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1. Software Setup

1. Software Installation

Download OpenPnP from the OpenPnP website and install the software package. https://openpnp.org/downloads/

Or the latest test version with new features and bug fixes.

Note

For MacOS users, please use the latest test version.

The installation should not encounter any issues.

The following contents will be based on the Windows 10 system. On other operating systems, the difference should not be significant.

Start OpenPnP, the software interface will display successfully. You can briefly browse the original software settings.

The default .openpnp2 folder is now generated in the system after first run.

Exit the program before next step.

2. Import The Configuration Files

Configuration Files

You can download the configuration files from the Download Section section.

Before proceeding to the next step, please turn on the power of the machine.

Note

The motion controller's USB-Serial port will only appear in the operating system when it is powered on.

To ensure that the device can be connected correctly when the OpenPnP is started, please make sure that the motion controller is powered on and the USB cable is connected to the same port of the computer before each start of OpenPnP.

Find the .openpnp2 folder where the OpenPnP configuration is stored. The path to the folder may vary between operating systems, so please check the relevant documentation.

Tip

  • On Windows systems, this folder is usually located in the C:\Users\<UserName>\.openpnp2 folder.

  • For MacOS this folder is ~/.openpnp2.

Before next step, it is recommended to backup the entire .openpnp2 folder.

Copy all the contents of the .openpnp2 folder provided by Pandaplacer to the local .openpnp2 folder (Replace/Overwrite files with the same name).

Note

Note that this will overwrite all previous configurations. You can also only overwrite some part of the configuration files as needed, e.g. only machine.xml and vision-setting.xml.

Now, most of the machine setup has been completed.

Because of differences in computer hardware and operating systems, there are still some manual setups. See the next step.

3. Edit The Configuration

Turn ON the power of the machine.

Before running OpenPnP, check the serial port and camera status in the system.

Serial Ports and Cameras:

Launch OpenPnP.

3.1. Configure The Serial Port

Tip

  • For Windows: the motion controller uses the COM11 port and the feeder controller uses the COM3 port.
  • For MacOS: the motion controller uses the tty.usbmodem48F2753E39381 port at 115200 baud rate and the feeder controller uses the tty.usbserial-141110 at 19200 baud rate.

Motion Controller serial port: Machine Setup > Drivers > PPMC2.0

Feeder Controllers serial port: Machine Setup > Drivers > PPSLFC2.0

After each operation, click Apply to save and enable the settings.

3.2. Configure The Cameras

Menu: Machine Setup > Cameras > BottomCam

Click Apply to save and enable the settings.

Menu: Machine Setup > Heads > ReferenceHead H1 > Cameras > TopCam

Click Apply to save and enable the settings.

Save the configuration: File > Save configuration

3.3. Camera Adjustments

It is possible (mostly on MacOS machines) that one or both cameras have the default image settings presenting a picture that is too bright. This is due to the default exposure settings and can be adjusted.

The Device Settings panel in the Machine Setup section for the respective camera must be configured and the exposure value adjusted accordingly.

3.4. Exposure Fix For MacOS

The new version of OpenPnP fixes the previous problem. Please use the latest test version.

4. Functionality Test

After completing the above settings, we can start the functional testing.

4.1. Machine Homing

Click the Enable/Disable button on the Machine Controls panel to establish a connection.

If you can hear a boot-up music, it proves that the communication between the computer and motion controller board is successful. Otherwise, please exit OpenPnP and restart the machine power, then restart OpenPnP.

After the communication is successfully connected and before the machine is homed, the button status is as shown in the figure:

Click the Homing button for machine homing.

The machine will follow the preset workflow in the configuration file to complete the homing of X, Y, Z, A, B axis and stop at the preset Park Location.

If everything is fine, the button status is as shown in the figure:

The machine is now finished homing and is ready for manual control.

4.2. Checking Basic Movements

To make it easier to test, adjust the default distance and speed.

Testing XYZ axes:

Use the arrow keys to test the XYZ movement of the machine.

Use the P button to return the XY coordinates to the Park-Location / to return the Z axis to the mid-point (Z=0).

Testing nozzle motors:

Switching the nozzle motor to be tested in the tool menu.

Use the counterclockwise and clockwise buttons to test the rotation of the nozzle motor.

Use the P button to return the nozzle motor to 0 degrees.

The direction of the nozzle motor uses a right-hand coordinate system: when viewed from the top of the machine toward the bottom, the nozzle motor rotates in the same direction as the arrow of the OpenPnP button.

Note

The nozzle motor has an angular limit (±180deg), so sometimes it moves in the opposite direction.

Switch to other nozzle motors in the menu and test again.

4.3. Checking The Actuators

Switch to the Actuators tab on Machine Controls panel and test the machine's actuators.

4.4. Testing Camera Backlight

Click the BottomCamLight and H1:TopCamLight buttons respectively, and in the pop-up dialog box, control the status of the actuator with the On and Off buttons, and observe whether the corresponding camera backlight is working properly.

Alternatively, you can also control the camera lights by click the light button in the upper right corner of the camera view.

4.5. Testing Vacuum Pumps

Click the H1:N1_VPUMP , H1:N2_VPUMP and H1:N1N2_VPUMP buttons respectively, and in the pop-up dialog box, control the status of the actuator with the On and Off buttons, and observe whether the corresponding vacuum pump is working properly. H1:N1N2_VPUMP controls two vacuum pumps at the same time.

4.6. Testing Vacuum Valves and Sensors

Use H1:N1N2_VPUMP to open two vacuum pumps at the same time (you can also use H1:N1_VPUMP and H1:N2_VPUMP separately). It's easier to check vacuum valves and sensors in the presence of a vacuum source.

Click the H1:N1_VAC and H1: N2_VAC buttons respectively, and in the pop-up dialog box, control the status of the actuator with the On and Off buttons, and observe whether the corresponding vacuum valve is working properly (the opening and closing of the valve will produce a small sound).

Click the Read button to get the vacuum sensor value. The vacuum sensor value is close to the real value of the negative pressure (-kPa, not very accurate, but enough to complete the function). Switching the vacuum valve on/off state should result in a significant change in the vacuum sensor value.

4.7. (Optional) Testing The SLFC Feeder Controller

It is assumed that the SLFC feeder controller system has been properly installed on the machine and is powered up to 5V.

Danger

Be careful about installing the power line because the wrong voltage input will burn out the entire feeder system.

Please connect one RC servo/AS1 feeder properly to the controller interface with port number 100. This port is located at port 0 of the second controller (controller address 1).

Port number = (board address) * 100 + (port number on board)

Switch to the Feeders tab.

Click on the pre-set feeder with port number 100 (PPBF-AS1-N100). At the bottom of the software interface, you can select the different advance distance options.

Click on the Test post pick button, if the servo/ AS1 feeder completes the corresponding movement, then the feeder system is operating properly.

5. Initial Software Setup Completed

Congratulations, you have completed the initial software setup!

Now, all the major components of the Pandaplacer A1 machine can be controlled correctly by the OpenPnP.

The Log tab allows you to keep track of all software commands and hardware communications.

The next step is to complete the calibration of the cameras and the nozzles.

6. Useful OpenPnP Keyboard Shortcuts

OpenPnP provides a good variety of keyboard shortcut functions, the use of shortcut keys will greatly ease the manual control.

https://github.com/openpnp/openpnp/wiki/User-Manual#keyboard-shortcuts

You can do everything in OpenPnP with the mouse, but knowing keyboard shortcuts can help speed things up. The most common ones are:

  • Ctrl+H: Home the machine.
  • Ctrl+Arrow Key: Jog the currently selected Nozzle in X and Y. Up and Down arrows jog in Y and Left and Right arrows jog in X.
  • Ctrl+/, Ctrl+': Jog the currently selected Nozzle down and up in Z.
  • Ctrl+\<, Ctrl+ > : Rotate the currently selected Nozzle counter-clockwise and clockwise.
  • Ctrl+Plus, Ctrl+Minus: Change the jog distance slider. This changes how far each jog key will move the Nozzle.
  • Shift+Left Mouse Click: Hold Shift and left click the mouse anywhere in the camera view to move the camera to that position.
  • Ctrl-Shift-R: Starts a job
  • Ctrl-Shift-S: Steps through the job
  • Ctrl-Shift-A: Stops the job
  • Ctrl-Shift-P: Parks head (Z retract then XY park)
  • Ctrl-Shift-L: Parks Z axis only
  • Ctrl-Shift-Z: Moves head to safe Z
  • Ctrl-Shift-D: Discard component
  • Ctrl-Shift-F1: 0.01mm / 0.001\" jog increment
  • Ctrl-Shift-F2: 0.1mm / 0.01\" jog increment
  • Ctrl-Shift-F3: 1mm / 0.1\" jog increment
  • Ctrl-Shift-F4: 10mm / 1\" jog increment
  • Ctrl-Shift-F5: 100mm / 10\" jog increment

The below shortcuts are bound to your system command modifier key. On Windows and Linux this is Ctrl, and on Mac it's Cmd:

  • Modifier+O: Open a Job.
  • Modifier+N: New Job.
  • Modifier+S: Save Job.
  • Modifier+E: Enable/Disable Machine (Power Button).
  • Modifier+`: Home.