool controls perform 1 0 Tool Controls The following screen is displayed EJ Tool Controls Global L 9 2 Robot 1 Tool Name Device m Orn Control Signals Ip Part present Open gripper 8 00 sec u Close gripper N amp LI 8 80 sec Raise gripper 8 0 sec Lower gripper Il oo sec Figure 3 2 Tool Controls The name of the current tool record To view a different record choose Index see item 0 Displays the motion device associated with the current tool record Displays the values of the tool control signals O00 Choose Index
84. meters 6 Move to the part pickup location at the feeder including any tool X or Y offset specified by the pickup offset parameters 7 Close the gripper and delay the specified time 8 Depart from the part pickup location 9 Check that the part present signal indicates that a part is in the gripper If not retry with step 1 10 If the part was acquired update the pallet indexes by calling the routine rn update pallet and return error code zero 11 If the retry count is exhausted update the pallet indexes as appropriate and return error code rn opr retry 12 If updating the pallet indicated that the pallet was empty or now is empty disable the feeder and turn on the alarm signal AIM PCB User s amp Heference Guide Rev A 95 rn ac pallet Upon successful completion of this routine the robot is holding the part and is departing from the part pickup location If the gripper is empty the robot is departing from the part pickup location the signal fd opr fd opr enable is cleared and the output signal fd opr fd opr alarm is set Note that when the robot takes the last part from a pallet it completes with success but it also signals that the pallet is empty by disabling the feeder and setting the alarm signal Related Routines rn ac standard rn acquire rn update pallet 96 AIM PCB User s amp Heference Guide Rev A rn ac standard Calling Sequence CALL rn ac standard fd opr to opr error Fu
85. mitives can be enhanced by adding new primitives or by adding new strategy routines which are called by the statement primitives to deal with special hardware requirements In some situations new primitives may have to be added to the system To assist in the writing of new primitives the source code for the standard primitives is provided with the PCB Module New primitives can be written by copying and modifying the standard primitives or they may be written as entirely new routines It should be kept in mind that primitives are not fundamentally required for the implementation of new statements Primitives are simply general purpose routines that perform high level actions 44 AIM PCB User s amp Heference Guide Rev A Runtime Routines that are used often If an existing primitive can be employed in the development of a new statement its use will obviously reduce the development effort As such primitives are not always called from statement routines If required a primitive can be called by another primitive or from any other runtime routine See the dictionary of runtime routines in Chapter 9 for detailed explanations of the calling sequences for the routines described in this section Strategy routines deal with the application specific aspects of the assembly process These routines directly operate the robot gripper and other hardware devices and interface with special sensors such as those for detecting jammed parts or
86. n user fd usig name name 15 3 signal 1 77 pallet signal string Names associated with the fields in pallet fd sig pal name name 15 3 signal 1 Notes 1 If this field is modified the database is marked for updating 2 Field is edited even if defined during the edit all mode of walk thru training 3 First field of motion block with approach 4 Field in motion block not first 5 First field of motion block no approach 6 Field is optional at runtime 7 This field is specified in a linking rule and is filled in automatically by the linker 58 AIM PCB User s amp Heference Guide Rev A Feeder Database Table 8 4 Offset Values From Feeder Database Field 50 fd opr Field Name Value Reference fd opr enable 0 50 fd opr ready 1 51 fd opr alarm 2 52 fd opr usig 1 3 53 fd opr usig 2 4 53 fd opr usig 3 5 53 fd opr retry 6 54 fd opr timeout 7 55 fd opr time 8 56 fd opr xoffset 9 57 fd opr yoffset 10 57 Table 8 5 Offset Values From Feeder Database Field 58 fd pal Field Name Value Reference rb pal type 0 58 rb pal row cnt 1 59 rb pal col cnt 2 60 rb pal lay cnt 3 61 rb pal row idx 4 62 rb pal col idx 5 63 rb pal lay idx 6 64 rb pal row spc 7 65 rb pal col spc 8 66 rb pal lay spc 9 67 rb pal sig 10 68 Refer to the MotionWare Reference Guide section 3 5 for more details on pallet parameters
87. n frame 55 fd trn frm rec 55 fd trn mve 55 fd trn seqnum 55 fd trn strategy 55 fd user 57 fd user num 57 fd user sig 56 fd usig name 58 P pa db 60 pa feeder 60 pa feedernum 60 pa feedername 60 pa type 60 pa typename 60 pt acfp name 62 pt ac fprocess 62 pt acseqnum 62 pt ac strategy 61 ptdb 61 pt flags 62 pt in fpname 62 pt in fprocess 62 ptinseqnum 62 ptin strategy 61 AIM PCB User s amp Reference Guide Rev A 115 Index of Global Variables pt rj fp nam 62 pt rj fprocess 62 ptrjseqnum 62 ptrjstrategy 61 pt tool 62 pt toolnam 61 R rb pal col cnt rb pal col idx rb pal col spc rb pal lay cnt rb pal lay idx rb pal lay spc rb palnum 56 rb pal row cnt rb pal row idx rb pal row spc rb pal sig 59 rb pal type 59 rn ctl 102 103 104 rn ctl ins suc 90 102 103 104 rn opr abort 99 rn opr fail 103 rn opr retry 88 95 98 99 100 101 102 103 104 rn opr skip 99 100 59 59 59 T to cls signam 64 to loc 64 to low sig nam 64 to opn sig nam 64 to opr 65 85 90 93 95 98 to opr cls del 66 94 97 to opr cls sig 65 66 94 97 101 106 to opr low del 66 to opr low sig 66 to opr opn del 66 101 106 to opr opn sig 65 66 94 97 101 106 to opr part sig 66 94 95 97 98 101 106 to opr rai del 66 to opr raisig 66 to partsig nam 64 toraisig nam 64 116 AIM PCB User s amp Reference Guide Rev A Adept User s Manual Comment Form We have provided this form
88. n is incorrect or parameters on the picture record or associated path are set up incorrectly The current values of TOOL can be seen by performing Setup Display Change Tool The following screen is displayed Display Change Tool 4 H 23 8088 33 888 43 8088 8 888 8 888 8 888 Figure 5 1 Display Change Tool Menu Page 5 Each module must have an associated assembly You cannot use assembly global databases AIM PCB User s amp Reference Guide Rev A 29 Chapter 5 Transferring Parts Using Vision USING tool defined execute no TRANSFER FP m gt apply tool Tool defined in part type rec yes set tool to NULL ra y acquire part y REFINE vision defined Qe picture location is robot loc d yes Y move to move to cam cal path location offset by location path location lq enter path Y Y B perform vision select feeder operation move to reject AND location and vision dump part defined no APPROAC i path defined o yes AND Y enter path e calculate tool y correction e based on 0 vision data Figure 5 2 TRANSFER FP Flow Diagram 30 AIM PCB User s amp Heference Guide Rev A Optional Records for TRANSFER FP e no
89. nce scheduler and executer the scheduler The scheduler is responsible for determining which assembly sequence is to be run and how many times it is to be run Once a sequence is selected the scheduler executes the sequence by extracting individual statements from the Sequence database and calling the appropriate routines to execute each statement The statement routines make up the next layer of software These are the V routines that are called by the scheduler to execute individual AIM sequence statements There is one statement routine for each type of AIM statement Each statement routine is passed a predetermined set of parameters and performs a single assembly operation In theory a statement routine could be implemented entirely with unique software that is referenced only by that one statement In fact most statement routines rely heavily upon a library of statement primitives which implement many common high level actions The statement routines used by the PCB Module are described in Chapter 9 The statement primitives form the next layer of software This library of routines is called by the statement routines to perform common actions such as acquiring a part from a feeder or inserting a part into an assembly Each statement primitive typically combines several robot motions with cell control operations and possibly even sensory feedback to perform what is a fairly high level action The capabilities provided by the statement pri
90. nction Part acquisition strategy routine called from the acquisition primitive routine to acquire a part from a standard feeder This routine optionally performs force sensing Usage Considerations The database record containing data for the current feeder must be opened prior to calling this routine Input Parameters fd opr Real array containing values from the Feeder database that are used to access the feeder The following global variables specify the array elements that are referenced fd opr alarm Number of the digital I O signal to activate when the last part is removed from the feeder fd opr enable Number of the digital I O signal to deactivate when the last part is removed from the feeder fd opr retry Number of retry operations to be performed at a single feeder location fd opr xoffset X coordinate of an offset in tool coordinates to be used while approaching the feeder pickup location fd opr yoffset Y coordinate of an offset in tool coordinates to be used while approaching the feeder pickup location to opr Real array containing standard values for operating the tool See Table 8 10 for details The following values are used by this routine to opr part sig to opr cls sig to opr opn sig to opr cls del Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM op
91. o select is selected the LOCATE vision operation will use segment 1 of the specified path If you enter a value in the Path segment data box that segment will be used as the vision target offset or the robot location Additional Considerations 1 A part type with at least one feeder must be defined in the Part database Remember the min imum information required to execute a TRANSFER statement is A part e A part type for the part including insert and acquire strategies A feeder for the part including The feeder location An enabled digital I O signal e An assembly with at least one insertion location 2 If your robot is using a tool transformation to acquire and place parts teach all locations and calibrate LOCATE vision clauses with the tool transformation in place see the VisionWare User s Guide 3 If you are using a pallet feeder make sure the strategy routine rn ac pallet is specified in the part type record and the pallet parameters and proper reference frame have been assigned in the feeder record 28 AIM PCB User s amp Heference Guide Rev A Optional Records for TRANSFER FP 4 The values generated by the vision operations are added to any existing values of the current TOOL to create the final placement location When debugging the REFINE visionor LOCATE vision clauses observe the robot TOOL transformation before and after the refine ment If it changes drastically either the camera calibratio
92. offset in tool coordinates to be used while approaching the pallet pickup location to opr Real array containing standard values for operating the tool See Table 8 10 for details The following values are used by this routine to opr part sig to opr cls sig to opr opn sig to opr cls del Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard AIM operator error response code values The value zero indicates that the acquisition has succeeded and the robot is holding the part in its gripper 94 AIM PCB User s amp Heference Guide Rev A rn ac pallet The value rn opr retry indicates that the acquisition from the current feeder has failed and a different pallet should be tried Details This is a simple part acquisition strategy routine that is provided as a model for strategy routines written by customizers The commented V source code for this routine is provided This routine acquires a part from a pallet The pallet has no digital I O signals associated with it Presence of a part is detected by attempting to grip the part and detecting it in the gripper If no part is detected the robot retries the acquire operation up to the specified maximum retry count When using this routine the feeder location must be specified relative to a named reference frame The value of this frame de
93. ollows where braces enclose optional clauses TRANSFER FP APPROACH path PART part APPROACH path REFINE vision AND vision REJECT path ALONG path LOCATE vision TO board DEPART path USING tool REJECT path OK_SIGNAL variable Sequence of Operations The sequence of operations performed by this statement is as follows the relevant portion of the statement syntax is shown for each step 1 10 11 24 If the optional tool transformation is specified apply that tool to describe the current robot gripper USING tool If the optional approach path is specified move along that path to the feeder locations APPROACH path Select a feeder and pick up a part by executing a part acquisition strategy routine PART part If the optional transit path is specified move along that path to the vision refinement loca tion APPROACH path If the first optional vision refinement is specified move to each of the picture taking locations inspect the part and compute the part position in the gripper Save a robot tool adjustment value based on the vision results REFINE vision If the first optional vision refinement succeeds and the second optional vision refinement is specified rotate the part 180 move to each of the picture taking locations inspect the part and compute the part position Modify the saved robot tool adjustment value based on the vis
94. om Figure 6 5 Frame Finder Example Figure 6 6 shows an alternate example of this method 38 AIM PCB User s amp Heference Guide Rev A Frame Finder Record Line 4 WW Line 1 SS M Calculated frame LO O E Line3 THU Line 2 Figure 6 6 Alternate Frame Finder Example AIM PCB User s amp Reference Guide Rev A 39 Chapter 7 Customizing Overview 7 1 Overview The Printed Circuit Board PCB application is an addition to the standard MotionWare application All of the MotionWare statements and databases are available for use in addition to the PCB specific statements and databases If the vision or conveyor tracking options are present the MotionWare vision server and conveyor manager tasks are used A detailed description of the AIM PCB Application Module is presented in this manual This application module requires an AIM system with the MotionWare Module it supports the optional Vision Module Individuals who wish to customize the AIM system to provide an interface to application specific hardware or to enhance the system with special algorithms should use this manual This manual
95. on or automatically executing a search algorithm The steps shown above are only guidelines The actual steps performed and their order will depend on the particular part and gripper Customizer written part insertion strategy routines must conform to the calling sequence described in Insert Strategy Routine on page 90 NOTE The variable names used in this description are for explanation purposes only Your application program can use any variable names you want 88 AIM PCB User s amp Heference Guide Rev A Insertion Primitives Part Insertion Strategy Sequence AIM PCB provides the option to use an AIM sequence in place of a V routine for the part insertion strategy Refer to the section titled Part Type Menu Page Options on page 7 for details An example of this method is shown in Figure 10 1 NOTE The guidelines described for using a part insertion strategy routine also apply to this method AIM PCB User s amp Heference Guide Rev A 89 Chapter 9 Primitive and Strategy Routines Insert Strategy Routine The insert strategy routine is passed an array containing the tool control parameters The selected assembly motion block is set up so that calls to rn move loc may be used to move to the assembly location The strategy routine rn in standard supports optional force sensing Calling Sequence CALLS rtn loc to opr error Function Called from an insertion primitive routine to insert a part into an
96. ool Database Continued Field Variable Field Name Type Size Description 9 to opr to opr num Number of elements in the array part present integer 2 Start of the standard tool operation values Element containing the number of the digital input signal connected to the part present sensor The signal should be TRUE when a part is held in the robot gripper The variable should be set to zero if no part present sensor is connected 2 10 open gripper integer 2 Element containing the number of the digital output signal that opens the robot gripper The robot gripper should open when the signal is set to TRUE This signal is controlled as the complement of the signal to opr cls sig The variable should have the value zero if no open gripper signal is connected 2 11 close gripper integer 2 Element containing the number of the digital output signal that closes the robot gripper The robot gripper should close when the signal is set to TRUE This signal is controlled as the complement of the signal to opr opn sig The variable should have the value zero if no close gripper signal is connected 2 12 raise gripper integer Element containing the number of the digital output signal that raises the robot gripper The robot gripper should raise when the signal is set to TRUE This signal is controlled as the complement of the signal to opr low sig The v
97. optional path in preparation for the next operation This series of actions is performed by two separate routines a main acquire routine that selects which feeder should be accessed and a part acquisition strategy routine or sequence that handles the operation and actual acquisition of the part steps 3 to 5 above The feeder selection routine calls the part acquisition strategy routine specified by the part type to be acquired The feeder selection routine is intended to be used as is for most applications although it can be modified if necessary The system customizer will normally have to write one or more part acquisition strategy routines or sequences to handle special feeders and grippers Details of the Acquire Routine The main acquire routine rn acquire is called for all parts This routine handles multiple feeders that contain the same part selecting one according to the algorithm described below It expects that all feeders have the control parameters listed below The corresponding field names in the Feeder database are included for reference AIM PCB User s amp Heference Guide Rev A 81 Chapter 9 Primitive and Strategy Routines A software signal enable signal that indicates the feeder is enabled Feeders that are not enabled are ignored Feeders may be disabled by the operator or by a part acquisition strategy routine Feeders may be enabled by the operator or by a program An optional hardware input signal
98. ot tool adjustment value based on the vision results REFINE vision 6 If the first optional vision refinement succeeds and the second optional vision refinement is specified rotate the part 180 degrees move to each of the picture taking locations inspect the 78 AIM PCB User s amp Reference Guide Rev A 10 11 12 13 14 TRANSFER FP part and compute the part position Modify the saved robot tool adjustment value based on the vision results to compensate for any errors in the camera position AND vision If either vision refinement inspection fails and the optional reject path is specified follow the reject path and discard the bad part REJECT path In this case if the optional reject path is not specified AIM stops processing the sequence and sends an error message to the operator If the optional transit path is specified move along that path to the assembly location ALONG path If the optional vision assembly locating operation is specified move to each of the picture taking locations inspect the assembly location and compute the precise assembly location using the vision runtime routine rn vis pic list Adjust the robot TOOL based on the vision results LOCATE vision If one or both of the optional visual part position refinement operations were performed see above apply the saved robot tool adjustment value to the robot TOOL to compensate for any error in grasping the part
99. otion occurs 2 6 7 38 transit name The name of the transit strategy routine or fd trn strategy strategy 1 sequence 1 4 name 39 transit byte Start of a standard robot motion parameter fd transit data 1 block for the motion to the transit location See the MotionWare Reference Guide 5 40 transit integer Part of the standard robot motion fd trn mve motion bits 2 parameter block for the motion to the 7 transit location See the Motion Ware 41 transit speed real Reference Guide 4 4 42 transit byte acceleration 1 43 transit byte deceleration 1 44 transit real rotational 4 speed 45 transit profile byte 1 46 transit integer 4 7 fd trn seqnum sequence 2 47 transit byte Standard location parameter block for the configuration 1 transit location See the MotionWare f Reference Guide 4 48 transit type integer bits 2 49 transit integer 4 7 fd trn frm rec frame 2 AIM PCB User s amp Reference Guide Rev A 55 Chapter 8 Databases Table 8 3 Record Definition for the Feeder Database Continued Field Type Variable Field Name Size Description 50 enable signal integer The signal number corresponding to the fd opr 2 field enable signal name 7 fd opr num Number of arguments in array 51 ready signal integer The signal number corresponding to the see Table 8 4 2 field ready signal name 7 52 empty alarm integer The signal number corresponding
100. outine uses data structures in the Feeder database to index through a rectangular array of regularly spaced locations The calling sequence is identical to the standard acquire strategy routine and the general operation is the same See the section titled Pallets in the AIM MotionWare Reference Guide 86 AIM PCB User s amp Heference Guide Rev A Insertion Primitives 10 2 Insertion Primitives Parts are inserted into a PCB assembly location using a part insertion primitive This primitive can be called immediately after the part acquisition primitive as in the case of the TRANSFER statement or after other primitives have performed other operations such as part inspection or position refinement This routine calls part insertion strategy routines to handle different types of parts The part must be held in the robot gripper with the proper tool transformation selected before this routine is called Upon successful completion of the routine the robot has inserted the part into the assembly and retracted to a safe location An insertion routine generally moves the robot as follows 1 Move along an optional path to the assembly 2 Move to an approach location above the part insertion location 3 Move to the part insertion location and insert the part 4 Move to a depart location above the part insertion location 5 If the insertion failed move along an optional reject path and discard the part 6 If no reject path was taken mov
101. part to be used in the assemblies Part Type This database describes the assembly parameters and strategy routines for acquiring inserting and rejecting each type of part Camera The vision camera calibration database Optional in PCB The global camera database for PCB is different from the standard database in MotionWare Tool The standard MotionWare tool database is augmented to describe the I O signals used to operate the gripper Refer to Table 8 9 on page 64 for details AIM PCB User s amp Reference Guide Rev A 43 Chapter 7 Customizing Overview Menu Summary Table 7 2 contains a brief summary of the menus that are included with the PCB Module Table 7 2 Menu Descriptions Menu Description ASM MNU Displays the data for the Assembly database FEEDER MNU Displays the data for the Feeder database PART MNU Displays the data for the Part database PARTTYPE MNU Displays the data for the Part Type database PCBVIS MNU Displays the custom vision operation records in the Vision database 7 5 Runtime Routines The runtime routines the runtime are the software routines that are responsible for translating assembly data and processing information into robot and cell hardware commands to assemble circuit boards These routines have available to them all the V robot control and language instructions The top level routine of each task that executes a sequence is the seque
102. pt 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision AIM VisionWare AdeptMotion MotionWare PalletWare AdeptNet AdeptFTP AdeptNFS AdeptTCP IP AdeptForce AdeptModules and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Printed in the United States of America Table Of Contents Read Me First o ee ee teet EE tut te ute to ots 1 What ISAIM PEB Enge oe ot t etc o ret t ec a e P tid 1 What Do I Already Need to Know ssssssssssee 1 What Should I Have Already Done sssssssesse 1 Software Installation and Start up xisdstebete ra veo bp RO iet 2 Do I Have to Read All the Manual 2 How Do LUse AIM PCB 5 5 t pee be bere eres 3 Eet 4 Service Call 4 Training Information ceo D tm dE Pe EI aay 4 Application Information n enero teret estre EAR 4 International Customer Assistance s sss 4 Chapter 1 Fatts and Part EE 5 1 1 What Are Parts and Part Types ET 5 132 JPartRecords AEE S eR EAE N A E S 6 Part Menu Page Options 32s anse dran enee eg 6 1 3 Part Type ISCO AS deet 7 Part Type Menu Page Options 2565 0 ede teo eh end Cen ed o duret ales 7 Chapter 2 Feeders ee EE ee 9 ST What Are Reeders er ET et P PER IEEE 9 Feeder Ment Page TEE 11 2 dme TEE 12 Pallet Parameters Menu Page Options sssssssssssss 12 How Rows
103. ptionally inspect and refine the position of a part held by the robot and or inspect and locate a single assembly location prior to placement To visually determine the reference frame for an entire assembly you should use the LOCATE ASSEMBLY statement All the vision operations in this statement are optional If no vision operation is needed the simpler TRANSFER statement should be used since it is more efficient than TRANSFER FP The first and second vision operations refine the position of the part held in the robot gripper These vision operations are specified in the optional clauses and the operations are passed to this routine as args 4 and args 5 No visual part position refinement is performed if args 4 is zero that is the REFINE clause is not specified Processing of the part position refinement is done as follows After the part has been acquired if the optional first vision operation is specified the robot moves to position the part in front of a stationary camera where the part is located using the second vision operation If the optional second vision operation is specified the robot rotates the part 180 degrees about the tool Z axis and then locates the part a second time using the second vision operation this compensates for translational errors in the stationary position The locations determined visually are used to correct the robot tool transformation before the part is placed The optional third vision operation
104. pts to place the part The most commonly used vision tools that return a frame result are Blob Finder VisionWare User s Guide Prototype Finder VisionWare User s Guide Frame Finder Chapter 6 Computed Frame VisionWare User s Guide The frame class vision tools may require additional vision records to supply the information needed to calculate the frame Vision record types are detailed in the VisionWare User s Guide AIM PCB User s amp Heference Guide Rev A 25 Chapter 5 Transferring Parts Using Vision The camera record for the refinement operation should have the following characteristics The camera used to generate the frame should be a stationary camera that the robot presents the part to The camera should have been calibrated with one of the camera calibration options see the VisionWare User s Guide The picture record for the refinement operations should be set up as follows see the description of the Robot Motion Information pop up window in the MotionWare User s Guide Select v Object moved by robot If If If Vision target location is selected Specify a path name in the PATH name data box The path record controls the motion parameters for moving to the picture taking location These include speed motion type etc The path record also controls the offset of the vision target with respect to the robot gripper Set the path reference frame to 8 World
105. r 10 Primitive and Strategy Routines ososoosesseseses 81 10 1 Agcguir Primitives 4 Ded cm suas ca Do von dM yuan Mte ru ilem eben abeat nal 81 Details of the Acquire EE 81 Standard Part Acquisition Strategy Routine ssssssssss 83 Part Acquisition Strategy E TEE 83 Acqg ire Strategy NOMEN oiu dee aventi o yaa syed D QUePLH QU CARA a pide 85 Pallet Part Acquisition Strategy Routine 86 10 2 Insertion Pruimmtives ood LL LL Reb 87 Details of the Insertion Routine sss 87 Standard Part Insertion Strategy Routine sssssssssss 88 Part Insertion Strategy Sequence EEN 89 Insert Strategy E 90 TOS Reject DEHHIIUVOS eege 91 Details of the Reject Routine acnee 91 Standard Part Rejection Strategy Routine cece 91 Part Rejection Strategy E UE 92 Reject Strategy Routine dee b pr d eh HEU TU DE C eb EVE Spe 93 Appendix A Disk TE 107 Index c ERR ON e t Rh Sw Riri Pte Le ep bd ete RU C E 111 Index of Programs and Statements sss 113 Index of Global Variables etr D De dte Po aav ES 115 AIM PCB User s amp Reference Guide Hev A V Read Me First What Is AIM PCB AIM PCB Printed Circuit Board is designed for the Adept AIM system and is an add on module to MotionWare AIM PCB allows you to create sophisticated robot workcell implementations without using low level programming AIM PCB is designed primarily for printed circuit board applicat
106. r Tool This tool uses the results of four line class tools to calculate a reference frame for rectangular parts The four line tools locate the four sides of a rectangle and are used to calculate two diagonal corners The frame calculated from these two corners has the X axis pointing at the first corner and is centered between the two opposing corners The line class tools that can be used to calculate the corners of the rectangle are listed in the VisionWare User s Guide Frame finders have two primary uses The first is to inspect gripped parts and calculate the difference between the true center of the gripper and the actual center of the part The second use is to locate the true center of a part location on an assembly This vision tool is used primarily for the REFINE vision AND vision and LOCATE vision clauses of the TRANSFER FP statement 36 AIM PCB User s amp Heference Guide Rev A Frame Finder Record 6 5 Frame Finder Record To create a new frame finder record perform Edit Vision Edit New Record enter frame finder record name Other Record Types Frame Finder OK To edit an existing frame finder record perform Edit Vision Seek Index double click frame finder record name The following screen is displayed EJ Frame Finder pc sampl Go Seek Edit Help 5 pc frm 001 B 15 22 Compute Method Compute frame from 4 lines Corners formed b
107. r in which they occur within a record The data in a record can be accessed from an application program by using the V variable names shown in the first column The global variable for referencing the Part Type database is pt db TASK Table 8 7 Record Definition for the Part Type Database Field Type Variable Field Name Size Description 0 name name A standard name that identifies this part type cc name 15 This is the primary sort field and must be unique in this database This name is referenced in the Part database 1 1 update date date The date and time when this record was last cc update time modified This field is automatically set to the 4 current date when the record is edited 2 acquire name A standard name that specifies the name of pt ac strategy strategy 15 the V strategy routine or sequence that is name called to acquire parts of this type from their feeders For details see the discussion of the part acquisition routine in Chapter 10 1 3 insert name A standard name that specifies the name of pt in strategy strategy 15 the V strategy routine or sequence that is name called to insert a part of this type into an assembly For details see the discussion of the part insertion routine in Chapter 10 1 4 reject name A standard name that specifies the name of pt rj strategy strategy 15 the V strategy routine or sequence that is name called to reject a part of this type For d
108. r real parameter 4 4 AIM PCB User s amp Heference Guide Rev A 57 Chapter 8 Databases Table 8 3 Record Definition for the Feeder Database Continued Field Type Variable Field Name Size Description 73 enable signal string A number or database record name that fd enable name name 15 specifies the input signal that determines whether or not the feeder is enabled for operation If the signal is FALSE indicating the feeder is not enabled AIM will not attempt to acquire a part from this feeder If the signal number is zero AIM assumes the feeder is not enabled 1 74 ready signal string A number or database record name that fd ready name name 15 specifies the input signal that specifies that the feeder has a part ready to be acquired If the signal number is negative the logic of the signal is inverted that is a FALSE signal then indicates a part is ready If the signal number is zero AIM assumes that the feeder is always ready 1 75 alarm signal string A number or database record name that fd alarm name name 15 specifies the output signal that will be asserted to activate an alarm when the feeder becomes empty or a feed error occurs If the number is negative the logic of the signal is inverted that is a FALSE signal then indicates a part is ready If the number is zero AIM does not assert any output signal 1 76 user signal string Names associated with the fields i
109. r retry loop to try the insertion again Related Routine rn insert 102 AIM PCB User s amp Heference Guide Rev A rn insert Calling Sequence CALL rn insert app path dep path rej path to opr error Function Main runtime primitive routine used to insert a part into an assembly Usage Considerations The database records containing data for the current assembly part and part type must be opened prior to calling this routine The robot is assumed to have the part in the gripper and be at a location that allows clear access to the assembly Input Parameters app path Real value that specifies the number of the record in the Path database corresponding to the path to traverse when moving toward the assembly If no path is desired the value should be zero dep path Real value that specifies the number of the record in the Path database corresponding to the path to traverse when moving away from this assembly after insertion If no path is desired the value should be zero rej path Real value that specifies the number of the record in the Path database corresponding to the path to traverse when rejecting a part If no reject path is desired the value should be zero to opr Real array containing standard values for operating the tool See Table 8 10 for the standard tool operation values Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what
110. ral reject routine rn reject Array of real values for operating the tool See Table 8 10 for the standard tool operation values The following databases are open upon entry tool Real variable that receives a value indicating whether or not the operation was successful and what action should be taken by the calling routine See the standard operator error response code values AIM PCB User s amp Heference Guide Rev A 93 rn ac pallet Calling Sequence CALL rn ac pallet fd opr to opr error Function Part acquisition strategy routine called from the acquisition primitive routine to acquire a part from a feeder that is a kit or pallet Usage Considerations The database record containing data for the current feeder must be opened prior to calling this routine Input Parameters fd opr Real array containing values from the Feeder database that are used to access the pallet The following global variables specify the array elements that are referenced fd opr alarm Number of the digital I O signal to activate when the last part is removed from the pallet fd opr enable Number of the digital I O signal to deactivate when the last part is removed from the pallet fd opr retry Number of retry operations to be performed at a single pallet location fd opr xoffset X coordinate of an offset in tool coordinates to be used while approaching the pallet pickup location fd opr yoffset Y coordinate of an
111. riable Field Name Size Description 8 approach integer Part of the standard robot motion fd app mve motion bits 2 parameter block for the motion to approach the part grip location See the MotionWare 2 approach real Reference Guide 4 speed 4 10 approach byte acceleration 1 11 approach byte deceleration 1 12 approach real rotational 4 speed 13 approach byte profile 1 14 approach integer 8 fd app seqnum sequence 2 15 location byte Standard location parameter block for the configuration 1 feeder location See the MotionWare Reference Guide 4 16 location type integer bits 2 17 location integer 8 fd loc frm rec frame 2 18 location name The name of the location strategy name or fd loc strategy strategy 1 sequence 1 4 name 19 location byte Start of a standard robot motion parameter 1 block for the motion to the part grip location See the MotionWare Reference Guide 5 AIM PCB User s amp Reference Guide Rev A 53 Chapter 8 Databases Table 8 3 Record Definition for the Feeder Database Continued Field Type Variable Field Name Size Description 20 location integer Part of the standard robot motion fd loc mve motion bits 2 parameter block for the motion to the part f grip location See the MotionWare Reference 21 location real Guide 4 speed 4 22 location byte acceleration 1 23 location byte deceleration 1 24 location real rot
112. rm OVR V programs with comments removed that are loaded into memory only when needed for the function they perform RFD Database record definitions DB Database file MNU Menu pages DAT Icon definitions vision calibration data HLP Help file In some cases there are V2 and SQU files or OV2 and OVR files with the same name for example PCBRUN V2 and PCBRUN SQU The programs in such paired files are functionally identical The AIM system executes the programs in the SQU and OVR files The corresponding V2 program files are provided so system customizers can work with fully commented V programs The program a squeeze can be used to create a SQU file from a V2 file or an OVR file from an OV2 file That program is contained in the file SOUEEZE V2 on the standard Adept Utility Disk 1 Refer to the manual Instructions for Adept Utility Programs for information on how to use the squeeze program AIM PCB User s amp Heference Guide Rev A 107 Appendix A Disk Files Table A 2 Disk Files for the PCB Module File Name Description of Contents ASM MNU Assembly database menus ASM REI Assembly database record format definitions FEEDER DB Feeder global database FEEDER MNU Feeder database menus FEEDER REI Feeder database record format definitions LPCB V2 Command file for loading AIM
113. rts are normally inserted by calling the main part insertion primitive routine rn insert which performs the following steps to set up for inserting a part Refer to the description of the Assembly database record in Chapter 8 for details on the data structure 1 Check if an optional assembly approach path is specified If so enter the path and move along it toward the first exit location 2 Read the assembly location from the Assembly database and move along the path to the appropriate exit location 3 Move to the assembly approach location AIM PCB User s amp Heference Guide Rev A 87 Chapter 9 Primitive and Strategy Routines 4 Read the name of the insertion strategy routine or sequence from the Part Type database and call it to insert the part See the following section for details on that routine It is assumed that the strategy routine performs any required depart operation 5 If the insertion strategy routine returns a response code of rn opr retry retry action repeat the previous two steps 6 If the insertion strategy routine returns a response code of rn opr fail operation failed and an optional reject path is specified call the primitive routine rn reject to reject the part If no optional reject path is specified report the insertion failure to the operator and wait for an operator error response 7 If any other error response is returned exit from rn insert with that response 8 Ifthe error
114. s serial number is on the right side of the controller The system software version is available by entering the command id at the system prompt Training Information For information regarding Adept Training Courses in the USA please call 408 434 5024 Application Information For applications assistance with Adept products please call 800 232 3378 International Customer Assistance Europe For information on training service or applications Adept has a Customer Service Center in Dortmund Germany The phone number is 49 0231 75 89 40 Outside Europe or USA For information on training or applications call 408 434 5000 Adept s FAX number is 408 433 9462 4 AIM PCB User s amp Reference Guide Rev A Chapter 1 Parts and Part Types 1 1 What Are Parts and Part Types Each part acquired and placed onto an assembly must have a part record and an associated part type record The part record gives a name to the part indicates which feeders the part can be acquired from and specifies which part type the part is The part type record specifies how to acquire insert and reject the part as well as any tool transformation described in the MotionWare User s Guide used when the part is acquired Separating parts and part types avoids the redundancy of specifying the acquisition and insertion parameters for parts that are physically identical For example you might have 15 different resistors that are physically i
115. s used in this description are for explanation purposes only Your application program can use any variable names you want Part Acquisition Strategy Sequence AIM PCB provides the option to use an AIM sequence in place of a V routine for the part acquisition strategy Refer to the section titled Part Type Menu Page Options on page 7 for details An example of this method is shown in Figure 10 1 AIM PCB User s amp Heference Guide Rev A 83 Chapter 9 Primitive and Strategy Routines Part Type Globalx H Go Seek Edit Help Le aim sequence ex 6 Jun 96 67 46 E e reject sequen Figure 10 1 Part Type Menu Page Using AIM Sequences NOTE The guidelines described for using a part acquisition strategy routine also apply to this method 84 AIM PCB User s amp Reference Guide Rev A Acquire Primitives Acquire Strategy Routine The acquire strategy routine is passed an array containing the tool control parameters The selected feeder motion block is set up so that calls to rn move loc may be used to move to the acquire location The strategy routine rn ac standard supports optional force sensing Calling Sequence CALLS rtn fd opr to opr error Function Called from an acquire primitive routine to acquire a part from a selected feeder This routine moves the robot and operates the feeder and the gripper Input Parameters rtn The name of the part acquisition strategy routine T
116. see the description of the Path Segment menu page in the MotionWare User s Guide When the robot moves the gripped part in front of the camera it uses the location values created during camera calibration to move the gripper in front of the camera Specify the path segment in the Path segment data box located on the Robot Motion Information pop up window This is used to offset the camera from the camera location specified during camera calibration If you are using a computed frame to calculate the true part center and the tools needed to compute the frame will not fit on a single screen you can use multiple picture records with different path segments to move the camera to the different locations AIM PCB will take care of the necessary calculations to generate the frame Enter values in the Placement in FOV data boxes to offset the picture taking location by the specified amount The default values 50 50 center the robot at the vision location This offset is in addition to any offsets defined in the path location Choose Here to record the current location of the object being viewed by the camera in the specified path database record as the picture taking location Robot location is selected The path segment specified in the PATH name data box will be the location the robot moves to when taking a picture Choose Here jo record the current location of the robot tool tip in the specified path datab
117. sful completion of the routine the robot will have moved the part to a specified location and retracted to a safe location A reject routine generally moves the robot as follows 1 Move along a path to the first exit point 2 Activate the gripper to release the part 3 Continue along the path to the next exit point The full part reject procedure is performed by two routines a main primitive routine that handles the path motion before and after the gripper action and a part reject strategy routine or sequence that operates the gripper to release the part The main reject routine calls the part reject strategy routine appropriate for the part type of the part to be rejected The main routine is intended to be used as is for most applications although it can be copied and modified if necessary The system customizer will normally have to write one or more part reject strategy routines or sequences to handle special parts and grippers Details of the Reject Routine Parts are normally rejected by calling the main part reject primitive routine rn reject which performs the following steps Refer to the description of the Assembly database record in Chapter 8 for details on the data structures 1 Check if an optional reject path is specified If not skip all the remaining steps 2 Enter the reject path and move along it toward the first exit location 3 Read the name of the reject strategy routine or sequence from the Part Type da
118. specifies the type of this pa typename name 15 part This name must be present in the Part Type database 1 3 part type integer The number of the record in the Part Type pa type 2 database that corresponds to the part type name This value is automatically computed by the linker 4 feeder name An array of standard names that specify feeders pa feedername name 15 4 for this part The names must be present in the Feeder database 1 5 feeder integer The numbers of the records in the Feeder pa feeder 2 4 database that correspond to the feeder names pa feeder num see above The acquire routine uses these Number of values when searching for a feeder These values elements in are computed during linking feeder name link Notes 1 If this field is modified the database is marked for updating 60 AIM PCB User s amp Heference Guide Rev A 8 5 Part Type Database Part Type Database Each record in this database defines a single type of part A Part Type record specifies attributes that are commonly shared among multiple parts The fields in a record define the part type name the names of routines or sequences used to acquire insert and reject this type of part the speed factor to be used while holding this type of part the name of the robot tool appropriate for this type of part and parameters for use by insertion routines All the record fields are listed and summarized in Table 8 7 in the orde
119. ssembly a negative Z offset is required When debugging the locate operation you should observe the value of the reference frame for the database before and after the vision operation If the value changes drastically the camera calibration is incorrect the parameters are set up incorrectly in the picture or camera records or the parameters are set up incorrectly for the associated path For more details see the descriptions of the routines rn vis pic list and vi fit frame in the Motion Ware Reference Guide AIM PCB User s amp Heference Guide Rev A 71 LOCATE ASSEMBLY Related Routines locate_frame in MotionWare Reference Guide rn vis pic list transfer fp vi fit frame 72 AIM PCB User s amp Heference Guide Rev A TRANSFER Statement Syntax TRANSFER APPROACH path PART part ALONG path TO assembly DEPART path USING tool REJECT path Function Statement routine for the standard robot object TRANSFER statement It acquires a part from a feeder moves it along a specified path and inserts it into an assembly Usage Considerations This routine must be called from a runtime task Calling Sequence CALL transfer args error Input Parameter args Real array containing the arguments for this statement The individual elements are described below APPROACH path 1 Optional Path database record number that specifies the path to use when approaching the part feeder The value of this e
120. sted by the part acquisition strategy routine or moving to the transit point if it is defined AIM PCB User s amp Heference Guide Rev A Acquire Primitives Standard Part Acquisition Strategy Routine Each part has an associated part type and the database record for each part type specifies the name of a part acquisition strategy routine That routine is called by the main acquire primitive routine rn acquire as described previously The standard strategy routine supplied with the PCB Module is named rn ac standard A separate acquisition strategy routine may be exist for each different type of part in the system These routines should all perform the following steps 1 Verify that the gripper is open and that any part present sensors are in the correct state 2 Move the robot to the part pickup location at the selected feeder 3 Activate the feeder and grip the part 4 Verify that any part present sensors are in the correct state 5 Depart from the pickup point In addition each routine should handle any expected error conditions and take appropriate action such as disabling the feeder or retrying the acquire operation The steps shown above are only guidelines The actual steps performed and their order will depend on the particular feeder part and gripper Customizer written part acquisition strategy routines must conform to the calling sequence described in the following section NOTE The variable name
121. t again When this routine is called the robot is assumed to be in a safe location with the gripper empty Upon successful completion the part is in the robot gripper and the robot is either completing the last motion requested by the part acquisition strategy routine or moving to the transit location if one is defined See Acquire Primitives on page 81 for more information on this routine and on part acquisition strategy routines Related Routines rn ac pallet rn ac standard 100 AIM PCB User s amp Heference Guide Rev A rn in standard Calling Sequence CALL rn in standard loc to opr error Function Simple part insertion strategy routine called from the insert primitive routine This routine handles an optional part present sensor It also performs force sensing if this option is present Usage Considerations The database record containing data for the current assembly location part type and tool must be opened prior to calling this routine Input Parameters loc Transformation variable that contains the current assembly location in absolute robot coordinates to opr Real array containing standard values for operating the tool See Table 8 10 for details The following values are used by this routine to opr part sig to opr cls sig to opr opn sig to opr opn del Output Parameter error Real variable that receives a value indicating whether or not the operation was successful and what action shou
122. t name D type and feeders for the part Global database is PA DB Part Type pt ty 24 Each record in this database defines a pt db TASK single type of part specifies attributes pt that are commonly shared among multiple parts Global database is PT DB Tool to ty 28 Defines the tool offsets for a robot to db TASK Global database is TOOL DB to NOTE Whenever possible use the variables listed in Table 8 1 in place of explicit database numbers Future AIM systems may use different numbers to refer to the databases but the variable names will be retained with appropriate values AIM PCB User s amp Reference Guide Rev A 47 Chapter 8 Databases 8 2 Assembly Database Each record in an Assembly database defines a location where a part is to be placed and how the part is to be placed The record fields define the name of the location and the robot motion parameters used while moving to the location All the record fields are listed below in the order in which they occur within a record The fields are summarized in Table 8 2 The data in a record can be accessed from an application program by using the V variable names shown in the first column The global variable for accessing the Assembly database is as db TASK Table 8 2 Record Definition for the Assembly Database Field Type Variable Field Name Size Description 0 name name A standard AIM n
123. tabase and call it to reject the part See the following section for details on that routine It is assumed that the strategy routine operates the gripper to release the part 4 If any error response is returned exit from rn reject with that response 5 If the error response indicates success continue moving along the path to the next exit location 6 If no errors occur rn reject exits with the part placed at the reject location the robot gripper empty and the robot moving toward the second exit point on the reject path Standard Part Rejection Strategy Routine Each part has an associated part type and each part type specifies the name of a part rejection strategy routine That routine is called by the main reject primitive routine rn reject as described in the previous section The standard reject strategy routine is rn rj standard A separate reject strategy routine may exist for every different type of part in the system These routines should all perform the following steps 1 Wait for the current robot motion to complete by calling rn break 2 Open the gripper to release the part AIM PCB User s amp Heference Guide Rev A 91 Chapter 9 Primitive and Strategy Routines 3 Verify that any part present sensors are in the correct states In addition the routine should handle any expected error conditions and take appropriate action such as retrying the reject operation The steps shown above ar
124. termines the origin and orientation of the pallet The origin is the location of the first position row 1 column 1 layer 1 on the pallet The X axis of the frame points in the direction of increasing row values the Y axis points in the direction of increasing Y values and the Z axis points in the direction of increasing Z values The data in the Feeder database record for the pallet determines the number of rows columns and layers the spacings between them and the order in which the pallet is indexed row column or layer first This data is accessed using the record fields fd pal The fd opr xoffset and fd opr yoffset values in the Feeder database are used to implement a special pickup offset feature These values specify X and Y offsets in tool coordinates that are used to approach the part pickup location The robot moves to the offset location first then to the actual location This capability is useful for grippers that have one fixed position finger In detail the steps performed by the routine are 1 Verify that the part present signal specified by the value of to opr to opr part sig indicates that the gripper is empty Open the gripper Get the pallet data from the open feeder record Compute the current pallet position based on the pallet type index values and spacings a e CQ N Move to the approach location above the pallet position including any tool X or Y offset specified by the pickup offset para
125. the approach location above the feeder including any tool X or Y offset specified by the pickup offset parameters 4 Move to the part pickup location at the feeder including any tool X or Y offset specified by the pickup offset parameters If force sensing is enabled perform the force process specified for this part type Close the gripper and delay the specified time Depart from the part pickup location o N O A Check that the part present signal indicates that a part is in the gripper If not retry with step 1 If the part is in the gripper return with error code zero 9 If the retry count is exhausted disable the feeder turn on the alarm signal and return with error code rn opr retry Upon successful completion the robot is holding the part and is departing from the part pickup location If the feeder was empty the robot is departing from the part pickup location the signal fd opr fd opr enable is cleared and the output signal fd opr fd opr alarm is set Related Routines rn acquire rn ac pallet 98 AIM PCB User s amp Heference Guide Rev A rn acquire Calling Sequence CALL rn acquire part path to opr error Function Main runtime primitive routine to acquire a part from a feeder Usage Considerations The database records containing data for the current part and part type must be opened prior to calling this routine Input Parameters part Real value that specifies the number of t
126. the following items should be observed 1 The vision operation should return a frame result that determines the position of the fiducial mark This position must coincide with the position of the fiducial mark specified in the Assembly database The orientation of the fiducial mark is significant if and only if exactly one fiducial mark is used The vision operation should reference a robot mounted camera The picture record should have 8 Vision target location selected for the location and a path name specified in the PATH name data box The specified path record controls the motion parameters for moving to the picture taking location These parameters include speed motion type etc The motion parameters associated with the fiducial location including the approach and depart parameters are not used This path record also controls the offset of the vision target with respect to the nominal fiducial mark location The path reference frame must be set to Dynamic The path location is an offset in robot coordinates for the vision target The value NULL causes the center of the fiducial mark to be used as the vision target Nonzero values for X and Y move the vision target within the vision plane If the camera is not mounted on the final link of the robot the values of Z and orientation control the tool height and orientation with respect to the fiducial location when the picture is taken NOTE To position the tool above the a
127. the statement routines are presented in alphabetical order with each routine starting on a separate page The dictionary page for each routine contains the following sections as applicable Statement Syntax This section shows the syntax used in the statement Function This is a brief statement of the function of the routine Usage Considerations This section is used to point out any special considerations associated with use of the routine Calling Sequence The format of a V CALL instruction for the routine is shown CAUTION The variable names used for the routine parameters are for explanation purposes only Your application program can use any variable names you want when calling the routine Input Parameters Each of the input parameters in the calling sequence is described in detail For parameters that have a restriction on their acceptable values the restriction is specified AIM PCB User s amp Heference Guide Rev A 67 Chapter 8 Statements Output Parameters Each of the output parameters in the calling sequence is described in detail Global Variables Global variables accessed by the routine are described Details A complete description of the routine and its use is given Related Routines Other AIM routines which are related to the function of the current routine are listed NOTE Some of the routines listed may be documented in the reference guide for a different portion of your AIM system 6
128. time primitive routines that perform complicated operations such as acquiring a part from a feeder or inserting a part into an assembly For most applications these primitives are sufficiently general to be used without modification Those actions of the primitive that are hardware specific are dealt with by special strategy routines which are called by the main primitive routines A new strategy routine will typically have to be written when new hardware is integrated 10 1 Acquire Primitives An acquire primitive is called to acquire a part from a feeder This primitive is able to handle a wide variety of standard feeders by calling special strategy routines or sequences that understand specific types of feeders When an acquire primitive is called it assumes that the robot does not have a part in its gripper and is ready to pick up the next part Upon successful completion of the primitive the robot will be moving away from the feeder with a part in its gripper More specifically the following sequence of actions is performed by an acquire primitive 1 Move along an optional path to the appropriate feeder Move to an optional transit location in front of the feeder Move to an approach location above the part grip location 2 3 4 Move to the part grip location and grip the part 5 Move to a depart location above the part grip location 6 Move to the same optional transit location in front of the feeder 7 Move along an
129. tion real rotational 4 speed 24 location byte profile 1 25 location integer 3 6 as loc seqnum sequence 2 26 depart name The name of the depart strategy routine or as dep strategy strategy 1 sequence 1 3 routine 27 depart integer Start of a standard robot motion parameter 2 block for the motion to depart from the part location See the MotionWare Reference Guide 2 28 depart integer Part of the standard robot motion parameter as dep mve motion bits 2 block for the motion to depart from the part location See the MotionWare Reference Guide 3 29 departspeed real 4 30 depart byte acceleration 1 31 depart byte deceleration 1 32 depart real rotational 4 speed 33 depart byte profile 1 34 depart integer 3 6 as dep seqnum sequence 2 50 AIM PCB User s amp Reference Guide Rev A Feeder Database Table 8 2 Record Definition for the Assembly Database Continued Field Type Variable Field Name Size Description 35 user real These fields contain real values that are as user parameter1 4 available for general use by the system as user num customizer 6 Number of user parameters 36 user real parameter2 4 Notes 1 If this field is modified the database is marked for updating 2 First field of motion block with approach 3 Field in motion block not first 4 First field of motion block no approach 5 Field is edited even if defined during the edit all mode
130. to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS AIM PCB User s amp Reference Guide Rev A
131. to the see Table 8 4 signal 2 field alarm signal name 7 53 user signal integer The signal number corresponding to the fd user sig 2 3 field array user signal name 7 see Table 8 4 54 retry count integer The maximum number of times AIM should see Table 8 4 2 try to acquire a part from the feeder before giving up and signaling an error AIM does not attempt any retries if the value is zero 55 maximum integer The maximum number of seconds that AIM see Table 8 4 time 2 should wait for the feeder to become ready before signaling an error This value should be greater than the cycle time described below or errors may be signaled during normal operation 56 cycle time real The time in seconds required for the see Table 8 4 4 feeder to become ready after it has fed a part AIM will wait for at least this long before attempting to access the feeder after a part has been extracted even if the part ready signal indicates a part is ready 57 pickup offset real These two array elements contain the X and see Table 8 4 4 2 Y offset values in tool coordinates used by some acquire strategy routines If the values are zero there is no offset value 2 58 pallet type byte A type code used by the primitive routine fd pal 1 rn update pallet to determine the order in rb pal num which parts should be removed from a Number of pallet This primitive routine is called from elements in array see Table 8 5
132. utine F part acquisition 81 99 Feeder database 51 strategy 83 86 97 Files disk 107 partinsertion 87 103 strategy 88 101 H part reject 91 105 High accuracy placement 76 strategy 91 106 Routines I descriptions 67 69 Insertion part 87 pallet 94 primitive M part acquisition 81 99 Manuals reference 41 partinsertion 87 103 Menu part reject 91 105 summary 44 runtime 44 statement 67 P summary 44 Pallet routine 94 Runtime 44 Part summary 44 acquisition 81 99 strategy S routine 83 86 97 Sequence sequence 83 strategy database 60 part acquisition 83 insertion 87 103 partinsertion 89 strategy part rejection 92 AIM PCB User s amp Reference Guide Rev A 111 Index Statement routine part transfer 73 part transfer with fine placement 76 Strategy routine part acquisition 83 86 97 partinsertion 88 101 part rejection 91 106 Strategy sequence part acquisition 83 partinsertion 89 part rejection 92 Summary databases 43 runtime routines 44 T Tool database 64 Training information 4 Transfer part statement 73 Transfer part with fine placement state ment 76 V Vision high accuracy placement 76 94 locating assembly 76 94 112 AIM PCB User s amp Reference Guide Rev A Index of Programs and Statements A a squeeze 107 L LOCATE ASSEMBLY 69 R rn ac pallet 7 9 12 21 28 56 74 86 94 rn ac standard 7 11 83 97 rnacquire 74 75 78 80 81 82 83 85 99 100 rnbreak 91
133. y line pairs Origin at midpoint of corners X axis points at corner 1 Corner 1 Peia E pe_ldf oo2 Corner 2 Line 3 pc_ldf 883 Line 4 pc 1df 884 Frame Offset Frame Value x Y RZ E Toplevel Figure 6 4 Frame Finder Record Frame Finder Tool Options 1 Shows the name of this frame finder record and the date it was created or last modified Select this option to have this tool displayed in pick lists of vision tools for example when the REFINE vision argument is double clicked from a TRANSFER FP statement e Select two line class vision records to form the first corner of the frame Unless otherwise indicated by item the positive X axis will point at this corner Select two line class vision records to form the second corner of the frame This corner must be diagonally opposite from corner 1 AIM PCB User s amp Heference Guide Rev A 37 Chapter 6 Special PCB Vision Tools i you do not want the calculated center to be exactly the center of the found frame indicate the desired offsets in the X and Y data boxes To change the rotation of the computed frame enter a value in the RZ data box Shows the actual value of the frame center and rotation including any offsets specified in item Figure 6 5 shows an example of using four lead finder tools to generate a vision frame EJ Vision Image Shou Delete Goto Options Zo
134. ype Variable Field Name Size Description 7 approach integer Part of the standard robot motion parameter as app mve motion bits 2 block for the motion to approach the part location See the MotionWare Reference Guide 3 8 approach real speed 4 9 approach byte acceleration 1 10 approach byte deceleration 1 11 approach real rotational 4 speed 12 approach byte profile 1 13 approach integer 3 6 aS app seqnum sequence 2 14 location byte Standard location parameter block for the configuration 1 assembly location See the MotionWare Reference Guide 3 15 location integer type bits 2 16 location integer 3 6 as loc frm rec frame 2 17 location name The name of the location strategy routine or as loc strategy strategy 1 sequence 1 3 name 18 location byte Start of a standard robot motion parameter 1 block for the motion to the part location See the MotionWare Reference Guide 4 AIM PCB User s amp Heference Guide Rev A 49 Chapter 8 Databases Table 8 2 Record Definition for the Assembly Database Continued Field Type Variable Field Name Size Description 19 location integer Part of the standard robot motion parameter as loc mve motion bits 2 block for the motion to the part location See the Motion Ware Reference Guide 3 20 location real speed 4 21 location byte acceleration 1 22 location byte deceleration 1 23 loca

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AIM PCB User`s & Reference Guide