Path and Node Editor Sub-Panel

When the "Edit" tab is clicked and the "Path Editor" button is pressed, the panel is displayed in the bottom right of the Edit page.  The Path Editor provides the tools for creating, managing and modifying Paths and their Nodes.

The "Path Files" list displays the names of the Paths that have already been created.   Each Path is preserved in its own file on the flash disk.  Guidance Dispense automatically loads the data for a Path back into the controller's memory when it is required for editing or execution.   However, modified Path data is only stored to a disk file when an explicit command is received to avoid replacing permanent settings with temporary trial data.

Path Files

Description

New

Creates a new Path both in memory and on the flash disk.  Once created, Paths must have Nodes added to them.  This function displays a pop-up that prompts whether a new Path is simply to be created (which is assigned a single Node) or whether a new Path should be created and a series of Nodes taught. In teach mode, the user can create and define the position for Nodes by clicking a pop-up button or using the teach buttons on the Air Dispense unit.

Remove

After confirmation, deletes the highlighted Path file from memory and the flash disk.

Copy

Makes a copy of the selected Path.  The operator to enter a new Path name.

Verify

Performs a verification check on the selected Path.  This test includes verifying that all of the Nodes in the Path satisfy the rules and that the Z height of all Nodes is sufficiently high. This function is provided to allow Paths to be pre-checked since this test is automatically performed when a Path is executed.

Run Path

Executes the highlighted Path.  The operator is prompted to run the entire Path or one step at a time.  The step-by-step mode allows individual line/arc operations to be executed along the Path and assists in debugging.  In step-by-step mode, the dispenser output is automatically disabled.

Mini Jog

Opens up a miniature version of the Virtual Manual Control Panel on top of the current panel.

[] Disable Dispense

If checked, disables the operation of the dispenser syringes when a Path is executed.  The dispenser output signal is re-directed to the "Free" teach button light on the Air Dispenser.  This is useful for dry running a Path and fine-tuning Nodes while receiving visual feedback on the dispensing commands.

The "Global" section of this panel specifies parameters that affect the entire Path and are not specific to a particular Node.

Global

Description

Dispense Spd

Specifies the speed (in mm/sec) of the syringe tip while it is dispensing fluid.

Trans Spd

Defines the transition speed (in mm/sec) of the syringe tip while it is moving between Nodes.  Anytime that fluid is not being dispensed, this speed is applied to optimize the overall cycle time.

Approach/Depart

Defines distance (in mm) that the dispensing head will moved above the first and last Node positions when performing the dispensing Path.

Search

Enables the Z-Search mode.  If "use probe" is selected, prior to performing the dispense path, the robot will move to the first Node in the path and search down. When the surface is detected, the "Z" height of the dispense Path is automatically adjusted (based on the "Z-Search" settings). This operation is only performed once per path cycle.

Tool

Specifies the dispense head that will be used. This is important as it determines the digital output that is operated to dispense fluid.  In addition, the proper syringe dimension and mounting offset is applied based on the definition of the Dispense Head.

Offset X, Y, Z

Defines a fixed offset that is applied to the position of each Node in the Path when the Path is executed.  It is also applied during teaching or editing of the Path points. This operation allows fine tweaking of a Path without having to edit individual path points.

The "Pallet" section permits a Path to be repeated in a 1, 2 or 3 dimensional rectangular grid that is relative to the Path's reference frame.  This can be utilized to repeat a dispensing pattern at each position in a pallet.

Pallet

Description

X, Y, Z Idx (1-n)

Defines which dimensions will be repeated and how many times they will be repeated.   By default these values are all set to "1" to indicate that repeating is NOT enabled.  If a Path is to be repeated on a standard pallet, these values represent the number of rows (X), columns (Y) and stacks (Z) in the pallet.  In addition to setting these value, the "Pitch" must also be properly set.

X, Y, Z Pitch (mm)

Specifies the distance (in mm) between adjacent rows, columns or stacks.

Order

Selects the order in which the 3 dimensions will be indexed. When a pallet is enabled (indicated by having the 'Idx' values > 1) an order of operation is applied based on this setting.

The "Vision" section enables PreciseVision to dynamically compute a reference frame that replaces all of the components of the Global Frame except for its Z height.  When enabled, a user defined PreciseVision Vision Process is automatically executed at the start of the Path.  If PreciseVision cannot locate the reference frame or if a visual part inspection indicates that a part is not acceptable, Path execution will be terminated with an error.

Vision

Description

[ ] Use Vision

If checked, enables using PreciseVision to generate the Path's reference frame.

[ ] Index Camera

If checked, automatically indexes the position of an arm-mounted camera based on the "Pallet" settings.  This allows a grid of loosely fixtured parts to be addressed using a single Path pattern. Each time the pallet is indexed, the arm-mounted camera will be positioned to the next pallet location for the picture point and the vision system will be called again.

If not checked and a pallet is enabled, PreciseVision will only be called at the first pallet location.  All subsequent pallet Paths will use the original vision frame.  This is useful for fixed mounted cameras or parts that are fixed accurately in a tray but where the tray is placed in the robot's work area in a coarse position.

Process Name

Defines the required name of the PreciseVision Vision Process that is executed to determine and return the Path reference frame.

Vision Tool Name

Optionally defines the name of a vision tool that is part of the PreciseVision Vision Process.  By default, the last tool executed by PreciseVision computes and returns the value of the required reference frame.  However, if a tool name is specified in this parameter, its reference frame value is returned and utilized instead.

Picture Location (X,Y,Z,yaw,pitch,roll)

Defines the position where the robot should be moved to prior to calling PreciseVision to execute the Vision Process.  If all of the components are set to "0" (the default), then the picture point stored in the Vision Configuration is used instead. This picture point is taught relative to the Global Frame.   If this position is specified, its Z component is forced to match that of the original camera calibration point defined in the Vision configuration.

Record (button)

Records the Picture Location where the robot must be moved to prior to executing the Vision Process.  This function automatically looks at the position stored in the Vision Configuration and sets the new point to the same Z height. For arm-mounted cameras, it is important that the Z height be constant to maintain the same field-of-view and scaling.

Perform (button)

Moves the robot to the Picture Location and performs the Vision Process. This assists in debugging the Picture Location and Vision Process.   This must be executed prior to manually teaching Path points relative to the vision-generated frame of reference.

Move To (button)

Moves the robot back to the Picture Location. This is useful for debugging the Vision Process in PreciseVision.

The "Path Points" section displays and manages the list of Nodes defined in the currently selected Path.  Specific data for the Node selected in this list is displayed in the "Selected Path Point" section.

Path Points

Description

Path Point List View

Provides a scroll list of all the Nodes defined in the selected Path. This list also displays any errors in the Path.   If any error is detected, the list is displayed in Red.   The Node causing the problem includes a "*" prior to its name.  Use the "Verify" operation to get more descriptive details of the problem.

When the Node list display is generated, Node Types are automatically assigned more descriptive names based upon the Node rules. For example, the first ARC Node will be labeled "ArcMid" and the second will be labeled "ArcEnd".

Insert/Append/Remove (buttons)

Allows Nodes to be easily added and removed to/from the selected Path.

Advanced

Allows advanced Node add/remove operations.  These include "Copying" and "Removing" a range of Nodes and the ability to add more Nodes using the teach buttons on the Air Dispenser. These operations make is very easy to duplicate a section of a Path or remove unwanted areas of a complex Path.

Record (button)

Records the current position of the robot relative to the current reference frame and stores the value in the select Node.

Set Value

Simultaneously sets or increments a position component (X, Y, Z, Yaw, Pitch, Roll) for a range of Nodes. This is very useful for adjusting all or part of a Path to have the same "Z" value.   Alternately, an offset can be added to a position component for a range of Nodes.

Move To (button)

Moves the robot directly to the selected Node position taking into account the current reference frame.  If no special frame is in effect, the Global Frame will be utilized.  If the Path is relative to vision results, the position will be relative to the last generated Vision Process reference frame.

*Note - care should be taken when clicking this button. If the Global Frame has been re-taught improperly or Dispense Head dimensions or mounting have been changed, it could lead to needle damage.

Extend/Retract (buttons)

Extends or retracts the selected dispense head if it is equipped with a pneumatic slide.  These buttons provide a convenient way to operate the head digital I/O.

The "Selected Path Point" section displays the detailed information for the Node that is selected in the "Path Points" list.

Selected Path Point

Description

X,Y,Z,yaw,pitch,roll

Displays the coordinates of the selected Node relative to the Path's reference frame. These values represent the relative position and orientation of the Node with respect to either the Global Frame or the frame generated by PreciseVision depending on the Path settings.

Type
Displays the Node Type for the current Path point.
Dispense

Selects if the dispense operation is turned on/off/nochange. Nochange will leave the current state of the output for the dispenser unchanged. On/Off will turn on or off the output of the dispense head.

Mode

For Line and Arc Nodes, specifies when the dispense operation change defined by the "Dispense" parameter is put into effect.

  • %Start/End - Change occurs at a percentage of the distance from the start or end of the motion to the Node.
  • mm Start/End - Change occurs at a distance in mm from the start or end of the motion to the Node.  "mm End" is the default setting and the most common case.
  • Sec Start/End - Change occurs at a fixed time in seconds from the start or end of the motion to the Node.

For Pause and Dot Nodes, this parameter is ignored.

For Path Break Nodes, this parameter indicates the "mm Above" height.

Value

Defines the decimal number that is the numerical portion of the "Mode" specification. For example, if the Mode is "mm Start", this parameter defines the distance in mm from the start of the motion to the Node when the dispense operation change takes place.

Save Path (button)

Saves the currently selected Path to the flash disk. The user can make changes to a Path without saving. Once debugging is completed, use this button to permanently alter the Path.

NOTE:   All changes to a Path will be lost if a different Path file is selected before the changes are saved to the flash disk. Anytime a Path is modified a "Path modified" box will be displayed next to the "Save Path" button to indicate the file on the flash is NOT up to date.