precise automation product catalog
TRANSCRIPT
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PRODUCT CATALOG
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Document Content
The information contained herein is the property of Precise Automation Inc., and may not be copied,
photocopied, reproduced, translated, or converted to any electronic or machine-readable form in whole or
in part without the prior written approval of Precise Automation Inc. The information herein is subject to
change without notice and should not be construed as a commitment by Precise Automation Inc. This
information is periodically reviewed and revised. Precise Automation Inc. assumes no responsibility for
any errors or omissions in this document.
Copyright 2004-2010 by Precise Automation Inc. All rights reserved.
The Precise Logo is a registered trademark of Precise Automation Inc.
Trademarks
Guidance 3400, Guidance 3300, Guidance 3200, Guidance 2400, Guidance 2300, Guidance 2200,
Guidance 1400, Guidance 1300, Guidance 1200, Guidance 0200 Slave Amplifier, Guidance 0006,
Guidance 0004, Guidance Controller, Guidance Development Environment, GDE, Guidance Development
Suite, GDS, Guidance Dispense, Guidance Programming Language, GPL, Guidance System, Guidance
System D4/D6, PrecisePlace 1300, PrecisePlace 1400, PrecisePlace 2300, PrecisePlace 2400,
PreciseFlex 1300, PreciseFlex 1400, PrecisePower 300, PrecisePower 500, PrecisePower 2000,
PreciseVision, RIO are either registered or trademarks of Precise Automation Inc., and may be registered
in the United States or in other jurisdictions including internationally. Other product names, logos, designs,
titles, words or phrases mentioned within this publication may be trademarks, service marks, or trade
names of Precise Automation Inc. or other entities and may be registered in certain jurisdictions including
internationally.
Any trademarks from other companies used in this publication are the property of those respective
companies. In particular, Visual Basic, Visual Basic 6 and Visual Basic.NET are trademarks of Microsoft
Inc.
Disclaimer
PRECISE AUTOMATION INC., MAKES NO WARRANTIES, EITHER EXPRESSLY OR IMPLIED,
REGARDING THE DESCRIBED PRODUCTS, THEIR MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR PURPOSE. THIS EXCLUSION OF IMPLIED WARRANTIES MAY NOT APPLY TO YOU.
PLEASE SEE YOUR SALES AGREEMENT FOR YOUR SPECIFIC WARRANTY TERMS.
Precise Automation Inc.
727 Filip RoadLos Altos, California 94024
U.S.A.
www.preciseautomation.com
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TABLE OF CONTENTS
Overview....................................................................................................................1Robots .......................................................................................................................2
PrecisePlace Cartesian Robots..............................................................................5PreciseFlex SCARA Robots...................................................................................8Robot Accessories ...............................................................................................11
Guidance Motion Controllers....................................................................................12Guidance 3000A Series .......................................................................................15Guidance 2000B Series .......................................................................................17Guidance 2000C Series .......................................................................................19Guidance 1000A Series..........................................................................................21Controller Accessories .........................................................................................23PrecisePower Intelligent Motor Power Supplies ...................................................25Guidance Programming Language.......................................................................27
Guidance System D4/D6..........................................................................................29
Remote IO Module...................................................................................................32Developer Tools.......................................................................................................34
Guidance Development Software Suite................................................................34PreciseVision Software ............................................................................................38
PreciseVision Hardware Information ....................................................................42Application Tools......................................................................................................46
Guidance Dispense..............................................................................................46
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www.preciseautomation.com -Automate with Ease
OVERVIEW
Automate with Ease
Is the setup of your robot so simple that
it can be accomplished in minutes
instead of days? Does your controller
have integrated drives and vision in a
package small enough to fit in your
hand? Can you write your vision-guided
motion control program on a single
sheet of paper? If not, you should
switch to Precise Automation products
that leverage our cutting-edge
technology and years of experience
to make the automation process easier.
Our versatile table-top Cartesian and
SCARA robots come fully assembled
and are easy to set up. Our low cost
vision-guided motion controllers
integrate motor drives in an extremely
compact design that can fit inside many
robot structures. The controller's
powerful features allow OEMs to createthe applications they want and to
produce user-friendly systems. Adding
vision guidance simplifies complex
problems in locating and identifying
parts and significantly improves
process reliability by easily
accommodating to dimensional
variances.
Precise Automation's flexible and
innovative products serve a widevariety of industries including:
electronics, semiconductor, life
science, medical products, solar
and mass storage.
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Precise Automation - www.preciseautomation.com2
PRECISE ROBOTS
Low cost, vision-guided robots withfast and easy set-up
Can a robot installation be as simple
as plugging in two cables? Precise
Automation makes it possible.
PrecisePlace Cartesian robots and
PreciseFlex SCARA robots comeout of the box fully assembled and
straight into your application. Just
plug them into an AC outlet and your
PC's Ethernet port and they are
ready to work. The controller and
harnesses are embedded within the
robots structure resulting in a much
smaller footprint. No controller
integration is required, no harness
to purchase or thread and no extra
controller cabinets.
Precise robots feature a powerful
vision-guided motion controller,
novel low-cost mechanical designs
and servo motor performance.
These features enable smooth,
quiet motion without the use of
expensive components. This
greatly reduces the cost of these
systems without sacrificing
performance or capabilities and
makes Precise robots ideal for
applications where size, smooth
operation, and budget are critical.
PrecisePlace 2400A
PreciseFlex 1300Precises machine vision software
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KEY FEATURES
embedded in robot structure -
Achieves a dramatic reduction
in cost and footprint by eliminatingcontroller cabinets and robot
cables.
All harnesses, wires and hoses
are contained inside the robot
structure - Eliminates flailing
cables in the workspace.
Fully integrated system - Robots
ship fully assembled. No extra
cost brackets required to mate
axes, no harnesses to purchase
or thread, no controller integration
required, no external controller
to mount, no external controller
cabinets.
Pneumatic lines and IO user
signals are available for
application use at end effector.
Encoders provide excellent
resolution and repeatability- The
addition of PreciseVision allows
these robots to achieve placement
accuracies at the full resolution of
the encoders.
PrecisePlace 2210A
integrates seamlessly with Precise
robots. A graphical user interface
makes camera calibration andprogramming easy and intuitive. By
visually closing the robots position
loop using a process known as
visual servoing, our robots can
achieve placement accuracies
based on their encoder resolution
rather than their absolute accuracy.
Enabled by Precise's integrated
vision and controls and our robot's
high resolution position sensors,
visual servoing permits our low-cost
robots to be used in applications
requiring extremely high placement
accuracies.
Guidance Vision-Guided
Controller and power supplies
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PRECISE ROBOT SERIES
PRECISEPLACE ROBOTS
PRECISEFLEX ROBOTS
This line of Cartesian robots is available in
two, three or four axes configurations. They
feature a patented, novel direct drive system.
This zero-backlash, zero-cogging drive
requires no maintenance and has far fewer
parts than other designs incorporating belts,
cables, ball screws, etc. The extrusion basedstructure allows robots to be custom made
to fit your workspace. Also available in an ISO
Class 2 cleanroom version.
These SCARA robots are available in a three or
four axis configuration. This geometry permits
these robots to be easily adapted to a number
of different applications. A vertically mounted
gripper allows the robot to reach down to
assemble parts, while a horizontally mounted
gripper can service a row of equipment that is
not directly in-line with the robots base.
Extremely efficient station-to-station motions
reduce cycle times to a minimum. Includes
Advanced Kinematic License for simple
Cartesian manual and program control.
Precise Automation - www.preciseautomation.com4
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PP2 -MA-A2 0- - - -
PRECISEPLACE 2000A ROBOTS
AVAILABLE PRECISEPLACE 2000A CONFIGURATIONS:
Part number:
Number of axes
20 - Two axes (X/Y)
21 - Two axes (X/Z)
30 - Three axes (X/Y/Z)
40 - Four axes (X/Y/Z/Theta)
Integrated controller
0 - Guidance 3410A Controller (G3XD-EA-A3410)
4 - Guidance 3414A Controller (G3XD-EA-A3414)
6 - Guidance 3416A Controller (G3XD-EA-A3416)
Available X-axis travel
050 - 500 mm X travel
060 - 600 mm X travel
070 - 700 mm X travel
080 - 800 mm X travel
090 - 900 mm X travel
100 - 1000 mm X travel
Available Y-axis travel
20 - 200 mm Y travel
30 - 300 mm Y travel
40 - 400 mm Y travel
50 - 500 mm Y travel
60 - 600 mm Y travel
Available Z-axis travel
2 - 240 mm Y travel
Cleanroom option
0 - Standard PrecisePlace Robot
C - PrecisePlace ISO Class 2 Robot
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AVAILABLE PRECISEPLACE 2000A OPTIONS:PP20-MA-A0001 - High Resolution Option - Improves X and Y axis encoder resolution to
+/- 0.002 mm.
PP20-MA-A0003 - ISO Class 2 Upgrade Option - Upgrades PrecisePlace Robot to ISO
class 2 cleanroom standards.
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PRECISEPLACE 2000A DIMENSIONS:
X Stroke + 272
339.40
324.40
295.90
55.90
24.40
0
160.60
Y-Stroke
Y-Stroke + 60
X-Stroke
+265
150n+73.2
6
800
73.2
6 0
6.7
4
400
Standa
rdYStroke
622
242.02
116.13
0
20.37
33.07
Y Stroke + 356
400
Y-Stroke
55.90
6
22MaxZ-Stage
Envelope
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PRECISEPLACE 2000A SPECIFICATIONS:
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General Specifications Range & FeaturesRange of Motion & Resolution
X-Axis Available X-Axis Travel: 500 mm 1000 mm
Y-Axis Available Y-Axis Travel: 200 mm 600 mm
Z-Axis Available Z-Axis Travel: 240 mm
Optional: Theta Axis +/- 360 degrees
Resolution +/- 0.008 mm in X, Y and +/- 0.002 mm Z standard+/- 0.002 mm in X, Y and Z available with high resolution option
Repeatability +/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion
Performance and Payload
Maximum Acceleration 0.6G
Maximum Speed 2,000 mm/sec
Z ForceContinuous upwards Z force 60NContinuous downwards Z force 80N
PayloadPrecisePlace 2300A 5 kg for Y lengths 400mmPrecisePlace 2400A 3.5 kg for Y lengths 400mm
ControllerAVAILABLE GUIDANCE CONTROLLERS: Guidance 3410A (G3XD-EA-A3410), Guidance 3414A (G3XD-EA-A3414),Guidance 3416A (G3XD-EA-A3416)
Interfaces
General Communications RS-232 channel, Ethernet port, remote front panel
Digital I/O Channels
12 optically isolated digital inputs, 8 optically isolated digital outputs included on the X-Axis End Cap Facilities Panel.Additional 8 isolated digital inputs, 8 isolated digital outputs provided on Z-axis. All outputs rated at 100 mA maximum perchannel, except for channel 1 in X-axis end cap, which is rated at 500 mA. Additional remote I/O available via Precise RIOmodules or 3rd party MODBUS/TCP devices
Analog I/O Channels Facilities for 2 analog inputs included on controller and 4 or 6 optional analog outputs optionally available on controller
Pneumatic LinesTwo air lines, each 75 PSI maximum, provided at Z-axis drive and routed internally to fittings on the X-Axis End CapFacilities Panel.
Operator Interface Web based operator interface supports local or remote control via browser connected to embedded web server
Programming InterfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Ethernet using TCP/IP
Required Power Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum
Weight 30 kg typical, will vary w ith size
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PF10-MA-01 0- -
PRECISEFLEX 1000 ROBOTS
AVAILABLE PRECISEFLEX 1000 CONFIGURATIONS:
Part number:
Number of axes
30 - Three axes (J1/Z/J3)
40 - Four axes (J1/Z/J3/J4)
Integrated controller
0 - Guidance 2310C/2410C Controller
4 - Guidance 2314B/2414B Controller
6 - Guidance 2316B/2416B Controller
Available Z-axis travel
3 - 300 mm X travel
6 - 600 mm X travel
AVAILABLE PRECISEFLEX 1000 OPTIONS:
PF14-MA-00001 - Solenoid and IO Harness - Adds solenoids mounted in the outer link,
connected to the robots internal pneumatic lines and wired to the IO provided on the
outer link. The solenoids are software controlled by actuating the outer link digital
output signals.
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PRECISEFLEX 1300 DIMENSIONS:
R37.5
R119.4
238.8
279.6
181.5
0 69.3
383
650
162
J3 Rotation
176
J1 Rotation
789
389.90
311.90
213.90
131.98
0
300
VerticalTravel
165.27
186
144
0
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PRECISEFLEX 1000 SPECIFICATIONS:
Precise Automation - www.preciseautomation.com10
General Specifications Range & FeaturesRange of Motion & Resolution
J1 Axis +/- 176 degrees
Z Axis Configurations from 300 mm (standard) to 600 mm (optional)
J3 Axis +/- 162 degrees
Optional: J4/Theta Axis +/- 270 degrees
Resolution +/- 0.005 mm in x-y plane
Repeatability +/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion
Performance and Payload
Maximum Acceleration 2G with 2 kg payload; 1.3G with 4 kg payload
Maximum Speed 1,000 mm/sec with 4 kg payload
PayloadPreciseFlex 1300 5 kgPreciseFlex 1400 4 kg
Z Force Maximum Z down force 200N
ControllerAVAILABLE GUIDANCE CONTROLLERS: Guidance 2410C (G2XD-EA-C2410), Guidance 2410B (G2XD-EA-B2410)Guidance 2414B (G2XD-EA-B2414), Guidance 2416B (G2XD-EA-B2416)
Interfaces
General Communications RS-232 channel, Ethernet port, remote front panel
Digital I/O Channels
12 optically isolated digital inputs, 8 optically isolated digital outputs available on J1-Axis housing Facilities Panel.Additional 8 isolated digital inputs, 8 isolated digital outputs provided on the Outer Link. All outputs rated at 100 mA
maximum per channel, except for channel 1 in Facilities Panel, which is rated at 500 mA. Additional remote I/O availablevia Precise RIO modules or 3rd party MODBUS/TCP devices
Analog I/O Channels Two analog inputs optionally available on controller. Four or six analog outputs optionally available on controller.
Pneumatic LinesTwo air lines, each 75 PSI maximum, provided at Outer Link and routed internally to fittings on J1-Axis housing FacilitiesPanel.
Operator Interface Web based operator interface supports local or remote control via browser connected to embedded web server
Programming InterfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Ethernet using TCP/IP
Required Power Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum
Weight 34 kg typical, will vary w ith size
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Handheld hardware MCP that permits a robot
to be jogged in joint and Cartesian coordinates.
Can be carried close to the robot when adequate
safety precautions have been implemented.Includes: LCD with 4 lines of 20 characters for
displaying system status and robot location,
E-stop button with dual contact pairs, 3 m cable
that plugs into the front panel connector of
Precise Robots, Guidance Controllers or
Guidance Systems.
PRECISE ROBOT ACCESSORIES
Robot Quick Start
Connector and Cable
Kit (PX10-EA-00001)
The robot facilities panel and the IO board near
the end effector provide several connectors to
interface to peripheral equipment. This kit allows
you to quickly begin interfacing to your robot.
Contains: all mating plugs for the robot facilities
panel and end effector IO board, RS-232 serial
cable and crossover Ethernet cable.
E-Stop Button in Enclosure
(PP10-EA-00002)
Emergency stop button with dual relays in an 80 mm
x 70 mm x 65 mm enclosure. Includes eight foot
cable that plugs into the front panel of Precise
Robots, Guidance Controllers or Guidance
Systems.
Precise Manual Control
Pendant (PP10-EP-00003)
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KEY FEATURES
Powerful motion control in an
extremely compact package -
Integrates motion control, motor
drives, digital/analog/serial IO,
Ethernet communications and
optional machine vision. Supports
up to 4 axes with integrated
drives and up to six 3rd party
amplifiers via 10VDC DAC
interfaces per controller.
Control multi-axis articulated
machines at a fraction of the
size and cost of other
controllers.
Multi-axis kinematics for
Cartesian control of complex
geometries.
Access from anywhere in the
world - Embedded Web Serverallows access without the need
for a local PC.
Upload or download applications
and diagnostic information
from remote sites - Allows for
collaborative development and
fast customer service worldwide.
Scalable architecture - A
distributed control architecture
implemented over Ethernet
permits multiple controllers to be
networked together to control up
to 32 axes. This results in ascalable architecture that allows
drives to be placed at the point
of use and can eliminate hundreds
of wires and large expensive
controller cabinets.
Supports multiple programming
methods - Includes powerful
embedded language modeled after
object-oriented forms of the Basic
Language such as Visual Basic.Net.
Can also be configured as a slave to
a PC application using Ethernet and
a Windows DLL that permits PCbased legacy software to be preserved.
For simple applications, a built-in
teach-and-repeat method is
included for performing point-to-
point motions.
Continuous path planning.
Integrated machine vision option.
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GUIDANCE CONTROLLER SERIES
GUIDANCE 3000/2000 SERIES
GUIDANCE 1000A SERIES
Extremely compact vision-guided motion controllers with up to 4 integrated motor drives and amplifiers up
to 30 amps peak at 320 VDC. Small enough to fit inside robot structures, yet powerful enough to drive
room-size gantries.
Designed to significantly reduce costs for lower voltage/powerapplications. Includes up to four integrated 12-48VDC motor
drives with up to 15A peak/6A RMS/5A stall for channels 1 & 2
and 10A peak/4A RMS/3.3A stall for channels 3 & 4. Delivers
Precises advanced motion capabilities and integrated vision
in a smaller package and at a lower price than ever before.
CONTACT US FOR SPECIAL OEM PRICING
ON RECOMMENDED MOTORS
Guidance 3000A Guidance 2000B Guidance 2000C
Precise Automation - www.preciseautomation.com14
Three different controller series (3000A, 2000B, 2000C) are available in Precises high power controller
line. These controllers offer an extensive set of features that are shared across all three controller series
(please see the following pages for complete spec sheets). The differences between the controller series
are as follows:
GUIDANCE 3000A SERIES GUIDANCE 2000B SERIES GUIDANCE 2000C SERIES
Motor DrivesUp to four integrated motor drives, busvoltage 24VDC to 340VDC, up to 30A
peak/15A RMS/10A stall per motor
Up to four integrated motor drives, busvoltage 24VDC to 340VDC, up to 20Apeak/10A RMS/6.5A stall per motor
Up to four integrated motor drives, busvoltage 24VDC to 340VDC, up to 20A
peak/10A RMS/6.5A stall per motor
Four or six +/- 10VDC 16-bit DACchannels optionally available forcontrolling external amplifiers
Yes Yes No
Optional support for analog incrementalencoders with interpolation for increasedresolution
Yes Yes No
2 or 4 analog +/- 10VDC 12-bit input I/Ochannels. 4 or 6 analog outputs optionallyavailable
Yes Yes No
I2C multi-drop serial communications Yes Yes No
Additional two drives (for a total of sixdrives) available via Guidance Slave
AmplifiersNo No Yes
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GUIDANCE 3000A SPECIFICATIONS:
Precise Automation - www.preciseautomation.com16
General Specifications Range & FeaturesComputational Hardware
CPU and Dynamic Memory 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM
Nonvolatile Memory Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage
Software
Motion control
Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consistof up to 16 controllers.
AVAILABLE UPGRADESKinematic Licenses Control complex machines (including articulated, parallel and redundant axis robots) with simpleCartesian control.
Advanced Kinematic License For three and four axis robots.Complex Kinematic License For six and unusual geometry robots.(Custom or additional Kinematic modules available subject to an NRE charge).
Conveyor Tracking Software License Allows controller to be integrated with conveyor belts and permits a robot toautomatically adapt to varying belt speeds.Advanced Controls License Enables enhanced motion control modes including: high-speed position latching, real timetrajectory modification, analog output controlled by robot speed, and support for EtherNet/IP.
Operator interface Web based operator interface supports local or remote control via browser connected to embedded web server.
Programming interfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Ethernet using TCP/IP
Machine vision (optional)Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful,patented Object Locator finds parts in any orientation and at different scales within milliseconds.
Motion Control
Motor Drives
Up to four integrated motor drives compatible with a wide range of motors.10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel.20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel.30A option: 30A peak per channel, 15A RMS, 10A stall per channel.Four, two or no integrated drives can be provided with the controller.
Maximum electrical power per motor: Amplifiers up to 30 amps peak at 320 VDC.
Position Sensor InterfaceFour differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support forselected absolute encoders (may require enhanced controller option). Support for analog incremental encoders withinterpolation for increased resolution (requires enhanced controller option).
Control signals Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions.
Brake signals Up to 1A at 24V available for releasing motor brakes.
3rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers
Communication Interfaces
General communicationsRS-232 port with hardware flow control, two 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232port (no hardware flow control), compliant with IEC Category 3 safety standards.
Digital input channels12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC forlogic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or3rd party MODBUS/TCP devices.
Digital output channels 8 general purpose optically isolated outputs, individually configurable as sinking or sourcing. 24 VDC maximum pull up ifsinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for channels 2-7, 500 mA maximum for channel 1.Additional remote I/O available via Precise RIO modules or 3 rd party MODBUS/TCP devices.
Analog I/O Channels Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs.
Multi-Drop Serial I/O RS-485 multi-drop serial communications
Non-user accessible IO I2C multi-drop serial communications
Required Low Voltage,Logic Power
24 VDC 5% power required for logic and I/O: 2.7A minimum, 4A, recommended for typical use of digital I/O. 1Aadditional required for 2KW PrecisePower Intelligent Motor Power Supply contactors.
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GUIDANCE 2000B CONTROLLERS
AVAILABLE GUIDANCE 2000B CONFIGURATIONS:
G2X -EA-Part number:
Version
D - Standard controller
E - Enhanced controller option
Integrated Motor Drives
10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel)
B241 - Four integrated 10A drives
20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel)
B242 - Four integrated 20A drives
Analog Output Channels
0 - No Dac
4 - Four Dacs
6 - Six Dacs
GUIDANCE 2000B DIMENSIONS:
56mm
138mm
224mm
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GUIDANCE 2000B SPECIFICATIONS:
Precise Automation - www.preciseautomation.com18
General Specifications Range & FeaturesComputational Hardware
CPU and Dynamic Memory 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM
Nonvolatile Memory Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage
Software
Motion control
Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consistof up to 16 controllers.
AVAILABLE UPGRADESKinematic Licenses Control complex machines (including articulated, parallel and redundant axis robots) with simpleCartesian control.
Advanced Kinematic License For three and four axis robots.Complex Kinematic License For six and unusual geometry robots.
(Custom or additional Kinematic modules available subject to an NRE charge).Conveyor Tracking Software License Allows controller to be integrated with conveyor belts and permits a robot toautomatically adapt to varying belt speeds.
Advanced Controls License Enables enhanced motion control modes including: high-speed position latching, real timetrajectory modification, analog output controlled by robot speed, and support for EtherNet/IP.
Operator interface Web based operator interface supports local or remote control via browser connected to embedded web server.
Programming interfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Ethernet using TCP/IP
Machine vision (optional)Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful,patented Object Locator finds parts in any orientation and at different scales within milliseconds.
Motion Control
Motor Drives
Up to four integrated motor drives compatible with a wide range of motors.10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel.20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel.Four drives can be provided with the controller.
Maximum electrical power per motor: Amplifiers up to 20 amps peak at 320 VDC.
Position Sensor InterfaceFour differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support forselected absolute encoders (may require enhanced controller option). Support for analog incremental encoders withinterpolation for increased resolution (requires enhanced controller option).
Control signals Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions.
Brake signals Up to 1A at 24V available for releasing motor brakes.
3rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers
Communication Interfaces
General communicationsRS-232 port with hardware flow control, two 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232port (no hardware flow control), compliant with IEC Category 3 safety standards.
Digital input channels12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC forlogic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or3rd party MODBUS/TCP devices.
Digital output channels8 general purpose optically isolated outputs, individually configurable as sinking or sourcing. 24 VDC maximum pull up ifsinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for channels 2-7, 500 mA maximum for channel 1.
Additional remote I/O available via Precise RIO modules or 3 rd party MODBUS/TCP devices.
Analog I/O Channels Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs.
Multi-Drop Serial I/O RS-485 multi-drop serial communications
Non-user accessible IO I2C multi-drop serial communications
Required Low Voltage,Logic Power
24 VDC 5% power required for logic and I/O: 2.7A minimum, 4A, recommended for typical use of digital I/O. 1Aadditional required for 2KW PrecisePower Intelligent Motor Power Supply contactors.
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GUIDANCE 2000C CONTROLLERS
AVAILABLE GUIDANCE 2000C CONFIGURATIONS:
G2X -EA- 0Part number:
Version
D - Standard controller
E - Enhanced controller option
Integrated Motor Drives
10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel)
C241 - Four integrated 10A drives
20 AMP DRIVES (20A peak, 9.5A RMS, 6.5A stall per channel)
C242 - Four integrated 20A drives
GUIDANCE 2000C DIMENSIONS:
46mm
138
mm
224mm
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OPTIONAL SIX-AXIS CONTROLLER CONFIGURATIONS:
Guidance 2600C Controller- Consists of Enhanced Guidance
2000C Controller plus a Guidance 0200C Slave Amplifier.
Guidance 0200C Slave Amplifier adds two additional drives to
Enhanced Guidance 2000C Controllers.
AVAILABLE CONFIGURATIONS
G2XE-EA-C2611 - Four integrated 10A and two slave 10A drives
G2XE-EA-C2612 - Four integrated 10A and two slave 20A drives
G2XE-EA-C2621 - Four integrated 20A and two slave 10A drives
G2XE-EA-C2622 - Four integrated 20A and two slave 20A drives
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GUIDANCE 2000C SPECIFICATIONS:
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General Specifications Range & FeaturesComputational Hardware
CPU and Dynamic Memory 400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM
Nonvolatile Memory Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage
Software
Motion control
Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consistof up to 16 controllers.
AVAILABLE UPGRADESKinematic Licenses Control complex machines (including articulated, parallel and redundant axis robots) with simpleCartesian control.
Advanced Kinematic License For three and four axis robots.
Complex Kinematic License For six and unusual geometry robots.(Custom or additional Kinematic modules available subject to an NRE charge).Conveyor Tracking Software License Allows controller to be integrated with conveyor belts and permits a robot toautomatically adapt to varying belt speeds.
Advanced Controls License Enables enhanced motion control modes including: high-speed position latching, real timetrajectory modification, and support for EtherNet/IP.
Operator interface Web based operator interface supports local or remote control via browser connected to embedded web server.
Programming interfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Etherne t using TCP/IP
Machine vision (optional)Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful,patented Object Locator finds parts in any orientation and at different scales within milliseconds.
Motion Control
Motor Drives
Up to four integrated motor drives compatible with a wide range of motors.10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel.20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel.
Four drives can be provided with the controller.Maximum electrical power per motor: Amplifiers up to 20 amps peak at 320 VDC.
Additional 10A/20A two drives (for a total of six drives) available via Guidance Slave Amplifiers (requires enhancedcontroller option).
Position Sensor InterfaceFour differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support forselected absolute encoders (may require enhanced controller option).
Control signals Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions.
Brake signals Up to 1A at 24V available for releasing motor brakes.
Communication Interfaces
General communicationsRS-232 port with hardware flow control, two 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232port (no hardware flow control), compliant with IEC Category 3 safety standards.
Digital input channels12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC forlogic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or
3rd
party MODBUS/TCP devices.
Digital output channels8 general purpose optically isolated outputs, individually configurable as sinking or sourcing. 24 VDC maximum pull up ifsinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for channels 2-7, 500 mA maximum for channel 1.
Additional remote I/O available via Precise RIO modules or 3 rd party MODBUS/TCP devices.
Multi-Drop Serial I/O RS-485 multi-drop serial communications
Required Low Voltage,Logic Power
24 VDC 5% power required for logic and I/O: 2.7A minimum, 4A, recommended for typical use of digital I/O. 1Aadditional required for 2KW PrecisePower Intelligent Motor Power Supply contactors.
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GUIDANCE 1000A CONTROLLERS
AVAILABLE GUIDANCE 1000A CONFIGURATIONS:
G1X -EA-Part number:
Version
0 - Standard controller
A - Enhanced controller option
Integrated Motor Drives
15 AMP DRIVES (15A peak, 6A RMS, 5A stall)
10 AMP DRIVES (10A peak, 4A RMS, 3.3A stall)
A140 - Four integrated drives. Drives 1&2 - 15A drives; Drives 3&4 - 10A drives
Communication Interfaces
0 - Standard
GUIDANCE 1000A DIMENSIONS
38mm
87mm
150mm
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PRECISEPOWER SUPPLIES
Intelligent Motor Power Supplies
PrecisePower Intelligent Motor Power
Supplies interface to Guidance
3000/2000 controllers and provide the
high voltage DC power required to
drive a wide range of motors.
Recommended for all users that
require a high voltage motor power
source.
KEY FEATURES
Supply 165VDC to 340VDCdepending upon AC input voltage
Integral relays for enabling and
disabling motor power via
commands from the controller
Large value output filter capacitors
to store deceleration energy for use
when power is needed
Automatic shut-down if switched to
a short or severely over-loaded
(PrecisePower 2000 only)
Ability to absorb line spikes
Built-in fuses
PrecisePower 2000
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PrecisePower 300
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MOTION CONTROL SOFTWARE
Guidance Programming Language -included with every Guidance Controller
KEY FEATURES
The Guidance Programming Language
(GPL) is a full-featured language for
programming Guidance Controllers. It
is modeled after object-oriented forms
of the Basic Language such as Visual
Basic.Net and includes built-in supportfor motion control and machine vision.
This results in a language that is simple
to use and familiar to many application
developers, but is still equipped with
modern features that promote good
programming practices.
GPL can easily control a wide range of
devices from simple, single axis
mechanisms to complex systems with
multiple robots operating cooperatively.The languages built-in library of robot
geometries (kinematics) makes it easy to
control complex mechanisms in simple
Cartesian coordinates. Motion control
facilities include: blending of joint,
Cartesian and circular interpolated
motions (continuous path); s-curve
profiles; base and tool offsets;
mathematics for manipulating robot and
part positions and orientations; and
frames of reference including moving
reference frames for conveyor tracking.
Powerful on board programming
language for embedded applications
Object oriented language- contains data
classes and objects, math functions and
control structures modeled after Visual
Basic.Net
Motion features- continuous path, robot
kinematics, pallet and moving reference
frames, velocity/torque control, s-curve
profiling, real-time path generation
Integrated configuration database and
datalogger- stores all key controllersetup and runtime data and permits
logging of virtually any parameter.
Supports tuning and local or remote
diagnostic of motion system, digital I/O
and other key interfaces.
GPL includes extensive Networking and
IO capabilities plus the runtime error
handling required to implement robust
automation applications.
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1 Created: 3/29/2007 7:37:00 AM
2 Module GPL
3 Public Sub MAIN()
4 Dim ii As Integer
5 Const gripper_on As Integer= 20001 Gripper DIO signal
67 Robot.Attached = 1 Get control of the robot
8 Signal.DIO(gripper_on) = False Turn off gripper
9 Move.Loc (safe_position, slow_and_stop)
10 Forii = 1 To 10
11 Go get the part
12 Move.Approach (pickup_position, fast_motion)
13 Move.Loc (pickup_position, slow_and_stop)
14 Move.WaitForEOM Synch with robot motion
15 Signal.DIO (gripper_on) = True
16 Go put the part down
17 Move.Approach (pickup_position, slow_and_go)
18 Move.Approach (placement_position, fast_motion)
19 Move.Loc (placement_position, slow_and_stop)20 Move.WaitForEOM Synch with robot motion
21 Signal.DIO (gripper_on) = False
22
23 Move.Approach (placement_position, slow_and_go)
24
25 Next ii
26 Move.Loc (safe_position, slow_and_stop)
27 End Sub
28 End Module
Performs a traditional pick-and-place operation 10 times, opening and closing the gripper as appropriate.
Begins and ends by moving the robot to a safe location.
SAMPLE GPL PROGRAM
AVAILABLE UPGRADES
Kinematic Licenses - Control complex machines including articulated, parallel and redundant axis
robots with simple Cartesian manual and program control (Kinematics for one to four axis Cartesian
robots included with GPL).
Advanced Kinematic License (GPL0-SA-01101)- For 3 and 4 axis robots such as SCARA or
Semiconductor Wafer Handler robots. (Included with PreciseFlex robots.)
Complex Kinematic License (GPL0-SA-01102)- For 6 axis and unusual robot geometries such
as the PUMA and Delta robots.
Conveyor Tracking Software License (GPL0-SA-00100) - Permits a robot to pick, place or track parts
on a variable speed conveyor belt.
Advanced Controls License (GPL0-SA-00400) - Adds support for high-speed position latching, real-
time trajectory modification, analog output controlled by robot speed, and EtherNet/IP communication.
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This hardware is combined with Precise'smodern, full-featured programming language,
multi-axis kinematic library, and optional visionsystem. So, this system integrates easily withthird party mechanisms such as the DENSO
Robotics HS-45552G SCARA or VP-6242G 6-AxisArticulated Robots. The Guidance System
enables you to deliver a superior product toyour customers by improving your robot's
flexibility and space requirements.
GUIDANCE SYSTEM D4/D6
Complete 4 or 6-axis vision-guided motion
control system for DENSO robotsThe Guidance System D4/D6 is a complete
motion control system for customers whodesire an out of the box, ready-to-use
solution. It provides a convenient alternativeto purchasing, mounting and wiring all of themotion control components necessary to
control a 3rd party robotic mechanism.
Complete 4 or 6-axis vision-guided motion controlsystem in a compact enclosure - includes PreciseGuidance Controller, motor and logic power
supplies, cooling system, and a plug compatible
connector for standard DENSO robot cables. Compact design - mounts easily under a workstation
or other locations where space is a premium. Small
size allows it be attached very close to themechanism, thus eliminating extra control cabinetsand reducing cable lengths.
Amplifiers and integrated motor power supply drive DENSO 4-axis SCARA, 4-axis Cartesian or 6-axis
Articulated mechanisms to their full capability.
KEY FEATURES
The system features the Guidance 2000CSeries Motion Controller and delivers all of theoutstanding features of Precise Automations
control products. The controller is integratedto motor and logic power supplies, fans and
filters and a motor/encoder connector thatmates directly to standard DENSO robot cables.
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G2SD-MA-C
AVAILABLE GUIDANCE SYSTEM CONFIGURATIONS:
Part number:
Hardware package
Guidance System D4 (GS-D4) - four axis package: includes Enhanced Guidance
2000 Controller, PrecisePower 300 and 24VDC power supply.
2410 - Four 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel)
2420 - Four 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel)
Guidance System D6 (GS-D6) - six axis package: includes Enhanced Guidance
2000 Controller, PrecisePower 300 and 24VDC power supply.
2611 - Six 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel)
2612 - Four 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) and
two 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel)
2621 - Two 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) and
four 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel)
2622 - Six 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel)
PrecisePower
300
Auxiliary
I/O Board
24 VDC
Logic PS
Guidance 2000C
Controller
Valve/Brake
Control Board
Guidance 0200C
Slave Amplifier
(GS-D6 only)
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GUIDANCE SYSTEM-D4/D6 SPECIFICATIONS:
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General Specifications Range & FeaturesComputational Hardware
CPU and Dynamic Memory 400 Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM.
Nonvolatile Memory Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage.
Software
Motion control
Extensive robotic and low-level motion control available: Continuous path following, s-curve profiling, straight-line andcircular motions, torque and velocity control, control of up to 32 axes via networked distributed control organized into up to12 multi-axis robots (distributed control network can consist of up to 16 controllers), optional conveyor belt tracing, optionalkinematic models for various robot geometries, optional Advanced Control License enables enhanced motion controlmodes including: high speed position latching, real-time trajectory modification, analog output controlled by robot speedand support for EtherNet/IP.
Operator interface Web based operator interface supports local or remote control via browser connected to embedded web server.
Programming interfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone), PCcontrolled over Ethernet using TCP/IP
Machine vision (optional) Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful,patented Object Locator finds parts in any orientation and at different scales within milliseconds.
Motion Control
Motor Drives
Up to four (GS-D4) or six (GS-D6) motor drives (5th and 6th motor drives provided by Guidance 0200C Slave Amplifiers):10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel.20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel.
Motor bus voltage: 320 VDCTotal power for all drives: 600 watts RMSDENSO 4-axis SCARA or Cartesian (GS-D4) or DENSO 6-axis Articulated mechanism (GS-D6) connects to system usingstandard DENSO robot cable.
Position Sensor Interface Built-in interface to special DENSO absolute encoders.
Auxiliary Position Sensor Interface
Two Auxiliary Encoder Interfaces (optional) that each contain: One differential incremental encoder input, one single-ended incremental encoder interface and optional support for selected absolute encoders.
Optional support for analog encoders with interpolation (GS-D4 only)
Communication Interfaces
General communicationsRS-232 port with hardware flow control. Remote front panel interface with second RS-232 port (no hardware flow control),compliant with IEC Category 3 safety standards. Two 10/100 Mbps Ethernet ports.
Digital input channels12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC forlogic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or3rd party MODBUS/TCP devices or EtherNet/IP.
Digital output channels
8 general purpose optically isolated outputs, individually configurable as sinking or sourcing, signals turn on in 2 usec andturn off in 40 usec. 24 VDC maximum pull up if sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel forchannels 2-7, 500 mA maximum for channel 1. Additional remote I/O available via Precise RIO modules or 3rd partyMODBUS/TCP devices or EtherNet/IP.
Auxiliary Digital IOAdditional DIO and power typically wired to robot to control gripper and/or end-of-arm tooling. 8 sinking isolated inputs, 4msec scan time. 8 sourcing isolated outputs, 4 msec scan time. Power supply (optional) for powering 12VDC Ethernetcamera and 9VDC ring light, controllable via software.
Valve Control OutputLast two standard digital output channels converted as follows: 24VDC output for 0.5 msec. 3.9VDC output for duration of
on time. Analog I/O Channels (Optional) 2 or 4 analog +/- 10 VDC 12-bit inputs (GS-D4 only)
Input AC
Input Voltage90 to 264 VAC single-phase. However, some mechanism may require 220 VAC single-phase to achieve maximum speedand acceleration.
Frequency Frequency: 50-60 Hz
Dimensions*
GS-D4 246.7 mm (W) x 320.1 mm (H) x 190 mm (D), 4.08 kgGS-D6 294.7 mm (W) x 320.1 mm (H) x 215 mm (D)*The depth includes approximately 40 mm for the protrusion of the DENSO motor plug. If rubber feet are attached, heightwill increase by approximately 13 mm
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RIO MODULE SPECIFICATIONS:
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General Specifications Range & FeaturesInterface to Guidance Controller
Communications interface Interfaces via 10/100 Mbps Ethernet. Can be located anywhere within the local network of the Guidance Controller.
Communications protocolSupports the MODBUS/TCP communications protocol. Uses a variation of this protocol to interface to GuidanceControllers. Protocol is compatible with all standard Ethernet TCP/IP networks. Can be configured as a slave to standardMODBUS/TCP masters (cannot communicate with Guidance Controller in this mode).
Scanning rateScanning rates for changes in inputs configurable. New input data sent to controller when values changed. New outputdata received from controller when values changed. Typical scanning rates are 5-10 milliseconds.
Number of units Up to 4 RIOs can be simultaneously interfaced to a Guidance Controller.
Input and Output Interaces
Ethernet port Standard and enhanced RIO: One 10/100 Mbps Ethernet port
Serial portsStandard RIO: One RS-232 port with hardware flow controlEnhanced RIO: Two RS-232 ports with hardware flow control, one RS-422/485 port
Digital input channels
32 optically isolated digital inputsConfigurable in banks of 8 as sinking or sourcing5 VDC to 24 VDC for logic high if sinking24 VDC supplied for logic high if sourcing
Digital output channels
32 optically isolated digital outputsMust be purchased as sinking or sourcing
24 VDC maximum pull up if sinking24 VDC supplied if sourcing100 mA maximum per channel
Analog I/O channelsStandard RIO: NoneEnhanced RIO: 4 analog input channels, +/- 10 VDC, 12 bit ADC
Required Low Voltage Power24 VDC required for logic and input/output functionsStandard RIO: 0.4A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.6A.Enhanced RIO: 0.4A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.6A.
Size 75 mm (W) x 195 mm (L) x 28 mm (H)
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GDE is a complete software development
environment that supports on-line and off-line
development of Guidance Programming
Language (GPL) projects and on-line
debugging.
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TOOLS
GUIDANCE DEVELOPMENT SUITE
Development software
The Guidance Development Suite (GDS0-SA-00010)
is a collection of programs that execute on a
Windows PC and supplement the real-time
capabilities of the Guidance Controller. This
suite includes applications for: setting the
Ethernet address of controllers; configuring and
tuning controllers; creating and editing GPL
programs; datalogging controller parameters to
assisting in diagnosing problems and tuningsystems; and loading pre-developed web-based
robot applications.
Create and edit GPL projects.
Simple property pages- record and alter
global Location and performance Profile
objects that can be referenced throughout a
GPL project.
Manage projects- use simple drag-on-droptechniques to load software into a controller
or retrieve files for storage on a PC.
Execute and debug projects - set break
points, single step and view real-time variable
values.
Multiple threads- control execution and view
subroutine stack for multiple threads.
Robot Control- enable and disable the
robot's motor power, home the robot, monitor
errors, and globally slow down the robot for
testing.
KEY FEATURES
GUIDANCE DEVELOPMENT
ENVIRONMENT (GDE)
Graphical ("oscilloscope") displays- once
the data has been captured and transferred
back to the PC either locally or remotely via a
controller's web interface, the Viewer is a very
convenient tool for visualizing the information.
Data analysis- collected data can beselectively displayed for comparison; graphical
data can be zoomed up to provide more detail;
results can be used for tuning systems and
diagnosing hardware and programming errors.
KEY FEATURES
PRECISE DATALOGGER
VIEWER
Viewer displays real-time data captured using the
integrated Database data logging capabilityembedded in all Guidance Controllers.
GUIDANCE DISCOVERY
Sets a Guidance Controllers Ethernet IP
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License usage - Each copy of the Guidance Development Suite is licensed for use on a single PC.
However, one license can be used to interact with an unlimited number of robots or controllers. Customers
with multiple controllers or robots do not have to purchase additional copies unless they use the Guidance
Development Suite on multiple PCs.
Step-by-step procedures- includes wizards
for setting all parameters to customize a controller
for a typical robot: type of kinematic model needed;
number and type of motors; current and servo loop
tuning; axis stop limits; axis speeds and
KEY FEATURES
PRECISE CONFIGURATION
UTILITY
Provides step-by-step procedures for setting up a
Guidance Controller that is being integrated to a
mechanism for the first time.
Simplified loading- for packaged applications
like Guidance Dispense, loads program and
any web files into standard folders on a
controllers flash disk
Simplified configuration- can setup controller
to automatically load and execute the GPL
application and web pages whenever the
controller is restarted.
Free application - can be used whether or
not a license for GDS has been installed
GUIDANCE WEB
APPLICATION
INSTALLATION WIZARD
Loads packaged GPL projects and any
associated web pages into a controllers flash
disk.
KEY FEATURES
Detects all controllers- displays the IP
address of any Guidance Controller connected
to the local network independent of the IP
address of the PC and the controller.
Sets controllers address- permits the IP
address and subnet mask for any detected
controller to be set to new values.
Free application - can be used whether or not
a license for GDS has been installed.
KEY FEATURES
address from a PC to enable network
communication.
accelerations; etc.
Simplified specification- includes many aids
that simplify setup: automatic determination of
the number of motor poles; graphical aids for
current and PID loop tuning; tests to verify
operation of encoder index signals; etc.
Quick touch-up- can be used to completely
configure a new mechanism or modify selected
parameters for a mechanism that has already
been configured.
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GDE SCREENSHOT:
ROBOT CONTROL
Displays the controller's
system messages and state.
Allows robot power to be
enabled and disabled and the
robot speed to be reduced for
testing.
MAIN TOOLBAR
Set bookmarks
and break points.
Create, save,
compile and
execute projects.
EDITOR/DEBUGGER
Main window for
editing and debuggingprocedures and
global motion data.
PROJECT MANAGER
Displays and manages projects
that are loaded in the control-
lers memory or flash disk or on
the PCs hard drive. Projects
can be copied or moved by
dragging and dropping.
Displays controllers text
output includingcompilation messages
and output from GPL
projects.
GPL OUTPUT OBJECT BROWSER
Provides a list of the methods
and properties for each GPLClass. Automatically displays
abbreviated help information as
text is entered.
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TOOLS
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PRECISEVISION SPECIFICATIONS:
General Specifications Range & Features
Programming interfaceWindows PC application that enables vision tools to be graphically positioned on camera images. Tools can be chained togetherto produce more complex vision processing.
Visual tools
Object identification andlocating
Patented Object Finder Tool locates and identifies translated, rotated and scaled objects in grayscale images in a matter ofmilliseconds. Extremely easy to use for objects with both simple and complex 2D grayscale features.Blob Finder Locates isolated regions in binary images and returns the regions statistics. Provides an extremely fast alternativeto the Finder for simple binary images
Feature measurement
Line Fitter Tool Provides an easy method for locating linear edges in the camera image. This tool can be used together with
others to refine the position or orientation of an object.Arc Fitter Tool Locates the center and/or the radius of a circle or an arc.Edge Locator Tool Searches for edges along a linear path through an image.Rotating Edge Locator Tool Arc version of the Edge Locator Tool.
InspectionPixel Counting Tool Returns statistical data on the grayscale or binary pixels within a rectangular region of an image.Histogrammer Tool Returns statistics on the distribution of grayscale values within a region of an image.Pixel Color Window Tool - Tests if the color of a region matches a trained color.
Computed results
Clear Grip Tool Defines a bounding area that can be used to represent robotic gripper fingers. Tests to ensure that the regionsfor the fingers are free of objects.Computed Feature Tools A group of tools that can compute geometric relationships between the results of other tools, e.g.the point of intersection of two lines, the line represented by two points, etc.Tool Filter Applies a filter to a tool that returns multiple results, e.g. the Finder, and returns only the results that satisfy specificcriteria.
Image AcquisitionProcessing
Acquire Tool Performs the basic image acquisition function from a camera. This tool allows the user to specify which physicalcamera to utilize and to easily store images to a disk file for later replay.Motion Sensing Tool Indicates when all objects in a rectangular region are stationary.
Convolving Tool Applies a number of low-level filtering operators to a region of an image, e.g. low pass, Laplacian, Gaussian,sharpening, etc.Morphology Tool Modifies all pixels in an image region based on the value of neighboring pixels. Typical operations includeimage dilation and erosion.
Tool linkingOne of the most powerful features of PreciseVision is the ability to link one vision tool to another. This provides the requiredfeatures to build up custom vision algorithms without the need to write code.
FeaturesBuilt-in robot-to-vision calibration procedures for many configurations including stationary and arm-mounted cameras; gain/offsetconfiguration from within a vision process.
System RequirementsWindows XP, 512 MB RAM, 2.3 Pentium 4 with MMX, 1GB Hard Disk Space, Gigabit Ethernet (recommend and required forcertain cameras), otherwise 100Mb Ethernet.
CamerasDirectly interfaces to DALSA GigE Ethernet Cameras or IDS uEye USB Cameras. Includes support for standard 640x480 andhigher resolution, grayscale and color cameras.
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PreciseVision is a software package and does not
include hardware. This software is designed to capturevision images that are generated by either Ethernet or
USB cameras. PreciseVision permits three camera
options:
SUPPORTED VISION HARDWARE
When using the standard version of PreciseVision,
the system can connect to multiple DALSA cameras
or multiple USB cameras. However, you cannot
connect to both DALSA and USB cameras
simultaneoulsy. In the Multi-Instance version of
PreciseVision, the same rule applies to each
instance, i.e. a single instance cannot be connected
to a mix of DALSA and USB cameras. However,
different instances can be connected to either
DALSA or USB cameras.
OPTION 1 - DALSA Genie GigE cameras that
communicate via a 10/100/1000 Ethernet connection.
OPTION 2 - IDS Imaging uEye cameras that
communicate via a USB 2.0 connection.
OPTION 3 - Other 3rd party USB cameras (Precise
is not able to provide support for 3rd party USB
cameras that have not been tested and qualified)
Supported cameras
Characteristics DALSA GigE IDS uEye USB
Cost Typically more expensiveTypically 20% less expensive than equivalent DALSA cameras. Non-industrial 3rd party USB cameras can be significantly less expensive.
Resolutions 640x480 up to 1600x1200640x480 up to 2560x1920 with even higher resolutions to be announcedsoon.
Acquisition time Similar to IDS for same resolutionSimilar to DALSA for same resolution using USB 2.0 (480 Mbits/sec).USB 3.0 (4.8Gbits/sec) due in 2011 will reduce the acquisition time.
Hardwaresynchronization
Supports trigger input and acquisition output Same as DALSA.
PC CPU Loading Reduced load relative to USB camerasHigher load relative to Ethernet cameras. Multiple cameras will require ahigher performance CPU. 5 or more cameras may degrade acquisitiontime.
Cable length 100M 5M. Powered USB hubs might be able to extend length
Installation and supportFewer steps but more prone to complications due to firewalls,Ethernet card compatibility, Ethernet switch problems, andsomewhat more complicated driver installation.
Typically easier for single cameras if wired point to point since no firewall,less issues with USB hardware interface, simpler driver installation.
Multiple cameras are a bit more difficult to setup since each must beassigned an ID and registered with the DirectShow interface.
Arm-mounted camerasSimpler to install on Precise robots since both Ethernet cableand power are available at end-of-arm
Requires extra external cable for Precise robots
Power 12VDC 4 watts provided in second cable from extra PS 5VDC taken from single USB cable
Size/weight 29x44x67 mm,
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Option 1 - DALSA Ethernet camera
PreciseVision supports up to 6 DALSA Genie GigE Ethernet cameras
that can be directly connected to the PC running PreciseVision or
through an Ethernet switch. The PC must include a standard Ethernet
card, but a GigE card is recommended for the best performance. For
more information, visit the DALSA website (http://www.imaging.com/).
For ordering, contact Manish Shelat at DALSA Digital Imaging,
phone: (510) 249-5664, email: [email protected].
Option 2 - IDS uEye USB 2.0 Camera
PreciseVision supports up to 6 IDS uEye USB 2.0 cameras. These
cameras are typically connected directly to the PC running PreciseVisionalthough a USB hub can be used. The PC must support USB 2.0 (not
1.0). PreciseVision uses DirectShow to interface to the camera driver.
It is highly recommended that only uEye cameras that support Global
shutters be utilized and not Rolling shutters. A Global shutter exposes
all of the pixels of the imaging element at one time. A Rolling shutter
exposes lines at different times and can result in smearing if there is a
moving image. For flexibility in selecting the appropriate lens for your
application a camera with a C-Mount or CS-Mount is highly desirable.
Ethernet camera
PreciseVision fully supports the DALSA Genie GigE Vision Cameras. All models listed below provide Progressive scan, have metal cases, C-Mountor CS mount lens adapters, are available in monochrome (M) or color (C), and support an external trigger (DIN) and a digital output (DOUT).Effective frame-to-frame time depends on the exposure time, which ranges from 100 microseconds to 4 seconds, controlled via software, plus PCoverhead. For total time, add vision processing time, which is typically less than 100ms. Precise Vision supports up to 6 DALSA cameras.RECOMMENDED CAMERA MODELS:
M640-1/3 - 640x480 resolution, 60 frames/second raw frame rate, 1/3 sensor. M1024 - 1034x779 resolution, 20 frames/second raw frame rate, 1/3 sensor. M1400 - 1392x1040 resolution, 15 frames/second raw frame rate, 1/2" sensor. M1600 - 1600x1200 resolution, 15 frames/second raw frame rate, 1/1.8 sensor.
Mounting Adapter Optional DALSA mounting bracket assembly, 1/4" screw mount, part # CA-GENA-BRA00. Used for mounting the camera on a standard tripod.
Camera power
Each camera requires 4 watts, 11 VDC to 13 VDC.
Option 1: If you wish to break out the cameras I/O pins, order DALSA part # CA-GENA-PS120 and the DALSA Genie I/O and power breakout
cable assembly, part # CA-GENC-IOP00.Option 2: If you do not need I/O signal break out, an alternative is the Intercon PSISP10, which includes a connector compatible with the camerabut no I/O signal break out, http://www.nortechsys.com/intercon.
Ethernet Switch Standard GigE Ethernet Switch. Netgear GS605 10/100/1000, or equivalent
Ethernet Card Standard GigE PC Ethernet card. Netgear GA311 PCI Gigabit Adaptor, or equivalent.
Ethernet Cable Standard Cat-5 Ethernet cable. Total of 3 required.
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Option 3 - Other 3rd Party USB 2.0 Camera
Precise Automation - www.preciseautomation.com44
USB Cameras
PreciseVision fully supports the IDS Imaging Development System GmbH uEye Series-USB 2.0 Cameras. All models listed below have GlobalShutters, metal cases, C-mount lens adapters, are available in monochrome (M) or color (C), DB9 signal/power connector, and support an externaltrigger (DIN) and a digital output (DOUT). Effective frame-to-frame time depends on the exposure time and PC overhead. For total time, add visionprocessing time, which is typically less than 100ms. PreciseVision supports up to 6 USB cameras.RECOMMENDED CAMERA MODELS:
UI-2410-M/C - 640x480 resolution, 75 frames/second raw frame rate, 1/3 CCD sensor. UI-2230SE-M/C - 1024x768 resolution, 30 frames/second raw frame rate, 1/3 CCD sensor. UI-2240SE-M/C - 1280x1024 resolution, 15 frames/second raw frame rate, 1/2" CCD sensor. UI-2250-M/C - 1600x1200 resolution, 12 frames/second raw frame rate, 1/1.8 CCD sensor.
Camera Power Power is supplied directly by the USB cable and is generated by the PCs power supply.
USB Interface PC must be equipped with USB 2.0 interface (not 1.0)
USB Cable, TriggerSupport, No DOUT
IDS uEye industrial camera cable: High speed 2.0 Extension cable Screw type 4-Pin USB type A (F) TO 5-Pin micro-USB type B (M). 3 meterlength. Cable breaks out trigger input as separate input. CB-IDS-9UD-A-T-3M.
USB Cable, Triggerand DOUT Support
Right angled trigger cable for uEYE-Cameras, 3 meter uEye Micro Sub-D connector, 90 angled with screws. USB signal via shielded USB 2.0cable to USB-A. Breakout cable for trigger input and digital output, cable with open ends. CB-IDS-9UD-A-ST3M-RT.
There are a wide variety of 3rd party USB 2.0 cameras that are available for the home, hobbyist, commercial
and industrial markets. Due to the large number of vendors, their different installation procedures and their
individual idiosyncrasies, Precise cannot guarantee that any camera brand that you select will work properly
and we cannot provide assistance for any camera that has not been tested and qualified by Precise.
Nonetheless, if you wish to interface an unsupported camera without Precise's assistance, please consider
the following when selecting a USB camera.
PreciseVision utilizes DirectShow to interface to the camera. Therefore, the USB camera
must be compatible with DirectShow, which is quite common.
PreciseVison's image acquisition tool has been specially optimized for the IDS uEye family
of cameras. Other USB cameras will take somewhat more time to acquire an image.
For similar features, a camera in a plastic case will be less expensive than a camera in a
metal case. You must determine if the additional ruggedness of a metal case is important
for your environment.
Many inexpensive cameras utilize the standard USB connectors that are retained by friction.
It is relatively easy for these to become accidentally disconnected as compared to screwin DB connectors such as those used in the IDS uEye cameras.
Many inexpensive cameras either have integrated fixed lens or lens mounts that do not
support the full range of lens that are available. Also, many lens do not have screws for
locking in the focus or F-stop adjustments.
Most cameras do not have trigger inputs and digital outputs. These are important features
for conveyor belt tracking and other real-time image capture requirements. Also, since
communication standards have not been established for these features, even if the camera
has these hardware features, PreciseVision will probably not be able to access this
capability.
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The choice of lens is based on the application
and a lens is necessary whether using the
camera scheme in Option 1 or Option 2. The
smaller the focal length (mm size) of the
lens, the larger the field of view. However,
smaller focal lengths typically have more
optical distortion. Navitar, Inc. supplies a
variety of compatible lenses and offers
discounted prices to Precise Automation
customers.
For help in choosing a lens, please visit:
http://machinevision.navitar.com/opticalwizard
For additional assistance choosing a lens or
to order, contact Joe Corsi at Navitar, Inc.
phone: (800) 828-6778 ext 3238, email:
[email protected]. Be sure to mention
Precise Automation to receive discounted
pricing.
Camera lens
Lighting
The choice of lighting is based on the application
and lighting is necessary whether using the
camera scheme in Option 1 or Option 2.
Navitar, Inc. supplies a variety of lighting
solutions and offers discounted prices to
Precise Automation customers. For more
information, contact Joe Corsi at Navitar, Inc.
phone: (800) 828-6778 ext 3238, email:
See also:http://www.nertlite.com/Products.html
http://www.stockeryale.com/i/fluo/index.htm
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Precise Automation - www.preciseautomation.com46
TOOLS
GUIDANCE DISPENSE
Dispensing software
Guidance Dispense (PP1D-SA-00001) is a
software package that augments a Precise
controller or robot to automatically dispense
adhesives, sealants and other fluids along both
simple and arbitrarily complex paths. Path
programming is performed using simple teach
and repeat methods without the need for
programming. Dispensing can be enhanced
by adding machine vision to automaticallycorrect for deviations in part position and
orientation.
This software executes on any Precise
Guidance Controller (including those in Precise
robots and those that control third party
mechanisms). A graphical user interface provides
all the tools for teaching straight and curved three-
dimensional paths and controlling the
operation of syringes. Our advanced control
tools allow dispensing to be turned on and off
at programmable distances along the path
and can switch the air supply from pressure to
vacuum to eliminate dripping.
Open source (except for a few modules)-
executes on any Guidance Controller (including
those in Precise robots and those controlling
any 3rd party mechanism).
Web based operator interface- can beviewed locally or remotely via a web browser
Graphical user interface- provides all the
tools for teaching straight and curved three-
dimensional paths and controlling the
operation of syringes. Dispensing paths and
processes can be taught and executed
without the need for programming.
KEY FEATURES
Includes operator control panel and
runtime- permits path play back whilemaintaining accurate speed control to
enable consistent results.
Advanced dispensing control- allows
dispensing to be turned on and off at
programmable distances along the path
and can switch the plunger air supply from
pressure to vacuum to eliminate dripping.
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