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AlNassemblySection.txt
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AlNassemblySection.txt
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VERSION v2.1
CLEARLOG
LOADCONFIG
LOADCONFIG "" Scripts\Nebraska\ETL\assembly_positions.txt
COPY $bot_chuck_num 3
COPY $bot_pos_num 1
COPY $topA_chuck_num 4
COPY $topA_pos_num 1
COPY $stampA_num 2
COPY $resA_num 1
COPY $stampB_num 2
COPY $resB_num 2
COPY $weightA_num 1
COPY $top_thickness {0,0,0.6} #make bigger for thickness of the module
#set vaccuums
SETVAC "etl_chuck_{$topA_chuck_num}_pos_{$topA_pos_num}" 1 #for top piece AlN
# Chucks 1,2, and 3 are for the glue reservoir, stamp/weight staging,
# and assembly plate, respectively.
SETVAC etl_chuck_1 1 #for the glue resevoir
SETVAC etl_chuck_2 1 #for glue stamp
SETVAC etl_chuck_3 1
CALL @SURVEY_PART $bot_chuck_num $bot_pos_num 0 -> $bot_pos $bot_rot
CALL @SURVEY_PART $topA_chuck_num $topA_pos_num 1 -> $topA_pos $topA_rot
# TODO: Adjust "bot_pos" to place the top parts in the correct positions
TRANSFORML2G $bot_pos_A {-11.6,10.75,0} $bot_pos $bot_rot
TRANSFORML2G $bot_pos_B {-11.6,-10.75,0} $bot_pos $bot_rot
TRANSFORML2G $bot_pos_C {11.6,10.75,0} $bot_pos $bot_rot
TRANSFORML2G $bot_pos_D {11.6,-10.75,0} $bot_pos $bot_rot
ADD $glue_target_A $bot_pos_A $bot_pos_B
MUL $glue_target_A $glue_target_A {0.5,0.5,0.5}
ADD $glue_target_B $bot_pos_C $bot_pos_D
MUL $glue_target_B $glue_target_B {0.5,0.5,0.5}
EULER2QUAT $target_rotA 90 0 0
EULER2QUAT $target_rotB 90 0 0
LOADTOOL grabber_tool
LOADSTAMP $stampA_num
CALL @APPLY_GLUE $stampA_num $resA_num $bot_chuck_num $glue_target_A $bot_rot $target_rotA
CALL @APPLY_GLUE $stampB_num $resB_num $bot_chuck_num $glue_target_B $bot_rot $target_rotB
UNLOADSTAMP
UNLOADTOOL
EULER2QUAT $targetA_rot 0 0 0
LOADTOOL etl_picker_tool
CALL @PICK_AND_PLACE $bot_chuck_num $bot_pos_A $bot_rot $topA_chuck_num $topA_pos_num $topA_pos $topA_rot $top_thickness $targetA_rot
UNLOADTOOL
SETVAC etl_chuck_1 0
SETVAC etl_chuck_2 0
END
@SURVEY_CORRECTED(chuck_num,target_pos,target_rot)
# Arguments:
# $chuck_num -
# $pos -
# $rot -
FLEXREAD $tr_local geometry.ETL_Sensor_PCB_Mockup.fid_tr
FLEXREAD $tl_local geometry.ETL_Sensor_PCB_Mockup.fid_tl
FLEXREAD $bl_local geometry.ETL_Sensor_PCB_Mockup.fid_bl
FLEXREAD $br_local geometry.ETL_Sensor_PCB_Mockup.fid_br
TRANSFORML2G $tr_global $tr_local $target_pos $target_rot
TRANSFORML2G $tl_global $tl_local $target_pos $target_rot
TRANSFORML2G $bl_global $bl_local $target_pos $target_rot
TRANSFORML2G $br_global $br_local $target_pos $target_rot
#this is to get corrected centers and orientation, the code above gives general area
MOVENAME "etl_chuck_{$chuck_num}"
#Routine to set up inital position of metal piece
CALL @ACQUIREFIDUCIAL $tl_global -> $tl_corrected
CALL @ACQUIREFIDUCIAL $tr_global -> $tr_corrected
CALL @ACQUIREFIDUCIAL $bl_global -> $bl_corrected
CALL @ACQUIREFIDUCIAL $br_global -> $br_corrected
FIT $pos $rot ETL_Sensor_PCB_Mockup $tr_corrected $br_corrected $bl_corrected $tl_corrected
RETURN $pos $rot
@SURVEY_PART(chuck_num,pos_num,is_top)
# Arguments:
# $chuck_num -
# $pos_num -
# $is_top - 1 for survey position of top, 0 for bottom
SETLIGHT 40
GOTOIF @LOAD_TOP_DATA $is_top
FLEXREAD $tr_local geometry.ETL_mock_base.fid_tr
FLEXREAD $tl_local geometry.ETL_mock_base.fid_tl
FLEXREAD $bl_local geometry.ETL_mock_base.fid_bl
FLEXREAD $br_local geometry.ETL_mock_base.fid_br
FLEXREAD $pos_default "default.ETL_mock_base.{$chuck_num}.{$pos_num}.pos"
FLEXREAD $rot_default "default.ETL_mock_base.{$chuck_num}.{$pos_num}.rot"
GOTO @END_LOAD
@LOAD_TOP_DATA
FLEXREAD $tr_local geometry.ETL_Sensor_PCB_Mockup.fid_tr #GOING TO HAVE TO CHANGE THE GEOMETRY HERE!!
FLEXREAD $tl_local geometry.ETL_Sensor_PCB_Mockup.fid_tl #GOING TO HAVE TO CHANGE THE GEOMETRY HERE!!
FLEXREAD $bl_local geometry.ETL_Sensor_PCB_Mockup.fid_bl #GOING TO HAVE TO CHANGE THE GEOMETRY HERE!!
FLEXREAD $br_local geometry.ETL_Sensor_PCB_Mockup.fid_br #GOING TO HAVE TO CHANGE THE GEOMETRY HERE!!
FLEXREAD $pos_default "default.ETL_Sensor_PCB_Mockup.{$chuck_num}.{$pos_num}.pos"
FLEXREAD $rot_default "default.ETL_Sensor_PCB_Mockup.{$chuck_num}.{$pos_num}.rot"
@END_LOAD
#converts the local coordinates to global gantry coordinates usint start location and orientation
TRANSFORML2G $tr_global $tr_local $pos_default $rot_default
TRANSFORML2G $tl_global $tl_local $pos_default $rot_default
TRANSFORML2G $bl_global $bl_local $pos_default $rot_default
TRANSFORML2G $br_global $br_local $pos_default $rot_default
#this is to get corrected centers and orientation, the code above gives general area
MOVENAME "etl_chuck_{$chuck_num}"
#Routine to set up inital position of metal piece
CALL @ACQUIREFIDUCIAL $tl_global -> $tl_corrected
CALL @ACQUIREFIDUCIAL $tr_global -> $tr_corrected
CALL @ACQUIREFIDUCIAL $bl_global -> $bl_corrected
CALL @ACQUIREFIDUCIAL $br_global -> $br_corrected
#turns measured corners or fiducials into center and orientation
GOTOIFN @FIT_TOP $is_top
FIT $pos $rot ETL_Sensor_PCB_Mockup $tr_corrected $br_corrected $bl_corrected $tl_corrected
RETURN $pos $rot
@FIT_TOP
FIT $pos $rot ETL_mock_base $tr_corrected $br_corrected $bl_corrected $tl_corrected
RETURN $pos $rot
@APPLY_GLUE(stamp_num,res_num,bot_chuck_num,bot_pos,bot_rot,target_rot)
# Arguments:
# $stamp_num - what stamp you are using
# $res_num - which glue reservoir
# $bot_chuck_num - Chuck number of bottom piece
# $bot_pos - center position of bottom piece
# $bot_rot - rotation of bottom piece
# => DIP STAMP IN GLUE <=
#LOADTOOL grabber_tool
#LOADSTAMP $stamp_num
FLEXREAD $res_chuck "reservoir.chuck"
MOVENAME "etl_chuck_{$res_chuck}"
FLEXREAD $res_pos "reservoir.{$res_num}.pos"
FLEXREAD $res_rot "reservoir.{$res_num}.rot"
APPLYSTAMP $res_pos $res_rot
# => APPLY STAMP TO BOTTOM <=
MOVENAME "etl_chuck_{$bot_chuck_num}"
FLEXREAD $stamp_center_offset "geometry.stamp_{$stamp_num}.center_offset"
COMPOSE $stamp_rot $bot_rot $target_rot
TRANSFORML2G $stamp_center_offset_g $stamp_center_offset {0,0,0} $stamp_rot
ADD $bot_pos_adj $bot_pos $stamp_center_offset_g
APPLYSTAMP $bot_pos_adj $stamp_rot
#UNLOADSTAMP
#UNLOADTOOL
RETURN
@PICK_AND_PLACE(bot_chuck_num,bot_pos,bot_rot,top_chuck_num,top_position_num,top_pos,top_rot,top_thickness,end_rot)
# Arguments:
# $stamp_num - what stamp you are using
# $res_num - which glue reservoir
# $bot_chuck_num -
# $bot_pos_num -
# $top_chuck_num -
# $top_pos_num -
# $top_thickness - thickness of the top piece
COPY $picker_height_cup_5 {0,0,50.0} #measured with calipers
COPY $picker_height $picker_height_cup_5
#LOADTOOL etl_picker_tool
# => PICK PART <=
MOVENAME "etl_chuck_{$top_chuck_num}"
CALL @CALCPICKUP $top_pos $picker_height -> $pickup_pos $pickup_pos_z0
MOVETO $pickup_pos_z0 50
ROTATETO $top_rot 25
MOVETO $pickup_pos 50
SETVAC gantry_head_inner 1
WAIT 500
SETVAC "etl_chuck_{$top_chuck_num}_pos_{$top_position_num}" 0
WAIT 500
MOVETO $pickup_pos_z0 25
# => PLACE PART <=
MOVENAME "etl_chuck_{$bot_chuck_num}"
CALL @CALCPICKUP $bot_pos $picker_height -> $place_pos $place_pos_z0
MOVETO $place_pos_z0 50
COMPOSE $target_rot $bot_rot $end_rot
ROTATETO $target_rot 25
ADD $place_pos $place_pos $top_thickness
MOVETO $place_pos 50
WAIT 2000
SETVAC gantry_head_inner 0
WAIT 4000
MOVETO $place_pos_z0 10
ROTATETO 0 25
#UNLOADTOOL
RETURN
@APPLY_WEIGHT(weight_num,assembly_chuck_num,assembly_pos,assembly_rot)
# Arguments:
# $weight_num -
# $assembly_chuck_num -
# $assembly_pos -
# $assembly_rot -
LOADTOOL grabber_tool
LOADWEIGHT $weight_num
MOVENAME "etl_chuck_{$assembly_chuck_num}"
APPLYWEIGHT $assembly_pos $assembly_rot
UNLOADTOOL
RETURN
@ACQUIREFIDUCIAL(start_pos)
# Arguments:
# $start_pos - Position to initially search for the fiducial
MOVETO $start_pos 50
WAIT 100
SETERRORMODE setvar
FINDFID $fid_position ETL_PCB_Mockup
GOTOIF @manual_fiducial_acquisition $ERR
SETERRORMODE default
RETURN $fid_position
@manual_fiducial_acquisition
SETERRORMODE default
VIDEO
getpos $fid_position
RETURN $fid_position
@CALCPICKUP(camera_pos,tool_height)
# Arguments:
# $camera_pos - center of piece to pickup/place
# $picker_height - height of picker tool
FLEXREAD $ghco geometry.tool_holder_offset #gets gantry head camera offset (gcho)
ADD $netoffset $tool_height $ghco #adds the height of the picker tool to this offset
SUB $pickup_pos $camera_pos $netoffset #brings gantry head to camera position (grabber pos)
RETURN $pickup_pos {$pickup_pos.x,$pickup_pos.y,0}