Precise Automation Product Catalog

8/3/2019 Precise Automation Product Catalog

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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.



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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)



Available X-axis travel

050 - 500 mm X travel






Available Y-axis travel

20 - 200 mm Y travel





Available Z-axis travel

2 - 240 mm Y travel

Cleanroom option

0 - Standard PrecisePlace Robot

C - PrecisePlace ISO Class 2 Robot


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:


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:


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)

www.preciseautomation.com -Automate with Ease 1


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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


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:


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


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:





Software

Motion 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.


Programming interfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Ethernet using TCP/IP


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).



3rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers



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.


Non-user accessible IO I2C multi-drop serial communications




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GUIDANCE 2000C CONTROLLERS

AVAILABLE GUIDANCE 2000C CONFIGURATIONS:

G2X -EA- 0Part number:

Version

D - Standard controller

E - Enhanced controller option



C241 - Four integrated 10A drives


C242 - Four integrated 20A drives

GUIDANCE 2000C DIMENSIONS:

46mm

138

mm

224mm


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





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GUIDANCE 2000C SPECIFICATIONS:





Software

Motion 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.


Programming interfaceThree methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeledafter Visual Basic.Net), PC controlled over Etherne t using TCP/IP


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).





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.





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GUIDANCE 1000A CONTROLLERS

AVAILABLE GUIDANCE 1000A CONFIGURATIONS:

G1X -EA-Part number:

Version

0 - Standard controller

A - Enhanced controller option


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


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


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:



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.


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)


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:


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.


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.


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


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:

[email protected].

See also:http://www.nertlite.com/Products.html

http://www.stockeryale.com/i/fluo/index.htm



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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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Documents

Precise Automation Product Catalog