When the placement head reaches the pick position and the feeder is ready, the needle is moved down to the pick-up heightwithin a tolerance of +/- 0.45 mm.
The needle approaches the target position in parabolic curve.
Shortly before the pick-up height is reached, the vacuum is switched on. When the vacuum value of the tool is below 450 hPa (small tools), vacuum is switched on as soon as the needle reaches a position 8 mm above the component.
The component is picked:
a (threshold < 80 hPa): when the vacuum threshold is reached.
In this case, the status of the pressure sensor is ignored and the pressure motor is switche on to increase the force.
b (threshold > 80 hPa): when the pressure sensor is activated.
When the pressure sensor is activated or when the pick-up height (incl. tolerance) is reached, the system waits for the vacuum threshold to be reached or for a general time-out - depending on the threshold value.
If the value of the vacuum level doesn't change, it is assumed that no component is sucked at the needle.