SMAC have patented a software routine that allows their actuators to
approach a surface at an unknown distance and land on it with a programmed
force that can be as low as 10 grams. Obvious applications for this are
in pick and place of delicate objects, such as semiconductor wafers and
microchips, but other uses are emerging all the time. The routine takes
advantage of the SMAC actuator's unique ability to control applied force
while monitoring position in real time and is available for use, free
of charge, with all SMAC actuators.
A
typical softland routine might be as follows:
High speed approach in Position mode to
a "safe" distance from the part.
Switch to Velocity mode setting a low force
and velocity.
Slowly approach the part, monitoring position error.
If position error goes outside of a programmed window, the actuator
has met an obstruction (i.e. landed on the part) and the softland completed.
It is also possible to set a position window where the component
should be located, if it is not located within a certain position, the
actuator will retract.
After landing, further operations are usually carried out, such as ramping
up the force while monitoring position for materials testing or reading
the encoder for gauging or probing applications.
For a more detailed description of a softland procedure and how it might
be useful in your application, please contact us.
A
typical softland routine might be as follows: