Clarifying on my previous post re. the trays.
The tray pockets are roughly 20x20mm. For each tray you specify the location where the nozzle should come down. One option is to use the center of a pocket at x = 10mm, y = 10mm, and place the parts accordingly, like so:
![](http://servokit.com/images/tray-1.jpg)
Ideally this should let the nozzle reliably pick up everything that's put in the proper center of the pocket. However, it's easy to misplace parts this way, especially smaller ones. Only 2 mm to the right or so and the pick can fail.
Better use a point near the top of the pocket, like x = 10mm and y = 16mm. Then you can simply shove the parts towards the edge, like so:
![](http://servokit.com/images/tray-2.jpg)
As a bonus this placement will mostly eliminate the need for rotating the part for alignment; only left is adjusting for x,y deviation which is much faster.
Of course, eventually we will use custom trays with proper cut-outs of the correct size (the position, layout and dimensions of up to 10 trays can be specified in the software).
Regards, Axel