# Surface Mount Robot

For a long time, we've hand-loaded prototypes and then sent production board
runs out to one of several 3rd-party surface mount assembly shops.  We've
tired of dealing with these assemblers, however, would like more control
over the process, and are intrigued by the [OpenPnP](https://openpnp.org)
project. 

After playing around for a while with building a machine from scratch, Bdale
was offered a surplus Philips (Yamaha) CSM84 pick and place robot.  This is
a massive thing to make room for in a home shop, but as designed it's meant
to be able to hold 84 reel feeders with 8mm width reels, has a conveyer belt
for loading and unloading assembly panels, 3 placement heads, and very good
fundamental mechanical accuracy and repeatability.  Unfortunately, the machine
controller is 1980's era technology, and the machine isn't really capable of
handling 0402 parts as-is.  The goal, therefore, is to convert the machine
over to using a modern control and vision system running OpenPnP, capable of
loading [Altus Metrum](https://altusmetrum.org) and other products that make
heavy use of 0402 passive components, and fine-pitch integrated circuits.

## Sub-Projects

* The stock machine has a nozzle vacuum sensing board that uses an analog
  amplifier and comparators to output 3 states per nozzle as a 2-bit digital
  signal.  OpenPnP would rather have simple analog vacuum sensors on each 
  nozzle, readable by one of the system's control interfaces, then implement
  the thresholds in software.  That that end, Bdale designed a [replacement
  vacuum board](https://git.gag.com/hw/csm84vacuum) that uses 3 NXP 4115
  series analog output vacuum sensors, intended to be attached to three of
  the "thermistor" inputs on the Smoothieboard that also provides axis servo
  control.