Table of Contents

Operation Process of Pick and Place Machine


Thanks for choosing FAROAD Pick and Place Machine. The equipment is used to pick components from feeders and place them on

PCB boards. There are high-speed placing areas and high voltage areas ,and personnel injury or death maybe take place because

of the wrong operation. The operator includes programmer、installation personnel and maintenance personnel for hardware or

additional device like feeders.

The instruction must be read before using the device, and please start the operation when you are sure that you fully understand

its content. Furthermore, we suggest that safekeeping the manual for enquiring at any time.

◆The person who has not been trained is not allowed to operate the device.

◆For safe operation and maintenance of the device, the operator must know accident-prone areas of the pick and palce machine, For more detailed information,

please check the part “safe operation”.

◆Unauthorized modification of equipment and maintenance not as instructed will cause damage to the pick and place machine and result

in product security hazards.

◆The methods that are not authorized by Shenzhen Faroad Intelligent Equipment CO., LTD. are not allowed to be used to transform

and maintain the device.


Safe Operation of pick and place machine

For safe operation, safety regulations and instructions stated in the manual must be observed. The basic items are as following:

◆Pick and Place Machine operators must be trained.

◆Before smt machine checking,when doing the inspection,parts exchange,repair,(OFF)power must be shut down.

◆The work-related to warranty or repair that is not recorded in this book should be performed by the company’s “after-sales

service center” personnel; these should not be performed by the customer’s sole judgment, otherwise, it will cause unexpected


◆Check whether there is any debris inside the smt machine before machine homing, to prevent debris from being outside the

sensing area, causing accidental injury to the pick and place machine or operator.

◆It is forbidden to pick up feeders and open the safety door when the smt machine is running.

◆Do not put your handle or head into the machine mounting area while the pick and place machine is running to avoid accidental injury.

◆Do not use the pick and place machine under flammable gases or severely polluted environmental conditions.

◆It is forbidden for two or more people to operate the same pick and place machine at the same time. It is strictly forbidden for someone

to operate the machine when the head or hand is inserted into the smt machine.

◆When moving the XY axis, look at the internal moving parts of the smt machine and press the emergency stop button.

◆The placement of pick and place machine safety pin is safe and effective. It is forbidden to remove the safety pin from the safety door

and insert it directly into the pick and place machine to open the door.

◆The emergency stop switch must remain active. In case of emergency, press the emergency stop switch to stop the pick and place machine.


As shown in the figure below, the device is labeled at each specified location. The equipment should

be operated safely by the instructions on each label. If a label falls or is damaged,

the new label should be placed in the appropriate location at the appropriate location.

The following label is attached to the front of the device






1.Pick and place Machine front structure diagram 


2、Pick and Place Machine Graphic diagram of the back of the machine 


Boot step:

1、Open power switch,rotate to ON。

2、Double click FaroadSMT icon,waiting for software to open。

3、Press(READY)button 3s。

4、Click the home button,waiting for homing completely。


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Shut down steps:

1、Double-click left top corner logo,click YES。

2、Window system shutdown,waiting for Windows to completely closed。

3、Rotate the button to OFF after Windows completely closed。

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The software system main interface


Main interface structure

Main menu five modules

Pick and place machine has five moudles in the interface.


Programming: jump to the programming interface, programming for PCB operation;

Production: jump to production interface, operating for PCB production;

Calibration: jump to calibration interface, the calibration of pick and place machine operation;


: jump to the hardware interface, pick and place machine hardware operation;


: jump to set interface, system Setting for pick and place machine operation.


Status display

Not ready: No electricity;

Not home: No homing;

Idle: Rest;

Err: Error;

Mounting: Working。


Global button

Supplier: choose the status of the operator in the “[M]” button;

Eng: show the current language types;

Read : PCB file for reading;

Save : saves the current interface in shortcut button operation;

Return to zero: the machine back to the origin;

Board to out: machines are not in working, transfer the PCB to the plate area;

Nozzle change: to make the machine head in a secure location (in front of the line scan cameras) to do the nozzle change.

Message box

Message prompt box (double click to enlarge):

(1) according to the current state;

(2) display the current fault;

(3) show the cause of the malfunction.

LOGO display

Represents the CPM smart pick and place machine software property exclusive Faroad Intelligent Equipment Co., Ltd. and the

pick and place machine model。

三 Programing of Pick and Place Machine

This module is mainly used for doing the PCB data set, MARK point parameter Setting, array quantity setting, component

data set, feeder data set, component placement position Angle setting, optimization, data check.

Programing options interface:

PCB: jump to baseboard interface, set the baseboard data;

Mark: jump to Mark point interface, set the Mark point data;

Multipcb: jump to makeup interface, set the makeup data;

Part: jump to component interfaces, set element data;

Feeder: jump to feeder interface, set the feeder data;

Step: jump to step interface, set the step data;

Optimize: jump to optimize the interface, set the optimized data;

Check: jump to check the interface, according to test results.

1. Basic board option interface of pick and place machine 

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Program file operations: used for the basis of PCB file operations

(1) the program path: to show the path of the read PCB file; Set up the new PCB file path;

(2) the program name: set the current PCB name;

(3) customer name: set PCB customer name;

(4) new: create a new PCB document;

(5) save as: save the current PCB file to a designated position.


Coordinates type: set the pick and place machine coordinate system.

(1): The left side of the X-axis and top side of the Y-axis is a positive direction in the coordinate system

(2):Right side of the X-axis and top side of the Y-axis is a positive direction in the coordinate system

Block: Auxiliary multi phases programming in pick and place machine

(1):The combo box could choose “1” or “2”, standing for the current the first section or the second section of PCB board when

creating the file and selecting the Multistage programming.


Set the basic data of the Board.

(1) Length: set up the PCB length;

(2) width: set PCB width;

(3) Adjustment width: adjust the track width.

(4) Benchmark height: auxiliary plate thickness of jig.

(5) Components maximum height.


Original point: set the mounting origin.

Teach: auxiliary setting for mounting origin;

(1) X: display the origin in X-axis;

(2) Y: display the origin Y in coordinates;

(3) light source: setting the brightness of the light source

(4) moving: move to the coordinates of X display;

(5) obtain: get camera according to the current position.


Other function buttons: auxiliary operation for the board.

Board Inbound: manually into the board;

Board Outbound: manually outboard;

PCB unlock: remove all the current PCB conditions.

Empty the track: eliminate the abnormal situation of PCB institutions;

Up and down cylinder roof: the cylinder on top go up and down interactively;

Baffle stop: stop baffle go up and down;

Plate cylinder: horizontal organization to lock and unlock.

Low movement speed: set the current head speed

Close: close this options window.


Cross: Click on the end and the head (Mark camera) will move in the direction of the click;

Double click on the middle to enlarge the image (full-screen display);

Image frame: Double click on the upper right corner: enlarge the image;

Double click on the bottom right corner: zoom out the image.

2、Mark point option interface of pick and place machine 



Mark point edit steps in pick and place machine:

1. Select the Mark point type (a total of 9 types), and obtain the Mark point coordinates through the image frame and the teaching function.

2. Select the Mark type (3 types in total) and roughly set the Mark point recognition size.

3. Set the Mark point search range and polarity, and adjust the threshold and the binary point of the Mark point to be clearly defined.

4, click test: If NG (can not find Mark point), then check the first three steps. If OK (can correctly identify the Mark point), click to resize.

5. Click Correct to correct the deviation of the Mark point coordinates.


3、Multi-PCB interface of pick and place machine

Multi-PCB steps:

1. Set the number of plates and the rough offset, click Apply.

2. Through the image frame and teaching function to accurately ensure the position of the original origin of each piece is



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Component steps in pick and place machine:

1. Select the component group from the drop-down menu of the component library component group, and then select the corresponding

component from the package table of the corresponding component group. Click “<<add” (or double-click the component name)

to pop up the following dialog window and modify it for you. After you need the component name, click OK to save the component in pick and place machine

2. At this point, a component named SOT_LR is added to the left component table, and the loading of the first new component

is completed.

3. Repeat steps 1 and 2 to complete the loading of all required components.


Click edit enter component parameter edit interface of the software of smt machine


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Click on “Geometry Parameters” to open the Geometry Parameters window.


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5、Feeder options window

5-1、Tape feeder 

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Operation button introduction:

(1) Feed: feeds the selected Feeder to one component;

(2) Picking: moving the head to the selected flying position to pick up a component with the selected nozzle;

(3) throwing: the head is moved to the throwing box for throwing;

(4) nozzle 1: select the operating nozzle;

(5) Clear: empty all feeders;

(6) contour: display component outline;

(7) Identification: identifying the components picked up by the placement head;

(8) Jitter identification: the components picked up by the head are subjected to

jitter recognition;

(9) Change the station position: adjust the position of the selected feeder.

Change station (right):

1Select the feeder that needs to be changed, click to change the station; 


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Change station (right):

1 Select the feeder that needs to be changed, click to change the station of pick and place machine;

2 Select the station after the change and click OK.

*Also offset the overall station, select “Use”, fill in the offset, and click OK

When the offset is positive, the whole of the fly is translated to the right, and the offset is negative, that is, to the left.

5-2、Stick feeder of Pick and place machine 


When the feeder type selects the Static Stick, click OK to pop up the Select feeder station prompt box, select the corresponding

installation station, click Update, and the rod feeder is added to the belt feeder.

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The feeder type of the component can be modified to be Stick in the geometric parameter interface of the component parameter

so that the component can be set on the rod feeder interface.

Switching unit: Switch to different vibration feeders.

Note: The vibration Feeder installation station has a minimum setting of 4, and a vibration feeder takes up 7-8mm feeder stations. 


5-3、Tray Plate in Pick and Place machine



Tray setting steps:

1. Set the type of component placed on the tray.

2. Set the number of trays X and Y, the height of the material to be taken (down to +), the height of the material, and the position of the material.

3. Three-point teaching: The center coordinate position of three points is obtained through the image frame (the center position adopts two-point

teaching method).

4. Click Calculate Spacing to complete the setup.

5. After moving to the component center, click “>” to check whether each component is in the correct position.

*IC box:

After the software enables the IC cabinet, the IC cabinet is checked on the tray interface.

Select the corresponding layer and click to remove the tray and return the tray to complete the switching of different tray layers.

When two trays are selected, it means that there are two identical components in the IC cabinet. Ensure that the machine can be refueled without



6、Step option interface

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Component Filter: The step of filtering out the corresponding component.

Two-point teaching: For components whose size exceeds the image display range, the center of the component is determined by the center

of the two diagonal positions of the pad.

Extend: Extends the current board step to all panels, and the data displayed is the data for all placement points.

Identification: None: Not recognized;

Pre-sticking identification: After the lamp bead is identified, it is placed after the LED is attached (the LED is required to be recognized before the


Post-post inspection: After the placement is completed, the identification check is performed (the LED needs to be identified for the component before

the paste).

*LED recognition: Unlike component recognition, pick and place machine recognition uses Mark camera to capture the image, set search range, and shape size recognition,

similar to Mark point recognition .


Step editing:

1. Select the first line, click Move, and follow the Mark point to move to the placement origin.

2. Combine the image frame and teach to get the rough position of the component, and set the component name and mounting angle.

3. Check the actual contour or teaching angle to accurately teach the placement position.

4, according to the need to modify the placement height (down to +), whether to identify, whether to extend.

*F7, F8: angle teaching ±1 °;

F9, F10: X teaches ± 0.2mm

F11, F12: Y teaches ± 0.2mm


7、Optimization option interface of pick and place machine

7-1 Component setting of pick and place machine


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7-2 Feeder setting of pick and place machine


7-3 Nozzle types in pick and place machine

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7-4 Optimize option 

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Click on the optimization result to enter the optimization result interface.

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Optimize steps:

1. Optimization Ensure that the substrate data, Mark data, puzzle data, component data, and step data are set correctly in pick and place machine.

2. Reset the nozzle or manually specify the nozzle model.

3. Select the corresponding optimization method and perform optimization (different optimization methods, different optimization speeds).

4. After the optimization is successful, enter the optimization result interface, click check, make sure that you click Save

and Close after correct.

*Automatic nozzle changer:automatic nozzle changer will use ANC function

8、Data check

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Check whether the data meets the requirements, taking into account the limit travel of XY, the travel of the PCB board, and

the cooperation relationship between the station and the nozzle.

Four Production

The basic function of production module introduction

The production module is mainly to control the production process, such as the placement speed; display various production

information, such as production plan, calculation of chips, start time, time interval, average time, and so on.

Production main interface

Production interface option window

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1、Production option interface of pick and place machine

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Vision display: Displays the recognition image of the current work head.

Production Planning Data Statistics: Record the total number of PCBs produced, the total number of placements, the time interval,

and the real-time placement speed (chip/time) from the start of the production process to the current time.

Function button of pick and palce machine

Start: Issue the production start signal (will prompt whether to download; download: download the PCB board program written

by the programming module, and only after downloading can the production operation).

Stop: Pause at the current action.

Reset: Restores the initial state of production.

Release: The PCB of the production area in the track is transmitted.

Current production information: Displays the current production PCB name, the total number of all mounting points on the PCB,

the total number of cycles required, and the current production cycle.

PCB operate

(1) The “PCB is forbidden to flow out” check box is checked to indicate that the current production area PCB board is not

allowed to flow out.

(2) The “PCB is prohibited to flow in” check box is checked, indicating that it is not allowed to enter the next PCB board.

2、Setting option interface of pick and place machine  


Mount mode:

Production: The model used for actual production.

Test: Empty running mode, simulate the action in the production process, need to disable the PCB board inflow and outflow,

can be used to warm up.

Observation: The head camera moves according to the placement procedure to observe the placement effect.

Straight through: Simulate the transfer action in the production process of pick and place machine.

XY overall compensation: XY overall placement compensation.

Transfer speed: Set the transfer speed, including speed grade, deceleration distance, and deceleration level.

Mounting speed: set the mounting speed (5 files in total).

Select placement cycle: Select the number of cycles at which the placement begins.

The maximum deviation allowed by the PCB: detect the Mark point deviation of the PCB board. If the Mark point deviation of

the PCB board exceeds the set value, the machine will pop up the window to alert the user

3、Statistics option interface of pick and place machine


3-1 Head statistic data interface of pick and place machine

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3-2、Feeder statistics window of pick and place machine

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3-3、Nozzle statistics interface of pick and place machine

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3-4、Tray statistics interface of pick and place machine

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4、View option interface of pick and place machine

Display the current PCB file placement affect picture.

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5.Calibration in pick and place machine

Calibrate the main interface(Aim to 10.18 version and later versions)

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Correction module basic function introduction

The correction module is mainly to correct the error between the various components of the machine itself.

details as follows:

1. Head camera: The Mark camera calibrates the positioning column and performs the reference positioning in pick and place machine. The positioning column

is the origin (reference) of the pick and place machine.

2. The nozzle is measured high: the height of the eight nozzle rods is corrected in turn.

3. Component camera: The component camera calibrates the head positioning column, corrects the camera deviation, and sequentially

corrects the rotation errors of the eight nozzle rods.

4. PCB: The W-axis width is compensated by placing the PCB fixture correction. The height measurement value is the placement

height zero.

5, Feeder: Through the Feeder fixture to correct the deviation between the Feeder station of pick and place machine.

6. CPK: camera deviation—correct the deviation of the nozzle and head camera; CPK—correct the compensation value of different

mounting angles.

7. Nozzle exchange station: Correct the position and height of the nozzle exchange station.

8. XY plane: compensate the compensation value of different positions of XY by plane calibration (not required).

9. Component Camera (R): The rear component camera calibrates the head positioning post and corrects the camera deviation.

1、Calibrate head camera

The head camera correction is mainly to correct the reference column after setting the brightness.

Set lighting: Set the Mark camera brightness. (Ensure that the outline of the reference column is black and white and the image is clear)

Camera calibration: The first step in correcting the head camera. (Let the mag values of x and y be the same as the four digits after the decimal point,

the closer the better, the harder the requirement)

Base Positioning: Correct the second step of the head camera.

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2、Calibrate nozzle height

The first change to 130 nozzles, display the model to 130, and then measure the height. The eight mouths are measured in turn to ensure that the height

measurement is completed normally, and the height difference is generally controlled within 2 mm.

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3、Calibrate components camera 

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1. Calibrate method—Nozzle shaft:

First, make sure that the positioning post is installed in the head, and all the nozzles and HOLDER are removed.,Make sure that the nozzle of

the Settings → Parameters → Camera Interface Compensation section is selected.

Step 1: Change the nzl_id to 0, click on the continuous scan (positioning column), adjust the camera to the appropriate height, adjust the

illumination and focus until the image are clear and stop.

Step 2: Adjust the illumination, Click the camera cal, and ensure that the calibration can be completed. Observe that the calibration values

mag_x and mag_y are controlled at 0.000100. If the difference is large, repeat the first step until it is qualified.

Step 3: Click camera pos, obtain the compensation value, the camera deviation should not be too large, two deviations before and after

observation, too large analysis reasons.

Step 4: change the nzl_id to 1, and change the delt_z from 0 to 13. The point is continuously scanned, and the value of delt_z is continuously

modified. Click the continuous scan until the image is sharply focused and stop, and record the current delt_z value.

Step 5: The value of the delt value is just recorded minus the value obtained by 13mm X (X=delt_z-13), and the X value is written to the focus

compensation of the setting column of the setting parameter camera interface.

Step 6: Rotate the 8 nozzle rods in turn to obtain the compensation value. Observe that the diameter of the fitted circle of the scanned image

is controlled within 0.10mm as much as possible. (If the rotation orientation is not good, a 185 can be placed on the nozzle rod. The

rubber sleeve of the model nozzle. 


2. Calibrate method—Five-hole:

First, make sure that the positioning post is installed in the head, and all the nozzles and HOLDER are removed.,Make sure that the nozzle of

the Settings → Parameters → Camera Interface Compensation section is selected.

Step 1: Change the nzl_id to 0, click on the continuous scan (positioning column), adjust the camera to the appropriate height, adjust the

illumination and focus until the image are clear and stop.

Step 2: Adjust the illumination, click the camera cal, and ensure that the calibration can be completed. Observe that the calibration values

mag_x and mag_y are controlled at 0.000100. If the difference is large, repeat the first step until it is qualified.

Step 3: click camera pos, obtain the compensation value, the camera deviation should not be too large, two deviations before and after

observation, too large analysis reasons.

Step 4: Install the five-hole to No. 1 nozzle rod, change the nzl_id to 1, and confirm that the delt_z is 0. The point is continuously scanned.

The value of delt_z is continuously modified. Click the continuous scan until the image is sharply focused and stopped. Record the

current record. The delt_z value.

Step 5: The value of the delt value is just recorded minus 0mm (X=delt_z-0), and the X value is written to the focus compensation of the setting

column of the setting parameter camera interface.

Step 6: Rotate the 8 nozzle rods (five holes) in turn to obtain the compensation value. Observe that the diameter of the fitted circle of the

scanned image is controlled within 0.10 mm as much as possible (if the rotation orientation is not good, the nozzle rod can be used.

a rubber sleeve with a 185 model nozzle.

4、Calibrate PCB in pick and place machine

Fixture setting: The placement head is moved to a safe position, and the width of the track is adjusted to make the fixture move smoothly.

Fixture clamp: Move the fixture to the blocking cylinder and clamp the fixture to ensure that the PCB positioning hole is in the field of view.

Pcb positioning: adjust the illumination to ensure that the positioning hole can be correctly and stably identified to locate the PCB.

Pcb height measurement: measure the height of the PCB (fixture), that is, the height deviation of the component placement. (PCB repeat height

measurement to ensure that the height difference is controlled within 0.10mm


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5、Calibrate feeder in pick and place machine

Correcting the Feeder can obtain the deviation between the Feeder theoretical suction position and the actual suction position, and then


The correction tool should be calibrated from station 1 to station 38 for calibration. What is the current display number, click on “Feeder

Positioning”, will correct the number of flying positions. (The number of feeders of different models is different)

Feeder position deviation is controlled at ±0.05mm

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Cpk mode: Set the number of cycles.

Change all nozzles to 130 nozzles and change the model to 130, then tap Start and select “Camera-nozzle deviation”. Eight nozzles sequentially correct

the deviation between the Mark camera and the nozzle.

Start and select the placement of CPK, 8 nozzles in turn to install CPK. Get the data of the placement feedback and verify the machine accuracy

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7、Automatic nozzle changer in pick and place machine

Mark points of the nozzle exchange station are calibrated to correct the position of the nozzle exchange station, and height is measured to

correct the height of the nozzle exchange nozzle.

If the deviation of the altimetry values at both ends is large, check whether the nozzle exchange station is installed correctly.

Stock_id Set the hole position to be viewed. Click GO to observe the hole position is correct.


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8、Components camera(R)


First, make sure that the positioning post is installed on the head, and all the nozzles and HOLD are removed. Make sure that the calibration method

of the setting parameter, the camera interface is five holes.

Step 1: Change the nzl_id to 0, click on the continuous scan (positioning column), adjust the camera to the appropriate height, adjust the

illumination and focus until the image are clear and stop.

Step 2: Adjust the illumination, click on the camera cal to ensure that the calibration can be completed, and observe that the calibration values

mag_x and mag_y are controlled at 0.000100. If the difference is large, repeat the first step until it is qualified.

Step 3: Click on the camera pos to obtain the compensation value. The camera deviation should not be too large. Observe the deviation twice

before and after the observation.

Six Hardware

Hardware modules basic functions introduction

The main function of this software is multi-function software for hardware configuration, testing, and fault diagnosis of smart

placement machines. It can configure, test, and diagnose each hardware module online, which is an important tool to ensure the

normal and stable operation of the equipment.

Hardware main interface

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1、Vacuum test: check whether the single or all vacuum values and blows of each nozzle meet the standard


2、I/O test: check the machine’s feeder status, individual sensor status, button panel button status, and individual control

of I/O-related components.

3、PCB transfer: individual control of the various components related to the transfer and sensor-related status.

4、Head camera: Check the image of the head camera and its current position absolute coordinates, including the illumination

verification of each light source and the current position height measurement function.

5、Motion test: display the limit of each axis and the state of the origin sensor, separate homing, jog function.

1、Vacuum test

Check if the vacuum value of the current nozzle rod is normal (130 nozzle vacuum reference value is 55±15)。



2、IO test

All IO individual controls and their associated sensor status displays…

1. Feeder test: Insert Feeder, click the corresponding station, observe whether Feeder is feeding, and judge whether Feeder control is normal


2. Sensor Status: Displays the status of all current IO-related sensors.

3. Button status: Displays the input/output status of the button panel.

4, functional area: each component is controlled separately, combined with the sensor status to determine whether the part is working properly

3、PCB transfer

All pass-through related functions and their associated sensor status display

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4、Head camera

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Light source settings: Check that all light sources are working properly.

Altimetry: The camera’s current position is measured and the No. 1 current position is measured (130 nozzles).

Stop acquisition: The head camera stops the continuous acquisition function.

5、Motion control

X: Positive to the right and negative to the left.

Y: Positive backward and negative front.

Z: Down is positive and upper is negative.

R: Seen from above, counterclockwise is positive, and clockwise is negative.

Transfer Board (TF): Determined based on the flow direction.

W: Positive forward, negative negative.

Seven Setting

Set the basic functions of the module:

The setting module is mainly for setting and operating system parameters such as nozzle library, Feeder library, and nozzle box. The nozzle library can

be added to delete the nozzle model, or set the nozzle vacuum data; Feeder library can add and delete the Feeder model, and set the detailed data of

Feeder’s model; the nozzle box displays the current nozzle box. In case, the nozzle can be picked up and placed manually; the parameter interface

mainly sets and displays the system parameters.

1、System parameter

1-1、System parameter-control

Displays PCB transfer direction, nozzle and option enable status, parameter backup restores, and other features.


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1-2、System parameter-position


1-3、System parameter-feeder

Shows the correction deviation of the feeder.

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1-4、System parameter-camera

Displays the camera’s calibration-related parameters: accuracy, plot size, exposure time, gain, and focus compensation.

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1-5、System parameter-nozzle compensation

Display 8 nozzles related parameter compensation: nozzle height measurement value, material and placement height, self-rotation error and

CPK compensation value.

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1-6、System parameter-original point compensation

The compensation values for each origin position are displayed: the reference column, the PCB origin, the PCB height, and the compensation

value for the width adjustment

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1-7、System parameter-XY compensation

Display surface correction compensation data (not yet enabled).

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2、Nozzle library data setting

Add and delete nozzle models and parameters in the nozzle library.

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3、Feeder library data setting

Add and delete the feeder model and parameters in the feeder library

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4、Nozzle box data setting

Separate control interface and status display for the nozzle exchange station: current nozzle model, exchange nozzle model, and nozzle model in the

nozzle box.

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1. Set the nozzle box data and install the corresponding model nozzle.

2. Set the current head nozzle model and the nozzle model to be replaced.

3, click the corresponding function button to carry out related operations: single take single release, all take full release, change mouth (first put and

then take).


Eight PCB programming details

1、Programming the mounting flow chart


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2、Set basic board data 基板数据

2-1、Program files operate

Steps :

Step 1: When the user needs to create a new PCB file, click the “New” button to pop up the following interface:


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Step 2: Enter the file name as shown below:

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Step 3: Click the “Confirm” button.

Step 4: The default file save path is D:\pcbs. If the user wants to save it in another path, click the “Save As” button.

The following dialog box pops up:

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Step 5: Click “Save” or change the file name and save.

2-2、Coordinate type selection and substrate size setting

Step 1: After creating a new PCB file, select the coordinate system type. At present, there are two coordinate types,

the XY cross is vertical (0,0), and the value of the XY arrow coordinate increases, that is, the first type is the positive

direction of the x-axis coordinate to the left, and the positive direction of the x-axis coordinate is the second direction

to the right. . The default coordinate type is the first way. As shown below. 

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Step 2: Fill in the length and width according to the actual PCB size, as shown in the figure below.

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Step 3: Click “Adjust Width”, the PCB drive mechanism will move to the specified width, and the user can place the PCB

board at the board at this time.

2-3、Placement origin acquisition and teaching 


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Step 1: Click the “Incoming Board” button to transfer the PCB at the board to the mounting area;

Step 2: After the PCB is loaded, click the “Move” button to move the machine mark camera to the PCB origin;

Step 3: After the standby device has finished moving, click on the blue triangle in the image area (manually move the

effective area);

Step 4: Click the “Light Source” button to pop up the following window; click the “+” button to increase the brightness

of the mark light source; click the “-” button to decrease the brightness of the mark light source; adjust the brightness 

to make the image clear

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Step 5: Move the mark camera to a position above the PCB, as shown below:

Step 6: Click the “Get” button to get the front placement origin as shown below

3、Mark point position type selection and Mark point coordinate acquisition

3-1、Mark point coordinate get

After the PCB placement origin setting is completed, the Mark point type selection and the Mark point coordinate

the acquisition is performed.

Mark point type selection and Mark point coordinate acquisition steps:

The first step: select the mark type, for example, select the mark point of two diagonal points, as shown below:

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Add two rows of data in the location table. The default is (0,0) as shown below:

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Step 2: Click the “1” row corresponding to the No column. At this time, the behavior is selected, as shown in the following


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Step 3: Move the mark camera to a mark point on the PCB (assuming a circular pad);

Step 4: Adjust the brightness of the appropriate mark source;

Step 5: Click the “Get” button, the system saves the position coordinates of the current mark camera to the first

line of the position table, as shown below:

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Step 6: In the same way, get another diagonal mark point.

3-2、Mark point search condition setting

After the Mark point position coordinates are taken, the Mark point search condition is set next.

Mark point search condition setting:

Step 1: Select the Mark point shape as “Circle”, as shown in the following figure:

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Step 2: Set the size according to the size of the Mark point, such as the size of the image below:

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The third step: set the Mark point search range, the actual situation is subject to the actual object; the general search

The range is larger than the marked size, but the setting is reasonable, the Mark point size is X=1, Y=1, the following figure

is more reasonable :

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Step 3: Polarity setting, when the Mark point is white, click the “White” button, when black, click the “Black”


Step 4: Mark Point Light Source Brightness Set Drag and drag until the observed mark is clear, as shown below:


3-3、Mark point test and correction

After completing the Mark point search condition setting, start testing the Mark point.

Mark point test steps:

Step 1: Click on the row of the selected location table, as shown below:


Step 2: Click the “Move” button to complete the standby movement;

Step 3: Click on “Contour” and then click on the “Resize” button;

Step 4: Click the “Test” button again. If the mark test is successful, the following message “OK” will be displayed.


Step 5: If the display information is “NG”, the test fails. At this time, the brightness and size of the mark camera

The light source can be adjusted until the recognition is successful, and another marked point is tested in the same way.

Step 6: When both tests are successful, click “Calibration”, the camera will go to the two MARK points to identify,

and the image center coincides with the center of the MARK point; then prompt to adjust the coordinates, click OK to update

the new coordinates of the MARK point.

4、Multi PCB

The jigsaw mainly includes the condition setting of the jigsaw array, the teaching function, and the use of the jigsaw.

The main page of the puzzle is shown in Figure 2-3. 


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4-1、Multi-PCB array condition setting

Note: If the PCB board is a single board, you do not need to set this function. Assume that the current PCB board is a 2×2


Jigsaw array condition setting steps:

Step 1: Set the number of panels in the X Y direction, as shown in the following figure:

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Step 2: Set the expansion direction of the puzzle.

The third step: click the “X” button, the array expands in the X-direction;

Step 4: Click the “Y” button and the array expands in the Y direction.

Step 5: Puzzle origin offset setting:


Indicates the distance from the first board in the X direction to the same position (eg, the pad) of the

second board。

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Indicates the distance of the first plate in the Y direction from the same position (eg, the pad) of the

second plate.

Step 6:at last, click the “apply” button, then the array location form data update as below



4-2、Teaching button and springboard function introduction

The Lights, Move and Get buttons are identical to other pages. Assume that the current puzzle position table selects the first


Move down: When the button is pressed, the machine will move to the corresponding coordinate position of the second line;

Move up: button, the machine will move to the corresponding coordinate position of the first line.

After the jigsaw condition is set, if the user wants to skip a piece of jigsaw during the production process. You can check

the panels you want to skip. For example, the following image shows skipping the first puzzle.

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Click the bad board function button in the lower right corner to enter the bad board work interface:



4-3、Bad board function:

Step 1: Check the use to get the coordinate position of the feature points of the bad puzzle.

Step 2: Select good and bad types and search range, adjust lighting and thresholds and click to test if the test is normal.

Step 3: Test if other puzzles are normal.

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5、Load components from the component library

The component library consists of some component groups, which are selected in the drop-down box. Each group has

different types of components. Select the components you need as shown below:

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Load component steps:

Step 1: Click on the drop-down list

Select the “SOT” group, as shown below:

Step 2: Select “SOT_LR” as shown below


Step 3: Click the “ <<” button or double-click the package table component you want to add, and the following dialog

A window will pop up.

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Step 4: Modify SOT_LR to SOT_TEST, as shown below


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Step 5: Click the “OK” button. At this time, a component named R0402 is added to the component table.

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Step 6: At this point, complete the loading of a new component.

5-1、Component parameter setting

Component parameter setting steps:

Step 1: Select the component to be edited in the component table, for example, the following image

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Step 2: Click the “Edit” button, and pop up the window.: 

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The “Chip” group type component size is a standard size and generally does not need to be modified.

Step 3: Click the “Geometry Parameters” button to pop up the following window.


(1)Click  Q0qb8dP 9RXZ yFqqhwMhH2U8WRUQdj7fD3BxI2JBDVgzELc1vZhR4AaSoWXDKGZbq4VeiKP6ZLTqmRGH3tGZeJp2Fzkz7Am67DyeItB4lqQLkd7c qzdrop-down list, you can choose the types of feeder, general default;

(2)Click     drop-down list, you can choose the Nozzle types, general default;


(3)Click HxWmvo1v1ozixyxjvLVi2dRCUW8et8xLnxXJh4SS PhaN65oeBtAiA9t6yQlTfHo4XPGHE8YNSDLiT3Mo 1ceX2ixaUFC i9eFliGb51ENkVpZUC y B6eGXFbNOJMDzPiPopOeJ=s0drop-down list, set maximum what the pictures of the components failure number 

(4)jQmGke LCqWeuG6QxJvGuQdd053k5vHYkdD4luCA7xaaalpUctPTvGJpR5SmquBQsOdzG771A1tGQXANtI MMh58Mt4Yh7vHsFdfweFDS j7F f8AdA60kzGezldBJACVo2J7G=s0Indicates the delay time for picking up the material (the time interval from the

Z-axis falling to the suction surface and moving again);

(5)aL57jrjYmSkcVDFkIndicates the delay time of the placement component (the time interval from when

the Z-axis drops to the placement surface);

(6)tqGvjLohEj4yvbGFUDaQYUbKSet the XY movement speed.

(7)UXIyjLjAc cjR aG9FmrhtkQrMyPgNgm3p6fr6uC2vfXVGBNSFPvD8PjwxBNoTkVpAsQL8eLDKIm2b 0Z1eCWYtkKE7R07T23vjkTkML3sAtZkrg4bTf686YI953zCdRfvlLATe =s0Set the Z pickup drop speed

(8)xZ2 L1FkrC261zpgmRyjDD9 cB0IQ4ldaeLOhz3OrJL8f rM4S0brhMAlfslWUSeE9Ey636eDJovEOqJefzbHqyp5tlmA69Set the Z placement drop speed

(9)zDcTTztnY9CpfYhroIkLYBrQS2R9x8xSX5iKYq0nNvKgr6ZVAW4ZtYs5sksdDa74lIUA 1rtG5ym32LUv6uX 5XehLp42YqM7 4iCAGSet the R rotation speed.

Step 4: Click the “Save” button after setting it.


5-2、Component operates

Component parameter operates steps:

Step 1: Select a row in the component table and click the “Delete” button to delete the current row.

Step 2: Select a row in the component table, click the “Copy” button, select another row, and click “Paste” to copy

the component data to the corresponding component of the current row

Step 3: When there are many types of components in the component table, as shown below:

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Easy to view and edit, you can use the “Component Group” filter.9QgenI uDHiIznhBYPQUDfgFSGJ9sniZP 84vhxfq7MmXr kwc4oq6AvkaRYLIvyQGvBUbfX3RNflt2yC4DmvlSx4NNJb MVRWJr985GivWUzk0 rIHScZNzIB4NGkAvxPMSL9 =s0 The default is “ALL” to display

all component data if only the “CHIP_R” type component is displayed;

Step 4:ClickCoXGg9ix0u18k Fxgsc8HD7ra4Snky9zrPurtLJMEscUuSx3Xh6dl24niFnTqrZxUYbj2SbB225WeS0FKtVumv1AXkmDrop-down list selectedtddNgivtFdMw6QHQ9eiN1DOE0wZ75nWXxCUrJhmuDTUrivuORuDXkOC5j51 FXuQq2pcyx9oz4hxqalRaKMmr 7hKy6zh64NUxZ8MSlskCGOhq rseacIkQcBJ BE1XBxDvYd z8=s0.

The component table data is updated to the following figure:

nYntCfSf9aYB4GflR 04ttcE9ZB2WesWbuC6DhMKj1N9 nPOdedcec5EspR6B13XMkH2NcOInIo5 NoNxxP8jKn9uxWFuqhv8r0sS4ubmsvEZzXdvKGp4vboSL6t ymMBBroHyOf=s0


6、Feeder type selection

There are three types of feeders: rod-type feeders and disc-type feeders. The pole-type feeder is divided into a belt-type

feeder and a vibration feeder, and the belt-type feeder is a default feeder type.


6-1、Introduction of Belted feeder Data Structure

The belted feeder data structure is as follows:



  • “No” indicates the number of the feeder in the feeder slot, the leftmost is 01, and the rightmost is 34 (21mm pitch machine);

  • “Part” indicates the name of the component installed on the current feeder;

  • “Desc” indicates the notes of the feeder;

  • “Type” indicates the model of feeder, such as FA8, FA12;

  • “X” coordinate X;

  • “Y” coordinate Y;

  • “Z” adjusts the height of the suction (downward is positive);

  • “PartR” is the R-axis angle when taking the component; (this is mainly for some special components, it usually needs to

  • be sucked by a square nozzle, but it is not necessarily the same with each nozzle after installing this nozzle The device

  • is aligned, so you need to turn a certain angle to pick up the components)

  • “Delay” feeder delay time;

  • “Skip” skips the current feeder.

  • 6-2、Belted feeder mounting components and access to suction locations 

To perform feeder installation components, you need to complete the component loading steps or directly read the completed

PCB program.

feeder installation components and steps to obtain suction position:

Step 1: Double-click the column where “Part” is located, as shown in the following figure:

lS0OvNzRBo4 byHlvl4AzSRKjLIKjt3XHKpSIkTOow PNgXiX8 HqzY

Step 2: Select a component name, and when the mouse loses focus, the component is installed to the current Feeder;

Step 3: According to the selected Feeder in the above picture, you need to install an FA8 model of Feeder in the first

position on the Feeder seat;

Step 4: Click the “Move” button;

Step 5: The Mark camera moves to the Feeder suction position, and with the moving tool on the image, the image is

cross-centered with the square plate on which the component is loaded. (If the component is not visible, click the “Feed”

button. , so that the material belt push forward), as shown below:

pyrwhGFj25vJmEnNloLy6SAklHh8HfPsnGy7gw7UgvZhoAMNPO0k0LWWJztvr7Gaa1uluLM7AorHvkq5cCLxGt3HpwVtltQ IZTL1knej

Step 6: Click the “Get” button to save the current position coordinates to the corresponding feeder.

6-3、Select the nozzle and pick up the component

After completing the previous step, the nozzle model is used according to the components installed by Feeder; click the “nozzle”

button, the default is to use the first axis (if using the default, click “close”, and ensure the top of the first axis Have

a nozzle);

The following window pops up:


Click the “Pick” button, and the No. 1 nozzle will go to the No. 1 Feeder suction position to pick up a component.

6-4、Component image recognition

Image recognition is performed after the suction is completed. Click on “Recognize” and the machine will scan on a linear

camera for image acquisition.

6-5、Stick feeder

(1) Click “Up Move” to move to the previous Feeder position (currently Feeder must be selected);

(2) Click “Move Down” to move to the next Feeder position (currently Feeder must be selected);

(3) Click “Low Speed” to set the XY movement speed, including three-speed grades, “low speed”, “medium-speed”

and “high speed”;

(4) Click on the “dumping material” and after sucking the material, the material above the shaft must be thrown

away if it is sucked again;

(5) Click “Jitter Recognition”. After the component is absorbed, click the button and the machine will vibrate

back and forth to test the stability of the adsorption;

(6) Clicking on the “Clear” button will clear all installed components of the Feeder data table.

Note: The stick feeder is similar to the belt feeder operation except that it

takes up different feeder positions.

Vibration Feeder installer steps:

Click on the “stick” button

KkCalnusPPrs4sDe1AEbnC6UD7paYw0ode8zCCUnSrk5i prhJgJ 8MnWrJliZ7ZxLm744 J6CA5LOewxRSNHKUPa4jXhY039wG1htOnxc8DZhCSj GwCeid0FvSDX9dHYhR0SH8=s0

Enter stick feeder interface

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Click on the “Type drop-down box” gnVrMGGxGCDnMC2Pe9NVe fyh0bzKxFUdh wqFbAxzd0CWyLvVFv3l41s6eY7DojhJiUhd2uRYJ2xWOI9eNdclyFS4RWRQWciTbkBgiV3Xn 8zUqH4Zv75DZaJKGV7 leO9ujZRT=s0Check the “Static Stick” vibration type and pop up:

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Click “YES” to bring up the feeder Install Dock dialog: 

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Click the “Station drop-down box”, select the feeder base number below 4 and 38, click the “Update” button, the

The following picture will pop up, and a “Static Stick” vibration feeder will be installed successfully.


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Then click on the “Part drop-down box” to select the components to be installed to the stick feeder.

6-6、Tray feeder

Tray feeder

A total of 8 trays can be installed, and the suction starting position, line spacing, and column spacing of the tray

are automatically calculated by teaching the three vertices of the tray

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 No.: The serial number of Feida in programming;

Part: Select the component mounted on the feeder;

Des: the serial number of the disc type;

Skip: Whether to skip the feeder.

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Quantity X: the number set on the X-axis;

Quantity Y: the number set on the Y-axis;

Pick Z: set the height of the suction element;

Throw Z: set the height of the throw;

Pick R: set the R-axis angle of the suction element;

Element R: setting the angle,tray feeding speed, of the component at the tray;

Throwing method: set the throwing method. 1 Throw into the waste box 2 Throws the position in the tray when sucking.

6-8、Coordinate setting


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As shown in the figure above, this module can teach the starting position, line spacing, and column spacing of a single


There are three sets of XY coordinate display edit boxes in the figure, and their positions correspond to the figure.

The first point-1 coordinate corresponds to the lower-left corner of the figure, and the first point-2 coordinate corresponds

to the upper right corner of the figure;

The second point-1 coordinate corresponds to the lower-left corner of the figure, and the second point-2 coordinate

corresponds to the upper right corner of the figure;

The third point-1 coordinate corresponds to the lower-left corner of the figure, and the third point-2 coordinate corresponds

to the upper right corner of the figure. 

7、Obtain component pad coordinates in the step

Before acquiring the component coordinate position of the pad, change the speed and set the appropriate speed for quick

programming. The speed levels are divided into low speed, medium speed, and high speed.

7-1、Obtain component pad coordinates in the step

Step 1: move the mark camera to the PCB pad that needs to be mounted, as shown below:

Step 2: With the image moving tool, make the image cross the center pad and click the “Get” button. At this point,

the step table data is updated as follows:


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Step 3: Click the column where “Part” is located on the newly acquired coordinate line, and select the component name

in the drop-down list.

Step 4: Click “R” on the newly acquired coordinate line and enter the corresponding placement angle

7-2、Other functions 

(1) “Upward” mark camera moves to the previous coordinate point (the current line is selected);

(2) “Move down” mark camera moves to the next coordinate point (the current line is selected);

(3) “Offset” sets the offset of X Y Z R;

(4) “Two-point teaching” This function mainly acquires the pad center coordinates in the case where the pad area is

larger than the mark camera field of view;

(5) “Correction” This function is mainly used to correct the deviation to observe the PCB pad;

(6) “Actual Contour” selects the button, and the step table has a row for mounting components and a rectangle of the

current row component and its mounting angle is displayed in the image display area;

(7) “Insert Row” Click this button to insert a line of default data in the step table;

(8) “Delete row” After selecting a row in the step table, click this button to delete the selected row data, which cannot

be restored;

(9) “Empty” does not need to select the row in the step table, click this button will delete all the step data;

(10) “Fiberboard” If the current PCB program has a puzzle, select the value of the drop-down list and the step table

data will be switched to the corresponding puzzle data.

(11) In the case of “extended” with a puzzle, clicking this button will display all component coordinate data.

(12) “Teaching angle” Press and hold F7, F8 (or F9, F10 or F11, F12) to change the angle, length, and width of the teaching


8、Automatic optimization and manual optimization 

Automatic optimization: set the number of components to fly, reset the nozzle and click to perform optimization, the software will automatically assign the Feida station, and the nozzle model.

Manual optimization: manually set the component feeder position and head nozzle model and click to perform optimization,

the software will be assigned according to the settings.


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As shown in the figure, the results of different settings with the same coordinates are different, and the time consumption is different.

You can go into the optimization results to see the details of the optimization

9、Data check 

Data inspection is the final step in the entire online teaching process to detect the integrity and correctness of the

data. The main page of the data check is shown in Figure 2-8.

Data check steps:

The first step: click the “Check” button, the following window pops up;

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Step 2: If there is an error in the data, the current interface will prompt with specific information, otherwise you

can close the window directly.


After the data check is completed, click the “Production” interface, click “Start”, place the PCB board on the board entrance and the PBC board automatically flows into the mounting area of pick and place machine to start mounting.

11、Close software 

Double click on the top left corner LOGO will pop up the close software prompt box, click OK. As shown below.


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