96722_AX-201 AX-301 AX501 Spec bookl.pdf - 第11页

Each placement robot is fitted with one or more placement heads, which is equipped with Z-height, phi-rotation and real time force control. With every component placement, the placement head measures the impact position …

Depending on the base, the machine can be equipped with different types of place-

ment robots; there are three available; the standard placement robot , the compact

placement robot and the X-Y Robot. A compact placement robot is half the width

of a standard placement robot. This allows scaling the machine in output while

maintaining the available feeding positions, and achieving same specifications.

Standard and compact robot specifics:

Direct drive Y spindle using high-resolution rotary encoders

Linear X motor and encoder

Placement head interface

Safety interlocks

Quick exchange connection cables to placement controller

Air controller and local vacuum system (venturi)

The X-Y Robot is an integrated in the machine-base self-calibrating robot with lin-

ear motors and encoders. The H-drive manipulator has two Y-axes and one X-axis.

Please refer to the matrix on page 31 for the base-placement robot relationship.

Standard placement Compact placement

robot robot

Working area 200 x 590mm 80 x 590mm

Weight 52 kg 32 kg

Dimensions (LxWxH) 1625 x 240 x 250mm 1625 x 120 x 250mm

Max. number of

partnumbers 26 11

3.3 Placement

modules

3.3.1.Placement

robot

Figure 2

Features

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Each placement robot is fitted with one or more placement heads, which is

equipped with Z-height, phi-rotation and real time force control. With every

component placement, the placement head measures the impact position and

calculates the appropriate Z-height to correct for any applicable board warpage.

This adaptive Z-height feature (Board- and component thickness variation

correction) enables that the appropriate placement dwell time and force is well

within the tolerance of process requirements. All placement heads can use vacuum

toolbits for component pick-up, detection and placement.

Placement heads

Four types of placement heads are available:

1. Placement Head Single Vision (PH-SV)

2. Placement Head Laser Vision (PH-LV)

3. Placement Head Dual Vision (PH-DV)

4. Placement Head High Accuracy (PH-HA)

They execute the following tasks:

Align components

Pick and place components

Z-movement

Rz-movement

Force sensing and control

Board- and component thickness variation correction

The Placement Head Single Vision uses a Z-stroke linear motor. This linear motor

controls the pick force, placement Z-speed, dwell time and force. On top of these

control functions, the Placement Head Laser Vision has the capability to perform

component presence check and 'on the fly' laser alignment for components down

to 01005.

The Placement Head Dual Vision (which consists of two placement heads in a single

assembly) is configured in a doubled up configuration, effectively giving four

placement heads. This can pick, rotate and place components with the highest

speed. Component presence as well as the relative position will be checked by the

component vision system.

The Placement Head High Accuracy (configured in a set of two) combines accuracy

with placement forces up to 40N. It also has the capability to detect bent leads of

through-hole components using "variable through hole check". When a lead is bent

the placement head will measure a resistance force when the lead touches the

board. If the force exceeds the programmable limit (between 4 and 14 N) the

component will be rejected. For the most challenging components the PH-HA can

also use mechanical gripper to pick and place components.

3.3.2 Placement

heads

Figure 3

Features

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Placement Head Placement Head Placement Head Placement Head

Single Vision Laser Vision Dual Vision High Accuracy

Maximum stroke 27mm 27mm 40mm 77mm

Placement force Programmable Programmable Programmable Programmable

between 1.5 - 8N between 1.5 - 8N between 2 - 8N between 0.9- 40N

in 0.1N steps

in 0.1N steps in 0.1N steps

Lower forces down

to 0.06N with

restrictions

Variable through Not applicable Not applicable Not applicable Programmable

hole check between 4 and

14 N

Configured in One One Two (four heads Two heads

set of: in total) in total

Toolbits Nozzles Nozzles Nozzles Nozzles and

grippers

*1 Depending on nozzle type

The board alignment camera is used for fiducial and artwork alignment, and is also

used for badmark sensing, position detection of feeder trolleys, toolbit exchange unit,

dump bin and the component vision camera.

Board alignment camera

Camera Field of View 8.6 x 6.8mm

Camera pixels 1024 x 768

Camera pixel resolution 8.4 µm

Illumination Bright field & dark field

Fiducial types All regular types with a contrast level of >30%

Fiducial shape size Fiducial shape size >0.3mm, <3.0 mm

Free zone around fiducial No features allowed within 0.1mm, no look-a-likes

within 2.6mm from fiducial

Examples of artwork and typical fiducials

Badmark sensing

Bad mark type Black or white dot, or fiducial shape

Size >φ 1mm

Color Bad marks can be dark in a light background or light in

a dark background

Contrast At least 30 %

Badmark levels 3

Number of bad marks <2048

per board

3.4 Board

alignment

Figure 4

Features

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