AQ-2 spec book LR - 第10页

2. 4 Placement h ead Both placement heads are equipped with Z-height, phi-rotation and real time force co ntr ol. It can pick, r otate and place any componen t within the work area of the AQ-2. Co mponent pick -up and de…

General Specifications

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2.2 Machine base

2.3 H-Drive

manipulator

Figure 3

The machine base is an H-shaped frame constructed out of welded standard rectangular

steel plates. It consists of a set of two vertical box structures, connected by a horizontal

square box structure. The frame is rigid and stable to minimize vibration transfer from

the factory-floor to the machine. Adjustment of the frame to the floor can be done

during or after installation. The transport height level complies to both SMEMA and

Japanese standards.

The machine base contains all mechanical interface surfaces for connection of the robot,

feeders trolleys/banks and PCB transport. It also holds the control and supply systems as

well as the safety covers and doors to provide safe working conditions for the operator.

The H-Drive manipulator is a self-calibrating Cartesian robot with linear motors and

encoders. The manipulator has two Y-axes and one X-axis, each with their own

integrated controller and power stages. Special attention is given to the dynamic

behaviour of the manipulator which is of great importance for the performance. Settling

times are defined as the period between the end of the setpoint profile and the moment

that the manipulator actually reaches the required position. If the position window is

chosen smaller (e.g. for fine pitch components, requiring higher accuracy) the settling

time will be longer. For the H-Drive manipulator, a cubic setpoint profile will be used. In

a cubic setpoint profile the acceleration gradually increases and decreases as function of

time. The X-slide of the manipulator has, on the front side, an interface which is

configured with 2 placement heads and 1 digital fiducial camera.

H-Drive manipulator

Resolution X and Y motor 1 micron

Acceleration X motor 17 m/s

Acceleration Y motors 12 m/s

Velocity X motor 1.4 m/s

Velocity Y motors 1.4 m/s

Max. stroke X motor 660mm

Max. stroke Y motors 1140mm

Table 2

2.4 Placement

head

Both placement heads are equipped with Z-height, phi-rotation and real time force

control. It can pick, rotate and place any component within the work area of the AQ-2.

Component pick-up and detection is done using a vacuum nozzle or a gripper.

Component presence as well as the relative position will be checked by the component

vision system. When placing through-hole components the AQ-2 can detect bent leads

using “variable through hole check”. If leads are bent the placement head will measure a

resistance force when a lead touches the PCB. If the force exceeds the programmable

limit (between 4 and 14 N) the AQ-2 will reject the component. Nozzles and grippers can

be automatically exchanged with the toolbit exchange unit configured on the machine

base between feeder interface and workarea.

Placement head

General Specifications

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Figure 4

Maximum stroke 77mm

Phi resolution 0.0072 degree

Placement force Inner nozzles: 1.5N ± 0.3N (Fixed)

Outer nozzles: 4-40N (programmable in 0.1N increments)

Flip chip nozzles: 0.9-3.5N (programmable in 0.1N increments)

Variable through hole Programmable between 4 and 14 N

check

Placement head

Table 3

General Specifications

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2.5 Component

vision

Figure 5

The Component vision (CV) system is used for the alignment of components on leads,

edges or bumps. Component Alignment is achieved by moving the placement head

above the lens of an upward-facing CV camera. A combination of multiple light sources

ensure sufficient contrast between the component (leads) and the background. Utilizing

these light sources (back light, dark field, mid field and bright field illumination) the

AQ-2 is capable of aligning almost any component. The illumination intensity is

automatically chosen based upon the reflectivity of the respective components. The CV

camera can determine the position of the component with respect to a reference plate.

The deviations, together with the fiducial alignment values, will be used to determine

the correct placement position.

There are two different component vision systems available for the AQ-2.

• The Component vision Large Field of View (LFOV) is used to align and inspect a wide

range of components up to 45 x45 mm or 66 x 23 mm with bump or lead width down

to 150 micron. It is also possible to inspect larger components but this can be done with

the component slightly above the focal plane of the camera allowing to inspect

components up to 165 x 45mm.

• The Component vision Small Field of View (CV SFOV) is used for ultra fine pitch

components like CSPs and flip chips. By use of a smaller field of view (22x22mm) a

higher accuracy can be achieved which is required for this type of components.

Components with bumps down to 80 micron with a 160 micron pitch can be measured.

Component vision modules

X-axis Y-axis Width Pitch Width Pitch

CV LFOV (mm) 45 45 0.150 0.300 0.150 0.300

CV SFOV (mm) 22 22 0.080 0.160 0.080 0.160

Component

vision Maximum component size Lead Bump

Table 4

Note: Component and lead dimensions above or below the noted specification require

an application review.

Note: Components larger than the noted field of view can be processed. For instance, the

CV LFOV can measure a 165mm long connector, however some restrictions may apply.

Also components of 66x23mm (or 23x66mm) can be measured in one view.