PRODUCT CATALOG

PRODUCT CATALOG

Document Content 

The information contained herein is the property of Precise Automation Inc., and may not be copied, 

photocopied, reproduced, translated, or converted to any electronic or machine-readable form in whole or 

in part without the prior written approval of Precise Automation Inc. The information herein is subject to 

change without notice and should not be construed as a commitment by Precise Automation Inc. This 

information is periodically reviewed and revised. Precise Automation Inc. assumes no responsibility for 

any errors or omissions in this document. 

Trademarks 

Copyright © 2004-2010 by Precise Automation Inc. All rights reserved. 

The Precise Logo is a registered trademark of Precise Automation Inc. 

Guidance 3400, Guidance 3300, Guidance 3200, Guidance 2400, Guidance 2300, Guidance 2200, 

Guidance 1400, Guidance 1300, Guidance 1200, Guidance 0200 Slave Amplifier, Guidance 0006, 

Guidance 0004, Guidance Controller, Guidance Development Environment, GDE, Guidance Development 

Suite, GDS, Guidance Dispense, Guidance Programming Language, GPL, Guidance System, Guidance 

System D4/D6, PrecisePlace 1300, PrecisePlace 1400, PrecisePlace 2300, PrecisePlace 2400, 

PreciseFlex 1300, PreciseFlex 1400, PrecisePower 300, PrecisePower 500, PrecisePower 2000, 

PreciseVision, RIO are either registered or trademarks of Precise Automation Inc., and may be registered 

in the United States or in other jurisdictions including internationally. Other product names, logos, designs, 

titles, words or phrases mentioned within this publication may be trademarks, service marks, or trade 

names of Precise Automation Inc. or other entities and may be registered in certain jurisdictions including 

internationally. 

Any trademarks from other companies used in this publication are the property of those respective 

companies. In particular, Visual Basic, Visual Basic 6 and Visual Basic.NET are trademarks of Microsoft 

Inc. 

Disclaimer 

PRECISE AUTOMATION INC., MAKES NO WARRANTIES, EITHER EXPRESSLY OR IMPLIED, 

REGARDING THE DESCRIBED PRODUCTS, THEIR MERCHANTABILITY OR FITNESS FOR ANY 

PARTICULAR PURPOSE. THIS EXCLUSION OF IMPLIED WARRANTIES MAY NOT APPLY TO YOU. 

PLEASE SEE YOUR SALES AGREEMENT FOR YOUR SPECIFIC WARRANTY TERMS. 

Precise Automation Inc. 

727 Filip Road 

Los Altos, California 94024 

U.S.A. 

www.preciseautomation.com

TABLE OF CONTENTS 

Overview....................................................................................................................1 

Robots .......................................................................................................................2 

PrecisePlace Cartesian Robots..............................................................................5 

PreciseFlex SCARA Robots...................................................................................8 

Robot Accessories ...............................................................................................11 

Guidance Motion Controllers....................................................................................12 

Guidance 3000A Series .......................................................................................15 

Guidance 2000B Series .......................................................................................17 

Guidance 2000C Series .......................................................................................19 

Guidance 1000A Series..........................................................................................21 

Controller Accessories .........................................................................................23 

PrecisePower Intelligent Motor Power Supplies ...................................................25 

Guidance Programming Language.......................................................................27 

Guidance System D4/D6..........................................................................................29 

Remote IO Module...................................................................................................32 

Developer Tools.......................................................................................................34 

Guidance Development Software Suite................................................................34 

PreciseVision Software ............................................................................................38 

PreciseVision Hardware Information ....................................................................42 

Application Tools......................................................................................................46 

Guidance Dispense..............................................................................................46

OVERVIEW 

Automate with Ease 

Is the setup of your robot so simple that 

it can be accomplished in minutes 

instead of days? Does your controller 

have integrated drives and vision in a 

package small enough to fit in your 

hand? Can you write your vision-guided 

motion control program on a single 

sheet of paper? If not, you should 

switch to Precise Automation products 

that leverage our cutting-edge 

technology and years of experience 

to make the automation process easier. 

Our versatile table-top Cartesian and 

SCARA robots come fully assembled 

and are easy to set up. Our low cost 

vision-guided motion controllers 

integrate motor drives in an extremely 

compact design that can fit inside many 

robot structures. The controller's 

powerful features allow OEM’s to create 

the applications they want and to 

produce user-friendly systems. Adding 

vision guidance simplifies complex 

problems in locating and identifying 

parts and significantly improves 

process reliability by easily 

accommodating to dimensional 

variances. 

Precise Automation's flexible and 

innovative products serve a wide 

variety of industries including: 

electronics, semiconductor, life 

science, medical products, solar 

and mass storage. 

www.preciseautomation.com - Automate with Ease 1

PRECISE ROBOTS 

Low cost, vision-guided robots with 

fast and easy set-up 

ROBOTS 

Can a robot installation be as simple 

as plugging in two cables? Precise 

Automation makes it possible. 

PrecisePlace Cartesian robots and 

PreciseFlex SCARA robots come 

out of the box fully assembled and 

straight into your application. Just 

plug them into an AC outlet and your 

PC's Ethernet port and they are 

ready to work. The controller and 

harnesses are embedded within the 

robot’s structure resulting in a much 

smaller footprint. No controller 

integration is required, no harness 

to purchase or thread and no extra 

controller cabinets. 

PrecisePlace 2400A 

Precise robots feature a powerful 

vision-guided motion controller, 

novel low-cost mechanical designs 

and servo motor performance. 

These features enable smooth, 

quiet motion without the use of 

expensive components. This 

greatly reduces the cost of these 

systems without sacrificing 

performance or capabilities and 

makes Precise robots ideal for 

applications where size, smooth 

operation, and budget are critical. 

PreciseFlex 1300 

Precise’s machine vision software 

2 

Precise Automation - www.preciseautomation.com

integrates seamlessly with Precise 

robots. A graphical user interface 

makes camera calibration and 

programming easy and intuitive. By 

visually closing the robot’s position 

loop using a process known as 

visual servoing, our robots can 

achieve placement accuracies 

based on their encoder resolution 

rather than their absolute accuracy. 

Enabled by Precise's integrated 

vision and controls and our robot's 

high resolution position sensors, 

visual servoing permits our low-cost 

robots to be used in applications 

requiring extremely high placement 

accuracies. 

KEY FEATURES 

• Guidance Vision-Guided 

Controller and power supplies 

embedded in robot structure - 

Achieves a dramatic reduction 

in cost and footprint by eliminating 

controller cabinets and robot 

cables. 

• All harnesses, wires and hoses 

are contained inside the robot 

structure - Eliminates flailing 

cables in the workspace. 

• Fully integrated system - Robots 

ship fully assembled. No extra 

cost brackets required to mate 

axes, no harnesses to purchase 

or thread, no controller integration 

required, no external controller 

to mount, no external controller 

cabinets. 

• Pneumatic lines and IO user 

signals are available for 

application use at end effector. 

• Encoders provide excellent 

resolution and repeatability - The 

addition of PreciseVision allows 

these robots to achieve placement 

accuracies at the full resolution of 

the encoders. 

ROBOTS 

PrecisePlace 2210A 


PRECISE ROBOT SERIES 

ROBOTS 

PRECISEPLACE ROBOTS 

This line of Cartesian robots is available in 

two, three or four axes configurations. They 

feature a patented, novel direct drive system. 

This zero-backlash, zero-cogging drive 

requires no maintenance and has far fewer 

parts than other designs incorporating belts, 

cables, ball screws, etc. The extrusion based 

structure allows robots to be custom made 

to fit your workspace. Also available in an ISO 

Class 2 cleanroom version. 

PRECISEFLEX ROBOTS 

These SCARA robots are available in a three or 

four axis configuration. This geometry permits 

these robots to be easily adapted to a number 

of different applications. A vertically mounted 

gripper allows the robot to reach down to 

assemble parts, while a horizontally mounted 

gripper can service a row of equipment that is 

not directly in-line with the robot’s base. 

Extremely efficient station-to-station motions 

reduce cycle times to a minimum. Includes 

Advanced Kinematic License for simple 

Cartesian manual and program control. 

4 


PRECISEPLACE 2000A ROBOTS 

AVAILABLE PRECISEPLACE 2000A CONFIGURATIONS: 

Part number: 

PP2 -MA-A2 0- - - - 

Cleanroom option 

0 - Standard PrecisePlace Robot 

C - PrecisePlace ISO Class 2 Robot 

Number of axes 

20 - Two axes (X/Y) 

21 - Two axes (X/Z) 

30 - Three axes (X/Y/Z) 

40 - Four axes (X/Y/Z/Theta) 

ROBOTS 

Integrated controller 

0 - Guidance 3410A Controller (G3XD-EA-A3410) 



Available X-axis travel 

050 - 500 mm X travel 





100 - 1000 mm X travel 

Available Y-axis travel 

20 - 200 mm Y travel 





Available Z-axis travel 


AVAILABLE PRECISEPLACE 2000A OPTIONS: 

PP20-MA-A0001 - High Resolution Option - Improves X and Y axis encoder resolution to 

+/- 0.002 mm. 

PP20-MA-A0003 - ISO Class 2 Upgrade Option - Upgrades PrecisePlace Robot to ISO 

class 2 cleanroom standards. 


PRECISEPLACE 2000A DIMENSIONS: 

X Stroke + 272 

339.40 

324.40 

295.90 

ROBOTS 

55.90 

24.40 

0 

160.60 

400 

Standard Y Stroke 

Y-Stroke 

Y-Stroke + 60 

X-Stroke 

+265 

150 n + 73.26 

800 

73.26 

0 

6.74 

Y Stroke + 356 

400 

Y-Stroke 

622 

622 Max Z-Stage 

Envelope 

242.02 

116.13 

55.90 

0 

20.37 

33.07 

6 


PRECISEPLACE 2000A SPECIFICATIONS: 

General Specifications 

Range of Motion & Resolution 

X-Axis 

Y-Axis 

Z-Axis 

Optional: Theta Axis 

Resolution 

Repeatability 

Performance and Payload 

Maximum Acceleration 0.6G 

Maximum Speed 

Z Force 

Payload 

Controller 

Interfaces 

General Communications 

Digital I/O Channels 

Analog I/O Channels 

Pneumatic Lines 

Operator Interface 

Programming Interface 

Required Power 

Weight 

Range & Features 

Available X-Axis Travel: 500 mm – 1000 mm 

Available Y-Axis Travel: 200 mm – 600 mm 

Available Z-Axis Travel: 240 mm 

+/- 360 degrees 

+/- 0.008 mm in X, Y and +/- 0.002 mm Z standard 

+/- 0.002 mm in X, Y and Z available with high resolution option 

+/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion 

2,000 mm/sec 

Continuous upwards Z force – 60N 

Continuous downwards Z force – 80N 

PrecisePlace 2300A – 5 kg for Y lengths 400mm 

PrecisePlace 2400A – 3.5 kg for Y lengths 400mm 

AVAILABLE GUIDANCE CONTROLLERS: Guidance 3410A (G3XD-EA-A3410), Guidance 3414A (G3XD-EA-A3414), 

Guidance 3416A (G3XD-EA-A3416) 

RS-232 channel, Ethernet port, remote front panel 

12 optically isolated digital inputs, 8 optically isolated digital outputs included on the X-Axis End Cap Facilities Panel. 

Additional 8 isolated digital inputs, 8 isolated digital outputs provided on Z-axis. All outputs rated at 100 mA maximum per 

channel, except for channel 1 in X-axis end cap, which is rated at 500 mA. Additional remote I/O available via Precise RIO 

modules or 3 rd party MODBUS/TCP devices 

Facilities for 2 analog inputs included on controller and 4 or 6 optional analog outputs optionally available on controller 

Two air lines, each 75 PSI maximum, provided at Z-axis drive and routed internally to fittings on the X-Axis End Cap 

Facilities Panel. 

Web based operator interface supports local or remote control via browser connected to embedded web server 

Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone, modeled 

after Visual Basic.Net), PC controlled over Ethernet using TCP/IP 

Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum 

30 kg typical, will vary with size 

ROBOTS 


PRECISEFLEX 1000 ROBOTS 

AVAILABLE PRECISEFLEX 1000 CONFIGURATIONS: 

ROBOTS 

Number of axes 

Part number: 

30 - Three axes (J1/Z/J3) 

40 - Four axes (J1/Z/J3/J4) 

PF10-MA-01 0- - 

Integrated controller 

0 - Guidance 2310C/2410C Controller 

4 - Guidance 2314B/2414B Controller 

6 - Guidance 2316B/2416B Controller 

Available Z-axis travel 



AVAILABLE PRECISEFLEX 1000 OPTIONS: 

PF14-MA-00001 - Solenoid and IO Harness - Adds solenoids mounted in the outer link, 

connected to the robot’s internal pneumatic lines and wired to the IO provided on the 

outer link. The solenoids are software controlled by actuating the outer link digital 

output signals. 

8 


PRECISEFLEX 1300 DIMENSIONS: 

238.8 

279.6 

181.5 

0 

69.3 

383 

650 

ROBOTS 

R37.5 

±162° 

J3 Rotation 

R119.4 

±168° 

J1 Rotation 

165.27 

789 

300 

Vertical Travel 

389.90 

311.90 

186 

144 

0 

213.90 

131.98 

0 


PRECISEFLEX 1000 SPECIFICATIONS: 

ROBOTS 


Range of Motion & Resolution 

J1 Axis 

Z Axis 

J3 Axis 

Optional: J4/Theta Axis 

Resolution 

Repeatability 

Performance and Payload 

Maximum Acceleration 

Maximum Speed 

Payload 

Z Force 

Controller 

Interfaces 

General Communications 

Digital I/O Channels 


Pneumatic Lines 

Operator Interface 

Programming Interface 

Required Power 

Weight 



Configurations from 300 mm (standard) to 600 mm (optional) 



+/- 0.005 mm in x-y plane 

+/- 0.050 mm, 68-78 degrees F, limited by aluminum structure expansion 

2G with 2 kg payload; 1.3G with 4 kg payload 

1,000 mm/sec with 4 kg payload 

PreciseFlex 1300 – 5 kg 

PreciseFlex 1400 – 4 kg 

Maximum Z down force – 200N 

AVAILABLE GUIDANCE CONTROLLERS: Guidance 2410C (G2XD-EA-C2410), Guidance 2410B (G2XD-EA-B2410) 

Guidance 2414B (G2XD-EA-B2414), Guidance 2416B (G2XD-EA-B2416) 

RS-232 channel, Ethernet port, remote front panel 

12 optically isolated digital inputs, 8 optically isolated digital outputs available on J1-Axis housing Facilities Panel. 

Additional 8 isolated digital inputs, 8 isolated digital outputs provided on the Outer Link. All outputs rated at 100 mA 

maximum per channel, except for channel 1 in Facilities Panel, which is rated at 500 mA. Additional remote I/O available 

via Precise RIO modules or 3 rd party MODBUS/TCP devices 

Two analog inputs optionally available on controller. Four or six analog outputs optionally available on controller. 

Two air lines, each 75 PSI maximum, provided at Outer Link and routed internally to fittings on J1-Axis housing Facilities 

Panel. 

Web based operator interface supports local or remote control via browser connected to embedded web server 



Input range: 90 to 264 VAC single phase, 50-60 Hz, 500 watts maximum 

34 kg typical, will vary with size 

10 


PRECISE ROBOT ACCESSORIES 

Robot Quick Start 

Connector and Cable 

Kit (PX10-EA-00001) 

The robot facilities panel and the IO board near 

the end effector provide several connectors to 

interface to peripheral equipment. This kit allows 

you to quickly begin interfacing to your robot. 

Contains: all mating plugs for the robot facilities 

panel and end effector IO board, RS-232 serial 

cable and crossover Ethernet cable. 

ROBOTS 

E-Stop Button in Enclosure 

(PP10-EA-00002) 

Emergency stop button with dual relays in an 80 mm 

x 70 mm x 65 mm enclosure. Includes eight foot 

cable that plugs into the front panel of Precise 

Robots, Guidance Controllers or Guidance 

Systems. 

Precise Manual Control 

Pendant (PP10-EP-00003) 

Handheld hardware MCP that permits a robot 

to be jogged in joint and Cartesian coordinates. 

Can be carried close to the robot when adequate 

safety precautions have been implemented. 

Includes: LCD with 4 lines of 20 characters for 

displaying system status and robot location, 

E-stop button with dual contact pairs, 3 m cable 

that plugs into the front panel connector of 

Precise Robots, Guidance Controllers or 

Guidance Systems. 


GUIDANCE CONTROLLERS 

4-axis vision-guided motion control 

in the palm of your hand 

CONTROLLERS 

Guidance Controllers feature 

multi-axis coordinated motion, 

integrated servo motor drives, 

network communications, a web 

interface for local/remote support, 

a powerful, yet easy-to-use 

programming language, machine 

vision and more. All of these 

features are available in a design 

small enough to fit in your hand, 

yet powerful enough to drive room 

size gantries. 

Their small size enables these 

controllers to fit inside a robot’s 

structure, eliminating the need for 

controller cabinets, long and 

expensive cables and costly 

connectors. Multiple controllers 

can be connected over Ethernet 

to allow for 32 axes of coordinated 

motion and control of nearly any 

robot configuration. 

Combined with Precise’s powerful 

programming language and 

multi-axis kinematics library, 

Guidance Controllers are ideal for 

a wide range of industries and 

applications. 

12 


KEY FEATURES 

• Powerful motion control in an 

extremely compact package - 

Integrates motion control, motor 

drives, digital/analog/serial IO, 

Ethernet communications and 

optional machine vision. Supports 

up to 4 axes with integrated 

drives and up to six 3rd party 

amplifiers via ±10VDC DAC 

interfaces per controller. 

• Control multi-axis articulated 

machines at a fraction of the 

size and cost of other 

controllers. 

• Multi-axis kinematics for 

Cartesian control of complex 

geometries. 

• Access from anywhere in the 

world - Embedded Web Server 

allows access without the need 

for a local PC. 

• Upload or download applications 

and diagnostic information 

from remote sites - Allows for 

collaborative development and 

fast customer service worldwide. 

• Scalable architecture - A 

distributed control architecture 

implemented over Ethernet 

permits multiple controllers to be 

networked together to control up 

to 32 axes. This results in a 

scalable architecture that allows 

drives to be placed at the point 

of use and can eliminate hundreds 

of wires and large expensive 

controller cabinets. 

• Supports multiple programming 

methods - Includes powerful 

embedded language modeled after 

object-oriented forms of the Basic 

Language such as Visual Basic.Net. 

Can also be configured as a slave to 

a PC application using Ethernet and 

a Windows DLL that permits PC 

based legacy software to be preserved. 

For simple applications, a built-in 

teach-and-repeat method is 

included for performing point-topoint 

motions. 

• Continuous path planning. 

• Integrated machine vision option. 

CONTROLLERS 


GUIDANCE CONTROLLER SERIES 

GUIDANCE 3000/2000 SERIES 

Extremely compact vision-guided motion controllers with up to 4 integrated motor drives and amplifiers up 

to 30 amps peak at 320 VDC. Small enough to fit inside robot structures, yet powerful enough to drive 

room-size gantries. 

Guidance 3000A Guidance 2000B Guidance 2000C 

CONTROLLERS 

Three different controller series (3000A, 2000B, 2000C) are available in Precise’s high power controller 

line. These controllers offer an extensive set of features that are shared across all three controller series 

(please see the following pages for complete spec sheets). The differences between the controller series 

are as follows: 

Motor Drives 

Four or six +/- 10VDC 16-bit DAC 

channels optionally available for 

controlling external amplifiers 

Optional support for analog incremental 

encoders with interpolation for increased 

resolution 

2 or 4 analog +/- 10VDC 12-bit input I/O 

channels. 4 or 6 analog outputs optionally 

available 

GUIDANCE 3000A SERIES GUIDANCE 2000B SERIES GUIDANCE 2000C SERIES 

Up to four integrated motor drives, bus 

voltage 24VDC to 340VDC, up to 30A 

peak/15A RMS/10A stall per motor 



peak/10A RMS/6.5A stall per motor 



peak/10A RMS/6.5A stall per motor 

Yes Yes No 

Yes Yes No 

Yes Yes No 

I2C multi-drop serial communications Yes Yes No 

Additional two drives (for a total of six 

drives) available via Guidance Slave 

Amplifiers 

No No Yes 

GUIDANCE 1000A SERIES 

Designed to significantly reduce costs for lower voltage/power 

applications. Includes up to four integrated 12-48VDC motor 

drives with up to 15A peak/6A RMS/5A stall for channels 1 & 2 

and 10A peak/4A RMS/3.3A stall for channels 3 & 4. Delivers 

Precise’s advanced motion capabilities and integrated vision 

in a smaller package and at a lower price than ever before. 

CONTACT US FOR SPECIAL OEM PRICING 

ON RECOMMENDED MOTORS 

14 


GUIDANCE 3000A CONTROLLERS 

AVAILABLE GUIDANCE 3000A CONFIGURATIONS: 

Part number: 

G3X 

-EA- 

Version 

D - Standard controller 

E - Enhanced controller option 

Integrated Motor Drives 

NO MOTOR DRIVES 

0000 - No motor drives 

10 AMP DRIVES (10A peak, 5.5A RMS, 3.5A stall per channel) 

A341 - Four integrated 10A drives 

A321 - Two integrated 10A drives 




30 AMP DRIVES (30A peak, 15A RMS, 10A stall per channel) 



CONTROLLERS 

Analog Output Channels 

0 - No Dac 

4 - Four Dac’s 

6 - Six Dac’s 

GUIDANCE 3000A DIMENSIONS 

200 mm 

49 mm 

80 mm 

200 mm 

72 mm 

80 mm 

250 mm 

82 mm 

98.8 mm 

No Amp drive 

configuration 

10 or 20 Amp drive 

configuration 

30 Amp drive 

configuration 


GUIDANCE 3000A SPECIFICATIONS: 

CONTROLLERS 


Computational Hardware 

CPU and Dynamic Memory 

Nonvolatile Memory 

Software 

Motion control 

Operator interface 

Programming interface 

Machine vision (optional) 

Motion Control 

Motor Drives 

Position Sensor Interface 

Control signals 

Brake signals 


400Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM 

Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage 

Continuous path following, straight-line and circular motions, torque and velocity control, s-curve profiling. Control of up to 

32 axes via networked distributed control organized into up to 12 multi-axis robots. Distributed control network can consist 

of up to 16 controllers. 

AVAILABLE UPGRADES 

Kinematic Licenses – Control complex machines (including articulated, parallel and redundant axis robots) with simple 

Cartesian control. 

Advanced Kinematic License – For three and four axis robots. 

Complex Kinematic License – For six and unusual geometry robots. 

(Custom or additional Kinematic modules available subject to an NRE charge). 

Conveyor Tracking Software License – Allows controller to be integrated with conveyor belts and permits a robot to 

automatically adapt to varying belt speeds. 

Advanced Controls License – Enables enhanced motion control modes including: high-speed position latching, real time 

trajectory modification, analog output controlled by robot speed, and support for EtherNet/IP. 

Web based operator interface supports local or remote control via browser connected to embedded web server. 



Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful, 

patented Object Locator finds parts in any orientation and at different scales within milliseconds. 

Up to four integrated motor drives compatible with a wide range of motors. 

10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel. 

20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel. 

30A option: 30A peak per channel, 15A RMS, 10A stall per channel. 

Four, two or no integrated drives can be provided with the controller. 

Maximum electrical power per motor: Amplifiers up to 30 amps peak at 320 VDC. 

Four differential digital encoder interfaces and four configurable single-ended digital encoder interfaces. Support for 

selected absolute encoders (may require “enhanced” controller option). Support for analog incremental encoders with 

interpolation for increased resolution (requires “enhanced” controller option). 

Configurable limit stop, home, and hall-effect signals. Signal lines shared among several functions. 

Up to 1A at 24V available for releasing motor brakes. 

3 rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers 

Communication Interfaces 

General communications 

Digital input channels 

Digital output channels 


Multi-Drop Serial I/O 

Non-user accessible IO 

Required Low Voltage, 

Logic Power 

RS-232 port with hardware flow control, two 10/100 Mbps Ethernet ports, remote front panel interface with second RS-232 

port (no hardware flow control), compliant with IEC Category 3 safety standards. 

12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC for 

logic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or 

3 rd party MODBUS/TCP devices. 

8 general purpose optically isolated outputs, individually configurable as sinking or sourcing. 24 VDC maximum pull up if 

sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for channels 2-7, 500 mA maximum for channel 1. 

Additional remote I/O available via Precise RIO modules or 3 rd party MODBUS/TCP devices. 

Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs. 

RS-485 multi-drop serial communications 

I2C multi-drop serial communications 

24 VDC ± 5% power required for logic and I/O: 2.7A minimum, 4A, recommended for typical use of digital I/O. 1A 

additional required for 2KW PrecisePower Intelligent Motor Power Supply contactors. 

16 


GUIDANCE 2000B CONTROLLERS 

AVAILABLE GUIDANCE 2000B CONFIGURATIONS: 

Part number: 

G2X 

-EA- 

Version 





B241 - Four integrated 10A drives 


B242 - Four integrated 20A drives 

CONTROLLERS 

Analog Output Channels 

0 - No Dac 

4 - Four Dac’s 

6 - Six Dac’s 

GUIDANCE 2000B DIMENSIONS: 

224 mm 

56 mm 

138 mm 


GUIDANCE 2000B SPECIFICATIONS: 

CONTROLLERS 





Software 






Motor Drives 



Brake signals 
















trajectory modification, analog output controlled by robot speed, and support for EtherNet/IP. 









Four drives can be provided with the controller. 



selected absolute encoders (may require “enhanced” controller option). Support for analog incremental encoders with 

interpolation for increased resolution (requires “enhanced” controller option). 



3 rd party amplifiers (optional) Four or six +/- 10VDC 16-bit DAC channels optionally available for controlling external amplifiers 







Non-user accessible IO 


Logic Power 









Four or two analog +/-10VDC 12-bit inputs included. Available: Six, four or no 16-bit analog outputs. 


I2C multi-drop serial communications 



18 


GUIDANCE 2000C CONTROLLERS 

AVAILABLE GUIDANCE 2000C CONFIGURATIONS: 

Part number: 

G2X -EA- 0 

Version 





C241 - Four integrated 10A drives 


C242 - Four integrated 20A drives 

CONTROLLERS 

GUIDANCE 2000C DIMENSIONS: 

224 mm 

46 mm 

138 mm 

OPTIONAL SIX-AXIS CONTROLLER CONFIGURATIONS: 

Guidance 2600C Controller - Consists of Enhanced Guidance 

2000C Controller plus a Guidance 0200C Slave Amplifier. 

Guidance 0200C Slave Amplifier adds two additional drives to 

Enhanced Guidance 2000C Controllers. 

AVAILABLE CONFIGURATIONS 

G2XE-EA-C2611 - Four integrated 10A and two slave 10A drives 





GUIDANCE 2000C SPECIFICATIONS: 

CONTROLLERS 





Software 






Motor Drives 
















trajectory modification, and support for EtherNet/IP. 









Four drives can be provided with the controller. 




Brake signals 







Logic Power 

Additional 10A/20A two drives (for a total of six drives) available via Guidance Slave Amplifiers (requires “enhanced” 

controller option). 


selected absolute encoders (may require “enhanced” controller option). 














20 


GUIDANCE 1000A CONTROLLERS 

AVAILABLE GUIDANCE 1000A CONFIGURATIONS: 

Part number: 

G1X 

-EA- 

Version 

0 - Standard controller 

A - Enhanced controller option 


15 AMP DRIVES (15A peak, 6A RMS, 5A stall) 

10 AMP DRIVES (10A peak, 4A RMS, 3.3A stall) 

A140 - Four integrated drives. Drives 1&2 - 15A drives; Drives 3&4 - 10A drives 

CONTROLLERS 


0 - Standard 

GUIDANCE 1000A DIMENSIONS 

150 mm 

38 mm 

87 mm 


GUIDANCE 1000A SPECIFICATIONS: 

CONTROLLERS 





Software 






Motor Drives 








Required Low Voltage, Logic Power 


400 Mhz high performance, low-power CPU with 16MB or 32MB of dynamic RAM. 

Flash disk with 16MB or 32MB of storage for OS, firmware and user program and data storage 







Advanced Kinematic License – For three and four-axis robots. 

Complex Kinematic License – For six-axis and unusual geometry robots. 





trajectory modification and support for EtherNet/IP. 



after Visual Basic.Net), PC/Unix/Linux controlled over Ethernet using TCP/IP 



Up to four integrated motor drives: Drives 1&2- 16.5A peak/6A RMS per drive; Drives 3&4- 10.3A peak/6A RMS per drive 

Bus voltage & total power for all drives: 720W @ 48V, 180W @ 12V total with proper heat sinking 

Four differential digital encoder interfaces. Support for several types of absolute encoders (may require “enhanced” 

controller option). 

Brake signals. (Up to 1A at 24V available for releasing motor brakes.) 

RS-232 port with hardware flow control, second RS-232 port (without hardware flow control) for manual control pendant or 

general communication. Dual E-Stop interfaces. Two 10/100 Mbps Ethernet ports. 

4 general purpose optically isolated digital inputs, configurable as sinking or sourcing. 5 VDC to 24 VDC for logic high if 

sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or 3 rd party 

MODBUS/TCP devices or 3 rd party EtherNet/IP devices. 

4 general purpose optically isolated digital outputs, individually configurable as sinking or sourcing. 24 VDC maximum pull 

up if sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel. Additional remote I/O available via Precise 

RIO modules or 3 rd party MODBUS/TCP devices or 3 rd party EtherNet/IP devices. 

RS-485 multi-drop serial communications. 

24 +/- 5% VDC power required for logic and I/O: 2A minimum, 4A recommended for systems with remote IO, Ethernet 

cameras or several motors with brakes. 

22 


CONTROLLER ACCESSORIES 

Guidance Quick Start 

Connector and Cable Kits 

(G3X0-EA-00002 - for G3000/2000) 

(G1X0-EA-00001 - for G1000) 

Guidance Controllers utilize several different types of 

connectors and cables to interface to motors, encoders, 

power supplies and peripheral equipment. These kits allow 

you to quickly begin interfacing your controller. Contains: 

all mating plugs for controller connectors (motor, encoder, 

DIO, analog input, DAC, front panel), RS-232 cable, 

Ethernet cables. 

CONTROLLERS 

Guidance Controller Power 

Harnesses 

(PS10-EA-W0001 - for G3000 with 500W PS) 




Motor and 24 VDC power harness that interconnects the 

Guidance Controller with our standard 24 VDC power supply 

and a PrecisePower motor power supply. The compact 

harness greatly simplifies the process of connecting the 

power supplies to your controller and the motor power 

enable signal. Also includes AC power cord. 

E-Stop Button in Enclosure 

(PP10-EA-00002) 

Emergency stop button with dual relays in an 80 mm 

x 70 mm x 65 mm enclosure. Includes eight foot cable 

that plugs into the front panel connector of Precise 

Robots, Guidance Controllers or Guidance Systems. 


Precise Manual Control 

Pendant (PP10-EP-00003) 

CONTROLLERS 

Handheld hardware MCP that permits a robot 

to be jogged in joint and Cartesian coordinates. 

Can be carried close to the robot when adequate 

safety precautions have been implemented. 

Includes: LCD with 4 lines of 20 characters for 

displaying system status and robot location, 

E-stop button with dual contact pairs, 3 m cable 

that plugs into the front panel connector of 

Precise Robots, Guidance Controllers or 

Guidance Systems. 

24 VDC Power Supply 

(PS10-EP-00125) 

Supplies logic power for controller and IO. Also 

supplies power for some remote IO or Ethernet 

cameras. Recommended for all users without 

logic power already available. 


Input voltage 

Input frequency 

Output voltage 

Output power 

Operating temperature 

Storage temperature 

Dimensions 


90-264 VAC 

47-63 Hz 

24 VDC 

125 watts 

0-49 deg C 

-20-85 deg C 

127 mm x 76.2 mm x 34 mm 

24 


PRECISEPOWER SUPPLIES 

Intelligent Motor Power Supplies 

PrecisePower Intelligent Motor Power 

Supplies interface to Guidance 

3000/2000 controllers and provide the 

high voltage DC power required to 

drive a wide range of motors. 

Recommended for all users that 

require a high voltage motor power 

source. 

PrecisePower 2000 

CONTROLLERS 

KEY FEATURES 

• Supply 165VDC to 340VDC 

depending upon AC input voltage 

• Integral relays for enabling and 

disabling motor power via 

commands from the controller 

• Large value output filter capacitors 

to store deceleration energy for use 

when power is needed 

• Automatic shut-down if switched to 

a short or severely over-loaded 

(PrecisePower 2000 only) 

• Ability to absorb line spikes 

• Built-in fuses 

PrecisePower 300 


PRECISEPOWER SPECIFICATIONS: 

CONTROLLERS 

General 

Specifications PRECISEPOWER 300 

(PS1D-EA-00300) 


PRECISEPOWER 2000 

(PS10-EA-02000) 

Input voltage 90-264VAC Single phase 90-240VAC single phase or three phase 

Input frequency 50-60 Hz 50-60 Hz 

Input inrush 

current 

Input current at 

240VAC single 

phase & 2000 DC 

watts output 

Output power 

Output voltage 

6.8 A at 240 VAC in 6.7A at 240VAC input 

-- 12.4A RMS, 30A peak 

300 watts RMS @ 120VAC 

600 watts RMS @ 240VAC 

DC no load = (1.41 X VAC RMS input)– 2 Volts 

DC full load @ 300W = (DC no load) X 0.96 

DC full load @ 600W = (DC no load) X 0.93 

Nominal range of 167 VDC to 337 VDC 

% Regulation -- 5 to 7% 

Cat 3 

No, single relay standard 

MAXIMUM 

1000 Watts free air @ 240VAC single phase input 

2000 Watts forced air @ 240VAC single phase input 

2100 Watts forced air @ 208VAC 3 phase input 

3400 Watts forced air @ 240VAC 3 phase input 

DC no load = (1.41 X VAC RMS phase-to-phase input) - 2 Volts 

DC full load single phase = (DC no load) X 0.93 

DC full load three phase = (DC no load) X 0.97 

Yes, when used with Precise Automation software and I2C 

communication, dual relay standard 

Fault detection -- Output short circuit, output overload, missing third AC phase 

Dimensions 135 mm x 76 mm x 60 mm 270 mm x 105 mm x 76 mm 

26 


MOTION CONTROL SOFTWARE 

Guidance Programming Language - 

included with every Guidance Controller 

The Guidance Programming Language 

(GPL) is a full-featured language for 

programming Guidance Controllers. It 

is modeled after object-oriented forms 

of the Basic Language such as Visual 

Basic.Net and includes built-in support 

for motion control and machine vision. 

This results in a language that is simple 

to use and familiar to many application 

developers, but is still equipped with 

modern features that promote good 

programming practices. 

CONTROLLERS 

GPL can easily control a wide range of 

devices from simple, single axis 

mechanisms to complex systems with 

multiple robots operating cooperatively. 

The language’s built-in library of robot 

geometries (kinematics) makes it easy to 

control complex mechanisms in simple 

Cartesian coordinates. Motion control 

facilities include: blending of joint, 

Cartesian and circular interpolated 

motions (”continuous path”); s-curve 

profiles; base and tool offsets; 

mathematics for manipulating robot and 

part positions and orientations; and 

frames of reference including moving 

reference frames for conveyor tracking. 

GPL includes extensive Networking and 

IO capabilities plus the runtime error 

handling required to implement robust 

automation applications. 

KEY FEATURES 

• Powerful on board programming 

language for embedded applications 

• Object oriented language - contains data 

classes and objects, math functions and 

control structures modeled after Visual 

Basic.Net 

• Motion features - continuous path, robot 

kinematics, pallet and moving reference 

frames, velocity/torque control, s-curve 

profiling, real-time path generation 

• Integrated configuration database and 

datalogger - stores all key controller 

setup and runtime data and permits 

logging of virtually any parameter. 

Supports tuning and local or remote 

diagnostic of motion system, digital I/O 

and other key interfaces. 



CONTROLLERS 

• Kinematic Licenses - Control complex machines including articulated, parallel and redundant axis 

robots with simple Cartesian manual and program control (Kinematics for one to four axis Cartesian 

robots included with GPL). 

• Advanced Kinematic License (GPL0-SA-01101) - For 3 and 4 axis robots such as SCARA or 

Semiconductor Wafer Handler robots. (Included with PreciseFlex robots.) 

• Complex Kinematic License (GPL0-SA-01102) - For 6 axis and unusual robot geometries such 

as the PUMA and Delta robots. 

• Conveyor Tracking Software License (GPL0-SA-00100) - Permits a robot to pick, place or track parts 

on a variable speed conveyor belt. 

• Advanced Controls License (GPL0-SA-00400) - Adds support for high-speed position latching, realtime 

trajectory modification, analog output controlled by robot speed, and EtherNet/IP communication. 

SAMPLE GPL PROGRAM 

Performs a traditional pick-and-place operation 10 times, opening and closing the gripper as appropriate. 

Begins and ends by moving the robot to a safe location. 

1 ‘Created: 3/29/2007 7:37:00 AM 

2 Module GPL 

3 Public Sub MAIN() 

4 Dim ii As Integer 

5 Const gripper_on As Integer = 20001 ’ Gripper DIO signal 

6 

7 Robot.Attached = 1 ‘ Get control of the robot 

8 Signal.DIO(gripper_on) = False ’ Turn off gripper 

9 Move.Loc (safe_position, slow_and_stop) 

10 For ii = 1 To 10 

11 ‘ Go get the part 

12 Move.Approach (pickup_position, fast_motion) 

13 Move.Loc (pickup_position, slow_and_stop) 

14 Move.WaitForEOM ’ Synch with robot motion 

15 Signal.DIO (gripper_on) = True 

16 ‘ Go put the part down 

17 Move.Approach (pickup_position, slow_and_go) 

18 Move.Approach (placement_position, fast_motion) 

19 Move.Loc (placement_position, slow_and_stop) 

20 Move.WaitForEOM ’ Synch with robot motion 

21 Signal.DIO (gripper_on) = False 

22 

23 Move.Approach (placement_position, slow_and_go) 

24 

25 Next ii 

26 Move.Loc (safe_position, slow_and_stop) 

27 End Sub 

28 End Module 

28 


GUIDANCE SYSTEM D4/D6 

Complete 4 or 6-axis vision-guided motion 

control system for DENSO robots 

The Guidance System D4/D6 is a complete 

motion control system for customers who 

desire an out of the box, ready-to-use 

solution. It provides a convenient alternative 

to purchasing, mounting and wiring all of the 

motion control components necessary to 

control a 3rd party robotic mechanism. 

The system features the Guidance 2000C 

Series Motion Controller and delivers all of the 

outstanding features of Precise Automation’s 

control products. The controller is integrated 

to motor and logic power supplies, fans and 

filters and a motor/encoder connector that 

mates directly to standard DENSO robot cables. 

CONTROLLERS 

This hardware is combined with Precise's 

modern, full-featured programming language, 

multi-axis kinematic library, and optional vision 

system. So, this system integrates easily with 

third party mechanisms such as the DENSO 

Robotics HS-45552G SCARA or VP-6242G 6-Axis 

Articulated Robots. The Guidance System 

enables you to deliver a superior product to 

your customers by improving your robot's 

flexibility and space requirements. 

KEY FEATURES 

• Complete 4 or 6-axis vision-guided motion control 

system in a compact enclosure - includes Precise 

Guidance Controller, motor and logic power 

supplies, cooling system, and a plug compatible 

connector for standard DENSO robot cables. 

• Compact design - mounts easily under a workstation 

or other locations where space is a premium. Small 

size allows it be attached very close to the 

mechanism, thus eliminating extra control cabinets 

and reducing cable lengths. 

• Amplifiers and integrated motor power supply drive 

DENSO 4-axis SCARA, 4-axis Cartesian or 6-axis 

Articulated mechanisms to their full capability. 


AVAILABLE GUIDANCE SYSTEM CONFIGURATIONS: 

Part number: 

G2SD-MA-C 

Hardware package 

CONTROLLERS 

Guidance System D4 (GS-D4) - four axis package: includes Enhanced Guidance 

2000 Controller, PrecisePower 300 and 24VDC power supply. 

2410 - Four 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) 

2420 - Four 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) 

Guidance System D6 (GS-D6) - six axis package: includes Enhanced Guidance 

2000 Controller, PrecisePower 300 and 24VDC power supply. 

2611 - Six 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) 

2612 - Four 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) and 

two 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) 

2621 - Two 10 Amp drives (10A peak, 5.5 RMS, 3.5A stall per channel) and 

four 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) 

2622 - Six 20 Amp drives (20A peak, 9.5 RMS, 6.5A stall per channel) 

PrecisePower 

300 

Auxiliary 

I/O Board 

24 VDC 

Logic PS 

Guidance 0200C 

Slave Amplifier 

(GS-D6 only) 

Valve/Brake 

Control Board 

Guidance 2000C 

Controller 

30 


GUIDANCE SYSTEM-D4/D6 SPECIFICATIONS: 





Software 






Motor Drives 


Auxiliary Position Sensor Interface 





Auxiliary Digital IO 

Valve Control Output 

Analog I/O Channels (Optional) 

Input AC 

Input Voltage 

Frequency 

Dimensions* 


400 Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM. 

Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage. 

Extensive robotic and low-level motion control available: Continuous path following, s-curve profiling, straight-line and 

circular motions, torque and velocity control, control of up to 32 axes via networked distributed control organized into up to 

12 multi-axis robots (distributed control network can consist of up to 16 controllers), optional conveyor belt tracing, optional 

kinematic models for various robot geometries, optional Advanced Control License enables enhanced motion control 

modes including: high speed position latching, real-time trajectory modification, analog output controlled by robot speed 

and support for EtherNet/IP. 


Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone), PC 

controlled over Ethernet using TCP/IP 



Up to four (GS-D4) or six (GS-D6) motor drives (5th and 6th motor drives provided by Guidance 0200C Slave Amplifiers): 



Motor bus voltage: 320 VDC 

Total power for all drives: 600 watts RMS 

DENSO 4-axis SCARA or Cartesian (GS-D4) or DENSO 6-axis Articulated mechanism (GS-D6) connects to system using 

standard DENSO robot cable. 

Built-in interface to special DENSO absolute encoders. 

Two Auxiliary Encoder Interfaces (optional) that each contain: One differential incremental encoder input, one singleended 

incremental encoder interface and optional support for selected absolute encoders. 

Optional support for analog encoders with interpolation (GS-D4 only) 

RS-232 port with hardware flow control. Remote front panel interface with second RS-232 port (no hardware flow control), 

compliant with IEC Category 3 safety standards. Two 10/100 Mbps Ethernet ports. 



3 rd party MODBUS/TCP devices or EtherNet/IP. 

8 general purpose optically isolated outputs, individually configurable as sinking or sourcing, signals turn on in 2 usec and 

turn off in 40 usec. 24 VDC maximum pull up if sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for 

channels 2-7, 500 mA maximum for channel 1. Additional remote I/O available via Precise RIO modules or 3 rd party 

MODBUS/TCP devices or EtherNet/IP. 

Additional DIO and power typically wired to robot to control gripper and/or end-of-arm tooling. 8 sinking isolated inputs, 4 

msec scan time. 8 sourcing isolated outputs, 4 msec scan time. Power supply (optional) for powering 12VDC Ethernet 

camera and 9VDC ring light, controllable via software. 

Last two standard digital output channels converted as follows: 24VDC output for 0.5 msec. 3.9VDC output for duration of 

“on” time. 

2 or 4 analog +/- 10 VDC 12-bit inputs (GS-D4 only) 

90 to 264 VAC single-phase. However, some mechanism may require 220 VAC single-phase to achieve maximum speed 

and acceleration. 

Frequency: 50-60 Hz 

GS-D4 – 246.7 mm (W) x 320.1 mm (H) x 190 mm (D), 4.08 kg 

GS-D6 – 294.7 mm (W) x 320.1 mm (H) x 215 mm (D) 

*The depth includes approximately 40 mm for the protrusion of the DENSO motor plug. If rubber feet are attached, height 

will increase by approximately 13 mm 

CONTROLLERS 


REMOTE IO (RIO) MODULE 

Additional IO for your Precise Robot, 

Guidance Controller or Guidance System 

REMOTE IO 

Expand the capabilities of your Precise Robot, Guidance 

Controller or Guidance System with Precise’s Remote IO 

(RIO) Module. The RIO features additional optically 

isolated digital input and output signals, analog inputs and 

serial ports in an easy to use package. 

KEY FEATURES 

• Ethernet based - can be placed anywhere within the 

controller’s local Ethernet network 

• Supports MODBUS/TCP 

• Simple configuration and use - digital inputs and outputs 

accessed in the same manner as local I/O from any 

Guidance Controller 

• Up to 4 RIO modules can be connected to a single controller 

AVAILABLE RIO MODULE CONFIGURATIONS: 

Version 

Part number: 

RIO 

-EA-0000 

1 - Standard RIO Module (32 digital inputs, 32 digital outputs, 1 RS-232 serial line) 

A - Enhanced RIO Module (32 digital inputs, 32 digital outputs, 4 analog inputs, 2 RS-232 serial 

lines, 1 RS-422 serial line) - Special orders only, longer lead times and MOQ applies 

Digital Outputs 

1 - Sinking outputs 

2 - Sourcing outputs - Special orders only, longer lead times and MOQ applies 

32 


RIO MODULE SPECIFICATIONS: 


Interface to Guidance Controller 

Communications interface 

Communications protocol 

Scanning rate 

Number of units 

Input and Output Interaces 

Ethernet port 

Serial ports 



Analog I/O channels 

Required Low Voltage Power 

Size 

Special Order Options 


Interfaces via 10/100 Mbps Ethernet. Can be located anywhere within the local network of the Guidance Controller. 

Supports the MODBUS/TCP communications protocol. Uses a variation of this protocol to interface to Guidance 

Controllers. Protocol is compatible with all standard Ethernet TCP/IP networks. Can be configured as a slave to standard 

MODBUS/TCP masters (cannot communicate with Guidance Controller in this mode). 

Scanning rates for changes in inputs configurable. New input data sent to controller when values changed. New output 

data received from controller when values changed. Typical scanning rates are 5-10 milliseconds. 

Up to 4 RIO’s can be simultaneously interfaced to a Guidance Controller. 

Standard and enhanced RIO: One 10/100 Mbps Ethernet port 

Standard RIO: One RS-232 port with hardware flow control 

Enhanced RIO: Two RS-232 ports with hardware flow control, one RS-422/485 port 

32 optically isolated digital inputs 

Configurable in banks of 8 as sinking or sourcing 

5 VDC to 24 VDC for logic high if sinking 

24 VDC supplied for logic high if sourcing 

32 optically isolated digital outputs 

Must be purchased as sinking or sourcing 

24 VDC maximum pull up if sinking 

24 VDC supplied if sourcing 

100 mA maximum per channel 

Standard RIO: None 

Enhanced RIO: 4 analog input channels, +/- 10 VDC, 12 bit ADC 

24 VDC required for logic and input/output functions 

Standard RIO: 0.4A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.6A. 

Enhanced RIO: 0.4A minimum for logic plus 3.2A maximum if sourcing all digital outputs for a total of 3.6A. 

75 mm (W) x 195 mm (L) x 28 mm (H) 

Both the Enhanced RIO and sourcing output signals are special order items. As such, the lead time for these options can 

be quite long and minimum order quantity requirements apply. 

REMOTE IO 


GUIDANCE DEVELOPMENT SUITE 

Development software 

DEVELOPER 

TOOLS 

The Guidance Development Suite (GDS0-SA-00010) 

is a collection of programs that execute on a 

Windows PC and supplement the real-time 

capabilities of the Guidance Controller. This 

suite includes applications for: setting the 

Ethernet address of controllers; configuring and 

tuning controllers; creating and editing GPL 

programs; datalogging controller parameters to 

assisting in diagnosing problems and tuning 

systems; and loading pre-developed web-based 

robot applications. 

PRECISE DATALOGGER 

VIEWER 

Viewer displays real-time data captured using the 

integrated Database data logging capability 

embedded in all Guidance Controllers. 

KEY FEATURES 

• Graphical ("oscilloscope") displays - once 

the data has been captured and transferred 

back to the PC either locally or remotely via a 

controller's web interface, the Viewer is a very 

convenient tool for visualizing the information. 

• Data analysis - collected data can be 

selectively displayed for comparison; graphical 

data can be zoomed up to provide more detail; 

results can be used for tuning systems and 

diagnosing hardware and programming errors. 

GUIDANCE DEVELOPMENT 

ENVIRONMENT (GDE) 

GDE is a complete software development 

environment that supports on-line and off-line 

development of Guidance Programming 

Language (GPL) projects and on-line 

debugging. 

KEY FEATURES 

• Create and edit GPL projects. 

• Simple property pages - record and alter 

global Location and performance Profile 

objects that can be referenced throughout a 

GPL project. 

• Manage projects - use simple drag-on-drop 

techniques to load software into a controller 

or retrieve files for storage on a PC. 

• Execute and debug projects - set break 

points, single step and view real-time variable 

values. 

• Multiple threads - control execution and view 

subroutine stack for multiple threads. 

• Robot Control - enable and disable the 

robot's motor power, home the robot, monitor 

errors, and globally slow down the robot for 

testing. 

GUIDANCE DISCOVERY 

Sets a Guidance Controller’s Ethernet IP 

34 


address from a PC to enable network 

communication. 

KEY FEATURES 

• Detects all controllers - displays the IP 

address of any Guidance Controller connected 

to the local network independent of the IP 

address of the PC and the controller. 

• Sets controller’s address - permits the IP 

address and subnet mask for any detected 

controller to be set to new values. 

• Free application - can be used whether or not 

a license for GDS has been installed. 

PRECISE CONFIGURATION 

UTILITY 

accelerations; etc. 

• Simplified specification - includes many aids 

that simplify setup: automatic determination of 

the number of motor poles; graphical aids for 

current and PID loop tuning; tests to verify 

operation of encoder index signals; etc. 

• Quick touch-up - can be used to completely 

configure a new mechanism or modify selected 

parameters for a mechanism that has already 

been configured. 

GUIDANCE WEB 

APPLICATION 

INSTALLATION WIZARD 

Loads packaged GPL projects and any 

associated web pages into a controller’s flash 

disk. 

DEVELOPER 

TOOLS 

Provides step-by-step procedures for setting up a 

Guidance Controller that is being integrated to a 

mechanism for the first time. 

KEY FEATURES 

• Step-by-step procedures - includes wizards 

for setting all parameters to customize a controller 

for a typical robot: type of kinematic model needed; 

number and type of motors; current and servo loop 

tuning; axis stop limits; axis speeds and 

KEY FEATURES 

• Simplified loading - for packaged applications 

like Guidance Dispense, loads program and 

any web files into standard folders on a 

controller’s flash disk 

• Simplified configuration - can setup controller 

to automatically load and execute the GPL 

application and web pages whenever the 

controller is restarted. 

• Free application - can be used whether or 

not a license for GDS has been installed 

License usage - Each copy of the Guidance Development Suite is licensed for use on a single PC. 

However, one license can be used to interact with an unlimited number of robots or controllers. Customers 

with multiple controllers or robots do not have to purchase additional copies unless they use the Guidance 

Development Suite on multiple PC’s. 


DEVELOPER 

TOOLS 

GDE SCREENSHOT: 

PROJECT MANAGER 

Displays and manages projects 

that are loaded in the controller’s 

memory or flash disk or on 

the PC’s hard drive. Projects 

can be copied or moved by 

dragging and dropping. 

MAIN TOOLBAR 

Set bookmarks 

and break points. 

Create, save, 

compile and 

execute projects. 

ROBOT CONTROL 

Displays the controller's 

system messages and state. 

Allows robot power to be 

enabled and disabled and the 

robot speed to be reduced for 

testing. 

GPL OUTPUT 

Displays controller’s text 

output including 

compilation messages 

and output from GPL 

projects. 

EDITOR/DEBUGGER 

Main window for 

editing and debugging 

procedures and 

global motion data. 

OBJECT BROWSER 

Provides a list of the methods 

and properties for each GPL 

Class. Automatically displays 

abbreviated help information as 

text is entered. 

36 


THIS PAGE INTENTIONALLY 

LEFT BLANK 


PRECISEVISION 

Powerful, easy-to-use vision software 

PreciseVision Software (PVS0-SA-00010) works 

seamlessly with any Guidance Controller 

including those in Precise robots. PreciseVision’s 

built-in interface to Guidance Controllers 

makes incorporating vision results into a motion 

application extremely simple and enables the 

robot to respond almost instantly to new vision 

information. In fact, PreciseVision works so well 

with motion, a Precise vision guided motion 

control program can fit on a single piece of paper. 

VISION 

PreciseVision provides a simple solution for 

applications requiring locating parts, correcting 

for manufacturing tolerances, inspecting parts 

or visually closing a position loop (visual 

servoing). It features an easy-to-use graphical 

programming interface, patented object 

locator, visual inspection tools, visual 

measurement tools and more. 

KEY FEATURES 

• 2D machine vision software package - can 

execute on a PC connected to a Guidance 

Controller by Etherent or (in the future) in the 

Guidance series motion controllers. 

• Patented Object “Finder” - most sophisticated 

and general tool in the toolkit. Used for finding 

and identifying objects regardless of their 

position, orientation or size in the field of view, 

based on a single picture taken of the object. 

Used for part feeding, fiducial finding, and 

general object and pattern recognition. 

• Powerful library of vision operators - for 

performing measurement and inspection 

functions. Used by a vision application 

program to measure parts for quality control, 

locating features or precision alignment 

purposes. 

• Easy-to-use graphical programming 

interface - vision tools are taught by draggingand-dropping 

them onto a camera image. Tool 

parameters are presented in a familiar object 

property table. Multiple tools can be easily 

chained together for more complex processes. 

• Simple storage and replaying of vision 

images - facilitates analyzing problem images 

and remotely duplicating image processing. 

• Supports GigE and USB cameras - 

PreciseVision interfaces to DALSA Genie GigE 

cameras that communicate via a 10/100/1000 

Ethernet connection, IDS Imaging uEye 

cameras that communicate via a USB 2.0 

connection and other 3rd party USB cameras 

(Precise is not able to provide support for 3rd 

party USB cameras that have not been qualified) 

• Both economical 640 by 480 pixel resolution 

and megapixel grayscale and color cameras 

are supported 

38 


PRECISEVISION SPECIFICATIONS: 



Visual tools 

Object identification and 

locating 

Feature measurement 

Inspection 

Computed results 

Image Acquisition 

Processing 

Tool linking 

Features 

System Requirements 

Cameras 


Windows PC application that enables vision tools to be graphically positioned on camera images. Tools can be chained together 

to produce more complex vision processing. 

Patented Object “Finder” Tool – locates and identifies translated, rotated and scaled objects in grayscale images in a matter of 

milliseconds. Extremely easy to use for objects with both simple and complex 2D grayscale features. 

Blob Finder – Locates isolated regions in binary images and returns the region’s statistics. Provides an extremely fast alternative 

to the Finder for simple binary images 

Line Fitter Tool – Provides an easy method for locating linear edges in the camera image. This tool can be used together with 

others to refine the position or orientation of an object. 

Arc Fitter Tool – Locates the center and/or the radius of a circle or an arc. 

Edge Locator Tool – Searches for edges along a linear path through an image. 

Rotating Edge Locator Tool – Arc version of the Edge Locator Tool. 

Pixel Counting Tool – Returns statistical data on the grayscale or binary pixels within a rectangular region of an image. 

Histogrammer Tool – Returns statistics on the distribution of grayscale values within a region of an image. 

Pixel Color Window Tool - Tests if the color of a region matches a trained color. 

Clear Grip Tool – Defines a bounding area that can be used to represent robotic gripper fingers. Tests to ensure that the regions 

for the fingers are free of objects. 

Computed “Feature” Tools – A group of tools that can compute geometric relationships between the results of other tools, e.g. 

the point of intersection of two lines, the line represented by two points, etc. 

Tool Filter – Applies a filter to a tool that returns multiple results, e.g. the Finder, and returns only the results that satisfy specific 

criteria. 

Acquire Tool – Performs the basic image acquisition function from a camera. This tool allows the user to specify which physical 

camera to utilize and to easily store images to a disk file for later replay. 

Motion Sensing Tool – Indicates when all objects in a rectangular region are stationary. 

Convolving Tool – Applies a number of low-level filtering operators to a region of an image, e.g. low pass, Laplacian, Gaussian, 

sharpening, etc. 

Morphology Tool – Modifies all pixels in an image region based on the value of neighboring pixels. Typical operations include 

image “dilation” and “erosion”. 

One of the most powerful features of PreciseVision is the ability to link one vision tool to another. This provides the required 

features to build up custom vision algorithms without the need to write code. 

Built-in robot-to-vision calibration procedures for many configurations including stationary and arm-mounted cameras; gain/offset 

configuration from within a vision process. 

Windows XP, 512 MB RAM, 2.3 Pentium 4 with MMX, 1GB Hard Disk Space, Gigabit Ethernet (recommend and required for 

certain cameras), otherwise 100Mb Ethernet. 

Directly interfaces to DALSA GigE Ethernet Cameras or IDS uEye USB Cameras. Includes support for standard 640x480 and 

higher resolution, grayscale and color cameras. 

VISION 


AVAILABLE PRECISEVISION OPTIONS: 

PVS0-SA-0001M - PreciseVision Multi-Instance PC Software License - Enhanced 

version of PreciseVision PC that permits multiple instances of the vision software to 

execute concurrently on a single PC. Each instance can execute its own set of vision 

processes and can be interfaced to a different robot and to a different set of cameras. 

SAMPLE VISION GUIDED MOTION CONTROL PROGRAM 

On command from the robot program, a picture is taken and the image is analyzed. If a specific vision tool 

finds a part, the robot moves above the part, reaches down to touch the part, moves back up and finally 

moves to a safe location. 

VISION 

1 Public Sub MAIN 

2 Dim vis As New Vision 

3 Dim vResult As New VisResult 

4 

5 Robot.Attached = 1 

6 Move.Loc (safe, vsProfile) 

7 

8 vis.Process(”Main”) ‘ Run vision process “Main” 

9 If vis.ResultCount(”part1”) = 0 Then 

10 Console.Writeline(”Vision object not found”) 

11 Goto done 

12 End If 

13 vResult = vis.Result (”part1”, 1) ’ Get results 

14 

15 ‘ Create a reference frame object and set it 

16 ’ equal to the returned vision location 

17 Dim vsRefFrame As New RefFrame 

18 vsRefFrame.Loc.PosWrtRef = vResult.Loc 

19 

20 ‘ Pickup point is relative to new frame 

21 vsRelPoint.RefFrame = vsRefFrame 

22 

23 Move.Approach (vsRelPoint, vsProfile) 

24 Move.Loc (vsRelPoint, vsProfile) 

25 Move.Approach (vsRelPoint, vsProfile) 

26 

27 ’ Move back to safe location 

28 Move.Loc (safe, vsProfile) 

29 

30 done: 

31 End Sub 

40 


PRECISEVISION SCREENSHOT: 

PROCESS MANAGER 

Displays and permits editing 

of all of the Vision Processes 

defined within the Vision 

Project. To add a new tool, 

simply drag and drop it on a 

process name. 

VISION CAMERA DISPLAY 

Displays camera output (live 

image or snapshot). Tool Results 

graphics are overlayed on top of 

the image. To reposition or resize 

a tool, simply drag its handles in 

the window 

PROPERTY DISPLAY 

Whenever a copy of a 

vision tool is selected in 

the Vision Tool Definition 

window, all of the properties 

of the tool are displayed in 

this window 

VISION 

VISION TOOL DEFINITION 

Displays all of the created 

tools. Provides a quick 

visual queue as to the 

relationship between 

tools. 

VISION TOOLBOX 

Lists all of the possible types 

of Vision Tools that can be 

created. Create new tools 

by double clicking on a tool 

name 

VISION RESULTS WINDOW 

Whenever a Vision 

Process is executed, 

the output of each tool 

is displayed in this 

window. 


SUPPORTED VISION HARDWARE 

Supported cameras 

PreciseVision is a software package and does not 

include hardware. This software is designed to capture 

vision images that are generated by either Ethernet or 

USB cameras. PreciseVision permits three camera 

options: 

OPTION 1 - DALSA Genie GigE cameras that 

communicate via a 10/100/1000 Ethernet connection. 

OPTION 2 - IDS Imaging uEye cameras that 

communicate via a USB 2.0 connection. 

OPTION 3 - Other 3rd party USB cameras (Precise 

is not able to provide support for 3rd party USB 

cameras that have not been tested and qualified) 

VISION 

When using the standard version of PreciseVision, 

the system can connect to multiple DALSA cameras 

or multiple USB cameras. However, you cannot 

connect to both DALSA and USB cameras 

simultaneoulsy. In the Multi-Instance version of 

PreciseVision, the same rule applies to each 

instance, i.e. a single instance cannot be connected 

to a mix of DALSA and USB cameras. However, 

different instances can be connected to either 

DALSA or USB cameras. 

Characteristics DALSA GigE IDS uEye USB 

Cost 

Resolutions 

Acquisition time 

Hardware 

synchronization 

PC CPU Loading 

Typically more expensive 

640x480 up to 1600x1200 

Similar to IDS for same resolution 

Supports trigger input and acquisition output 

Reduced load relative to USB cameras 

Typically 20% less expensive than equivalent DALSA cameras. Nonindustrial 

3 rd party USB cameras can be significantly less expensive. 

640x480 up to 2560x1920 with even higher resolutions to be announced 

soon. 

Similar to DALSA for same resolution using USB 2.0 (480 Mbits/sec). 

USB 3.0 (4.8Gbits/sec) due in 2011 will reduce the acquisition time. 

Same as DALSA. 

Higher load relative to Ethernet cameras. Multiple cameras will require a 

higher performance CPU. 5 or more cameras may degrade acquisition 

time. 

Cable length 100M 5M. Powered USB hubs might be able to extend length 

Installation and support 

Arm-mounted cameras 

Fewer steps but more prone to complications due to firewalls, 

Ethernet card compatibility, Ethernet switch problems, and 

somewhat more complicated driver installation. 

Simpler to install on Precise robots since both Ethernet cable 

and power are available at end-of-arm 

Typically easier for single cameras if wired point to point since no firewall, 

less issues with USB hardware interface, simpler driver installation. 

Multiple cameras are a bit more difficult to setup since each must be 

assigned an ID and registered with the DirectShow interface. 

Requires extra external cable for Precise robots 

Power 12VDC 4 watts provided in second cable from extra PS 5VDC taken from single USB cable 

Size/weight 29x44x67 mm,

Option 1 - DALSA Ethernet camera 

PreciseVision supports up to 6 DALSA Genie GigE Ethernet cameras 

that can be directly connected to the PC running PreciseVision or 

through an Ethernet switch. The PC must include a standard Ethernet 

card, but a GigE card is recommended for the best performance. For 

more information, visit the DALSA website (http://www.imaging.com/). 

For ordering, contact Manish Shelat at DALSA Digital Imaging, 

phone: (510) 249-5664, email: manish.shelat@DALSA.com. 

Ethernet camera 

Mounting Adapter 

Camera power 

Ethernet Switch 

Ethernet Card 

Ethernet Cable 

PreciseVision fully supports the DALSA Genie GigE Vision Cameras. All models listed below provide Progressive scan, have metal cases, C-Mount 

or CS mount lens adapters, are available in monochrome (M) or color (C), and support an external trigger (DIN) and a digital output (DOUT). 

Effective frame-to-frame time depends on the exposure time, which ranges from 100 microseconds to 4 seconds, controlled via software, plus PC 

overhead. For total time, add vision processing time, which is typically less than 100ms. Precise Vision supports up to 6 DALSA cameras. 

RECOMMENDED CAMERA MODELS: 

• M640-1/3 - 640x480 resolution, 60 frames/second raw frame rate, 1/3” sensor. 

• M1024 - 1034x779 resolution, 20 frames/second raw frame rate, 1/3” sensor. 

• M1400 - 1392x1040 resolution, 15 frames/second raw frame rate, 1/2" sensor. 

• M1600 - 1600x1200 resolution, 15 frames/second raw frame rate, 1/1.8” sensor. 

Optional DALSA mounting bracket assembly, 1/4" screw mount, part # CA-GENA-BRA00. Used for mounting the camera on a standard tripod. 

Each camera requires 4 watts, 11 VDC to 13 VDC. 

Option 1: If you wish to break out the camera’s I/O pins, order DALSA part # CA-GENA-PS120 and the DALSA Genie I/O and power breakout 

cable assembly, part # CA-GENC-IOP00. 

Option 2: If you do not need I/O signal break out, an alternative is the Intercon PSISP10, which includes a connector compatible with the camera 

but no I/O signal break out, http://www.nortechsys.com/intercon. 

Standard GigE Ethernet Switch. Netgear GS605 10/100/1000, or equivalent 

Standard GigE PC Ethernet card. Netgear GA311 PCI Gigabit Adaptor, or equivalent. 

Standard Cat-5 Ethernet cable. Total of 3 required. 

VISION 

Option 2 - IDS uEye USB 2.0 Camera 

PreciseVision supports up to 6 IDS uEye USB 2.0 cameras. These 

cameras are typically connected directly to the PC running PreciseVision 

although a USB hub can be used. The PC must support USB 2.0 (not 

1.0). PreciseVision uses DirectShow to interface to the camera driver. 

It is highly recommended that only uEye cameras that support “Global” 

shutters be utilized and not “Rolling” shutters. A Global shutter exposes 

all of the pixels of the imaging element at one time. A Rolling shutter 

exposes lines at different times and can result in smearing if there is a 

moving image. For flexibility in selecting the appropriate lens for your 

application a camera with a C-Mount or CS-Mount is highly desirable. 


USB Cameras 

Camera Power 

PreciseVision fully supports the IDS Imaging Development System GmbH uEye Series-USB 2.0 Cameras. All models listed below have Global 

Shutters, metal cases, C-mount lens adapters, are available in monochrome (M) or color (C), DB9 signal/power connector, and support an external 

trigger (DIN) and a digital output (DOUT). Effective frame-to-frame time depends on the exposure time and PC overhead. For total time, add vision 

processing time, which is typically less than 100ms. PreciseVision supports up to 6 USB cameras. 

RECOMMENDED CAMERA MODELS: 

• UI-2410-M/C - 640x480 resolution, 75 frames/second raw frame rate, 1/3” CCD sensor. 

• UI-2230SE-M/C - 1024x768 resolution, 30 frames/second raw frame rate, 1/3” CCD sensor. 

• UI-2240SE-M/C - 1280x1024 resolution, 15 frames/second raw frame rate, 1/2" CCD sensor. 

• UI-2250-M/C - 1600x1200 resolution, 12 frames/second raw frame rate, 1/1.8” CCD sensor. 

Power is supplied directly by the USB cable and is generated by the PC’s power supply. 

USB Interface PC must be equipped with USB 2.0 interface (not 1.0) 

USB Cable, Trigger 

Support, No DOUT 

USB Cable, Trigger 

and DOUT Support 

IDS uEye industrial camera cable: High speed 2.0 Extension cable – Screw type 4-Pin USB type A (F) TO 5-Pin micro-USB type B (M). 3 meter 

length. Cable breaks out trigger input as separate input. CB-IDS-9UD-A-T-3M. 

Right angled trigger cable for uEYE-Cameras, 3 meter uEye Micro Sub-D connector, 90º angled with screws. USB signal via shielded USB 2.0 

cable to USB-A. Breakout cable for trigger input and digital output, cable with open ends. CB-IDS-9UD-A-ST3M-RT. 

VISION 

Option 3 - Other 3rd Party USB 2.0 Camera 

There are a wide variety of 3rd party USB 2.0 cameras that are available for the home, hobbyist, commercial 

and industrial markets. Due to the large number of vendors, their different installation procedures and their 

individual idiosyncrasies, Precise cannot guarantee that any camera brand that you select will work properly 

and we cannot provide assistance for any camera that has not been tested and qualified by Precise. 

Nonetheless, if you wish to interface an unsupported camera without Precise's assistance, please consider 

the following when selecting a USB camera. 

• PreciseVision utilizes DirectShow to interface to the camera. Therefore, the USB camera 

must be compatible with DirectShow, which is quite common. 

• PreciseVison's image acquisition tool has been specially optimized for the IDS uEye family 

of cameras. Other USB cameras will take somewhat more time to acquire an image. 

• For similar features, a camera in a plastic case will be less expensive than a camera in a 

metal case. You must determine if the additional ruggedness of a metal case is important 

for your environment. 

• Many inexpensive cameras utilize the standard USB connectors that are retained by friction. 

It is relatively easy for these to become accidentally disconnected as compared to screw 

in DB connectors such as those used in the IDS uEye cameras. 

• Many inexpensive cameras either have integrated fixed lens or lens mounts that do not 

support the full range of lens that are available. Also, many lens do not have screws for 

locking in the focus or F-stop adjustments. 

• Most cameras do not have trigger inputs and digital outputs. These are important features 

for conveyor belt tracking and other real-time image capture requirements. Also, since 

communication standards have not been established for these features, even if the camera 

has these hardware features, PreciseVision will probably not be able to access this 

capability. 

44 


Camera lens 

The choice of lens is based on the application 

and a lens is necessary whether using the 

camera scheme in Option 1 or Option 2. The 

smaller the focal length (“mm” size) of the 

lens, the larger the field of view. However, 

smaller focal lengths typically have more 

optical distortion. Navitar, Inc. supplies a 

variety of compatible lenses and offers 

discounted prices to Precise Automation 

customers. 

For help in choosing a lens, please visit: 

http://machinevision.navitar.com/opticalwizard 

For additional assistance choosing a lens or 

to order, contact Joe Corsi at Navitar, Inc. 

phone: (800) 828-6778 ext 3238, email: 

joecorsi@navitar.com. Be sure to mention 

Precise Automation to receive discounted 

pricing. 

VISION 

Lighting 

The choice of lighting is based on the application 

and lighting is necessary whether using the 

camera scheme in Option 1 or Option 2. 

Navitar, Inc. supplies a variety of lighting 

solutions and offers discounted prices to 

Precise Automation customers. For more 

information, contact Joe Corsi at Navitar, Inc. 

phone: (800) 828-6778 ext 3238, email: 

joecorsi@navitar.com. 

See also: 

http://www.nertlite.com/Products.html 

http://www.stockeryale.com/i/fluo/index.htm 


GUIDANCE DISPENSE 

Dispensing software 

Guidance Dispense (PP1D-SA-00001) is a 

software package that augments a Precise 

controller or robot to automatically dispense 

adhesives, sealants and other fluids along both 

simple and arbitrarily complex paths. Path 

programming is performed using simple teach 

and repeat methods without the need for 

programming. Dispensing can be enhanced 

by adding machine vision to automatically 

correct for deviations in part position and 

orientation. 

APPLICATION 

TOOLS 

This software executes on any Precise 

Guidance Controller (including those in Precise 

robots and those that control third party 

mechanisms). A graphical user interface provides 

all the tools for teaching straight and curved threedimensional 

paths and controlling the 

operation of syringes. Our advanced control 

tools allow dispensing to be turned on and off 

at programmable distances along the path 

and can switch the air supply from pressure to 

vacuum to eliminate dripping. 

KEY FEATURES 

• Open source (except for a few modules) - 

executes on any Guidance Controller (including 

those in Precise robots and those controlling 

any 3rd party mechanism). 

• Web based operator interface - can be 

viewed locally or remotely via a web browser 

• Graphical user interface - provides all the 

tools for teaching straight and curved threedimensional 

paths and controlling the 

operation of syringes. Dispensing paths and 

processes can be taught and executed 

without the need for programming. 

• Includes operator control panel and 

runtime - permits path play back while 

maintaining accurate speed control to 

enable consistent results. 

• Advanced dispensing control - allows 

dispensing to be turned on and off at 

programmable distances along the path 

and can switch the plunger air supply from 

pressure to vacuum to eliminate dripping. 

46 


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