2.1 Basic Concepts & Terminology 

This page explains the core terms and coordinate system used in XAutoLab desktop SMT pick & place workflows. It is recommended reading before importing CSV coordinates, setting PCB origin, or running your first job.

1) Core Term Definitions

1. Single Board

A physical entity consisting of a PCB and the components placed on it. The software supports placement on both sides of the PCB: the two sides are referred to as Top and Bottom.

2. CSV Coordinate File

A CSV file exported from your PCB design tool and then imported into the software. The file format must be CSV. Currently supported exports include Altium Designer (AD), KiCad, LCEDA (EasyEDA / Lichuang EDA), and Allegro. If you use another tool, you can submit a request for format support.

3. Panelization

A method of placing multiple PCBs together in one run. (If you have a panelization guide page, link it here.)

4. PCB Origin

The origin point that should (and must) be defined when designing the PCB. It must be located inside the PCB outline. This origin is also the reference zero point for exported CSV coordinates. You must remember this point for accurate PCB alignment and positioning.

5. Fiducial (MARK Point)

A small mark on the PCB or panel used to help the machine precisely locate the PCB or panel automatically. Typically a small circular copper pad. It should have a larger keep-out area and no solder paste applied. Please refer to the related guidelines for recommended settings.

6. Component

A specific part placed on the PCB, usually equivalent to a manufacturer part number (MPN). Different values/specs are treated as different components (e.g., a 10k 0603 resistor vs a 22k 0603 resistor). Each component is assigned a corresponding package/footprint in the software.

7. Package (Footprint)

Parameters describing the physical attributes of a component (such as length, width, and occupied space). Different components may share the same package (e.g., 0603 resistors, 0603 capacitors, SOIC-8, TQFP-32, etc.). In the software, package information is mainly used to:

• Specify the recommended nozzle model for the component
• Provide size information for vision synthesis/recognition for larger components

8. Crosshair / Reticle Overlay

A crosshair or other overlay shape displayed on the camera view, used to help observe the image center for alignment.

9. Bottom Vision

An upward-facing camera. It uses computer vision to check the component before placement, improving placement accuracy.

10. Top Vision

A downward-facing camera mounted on the left side of the head. It is used to recognize fiducials and to visually locate component positions on feeders.

11. Feeder

Hardware used to supply components. The machine supports automatic feeders, cut tape strips, vision-based loose parts, tray feeding, and more. You can also customize and build other feeder types as needed.

12. Head

The moving part of the machine that travels along the X and Y axes. It carries the nozzles and the top vision camera.

13. N1 Nozzle and N2 Nozzle

The parts of the machine that move down to pick components (typically labeled N1 and N2). The core part that directly contacts and picks the component is the nozzle (the head is the carrier). A machine can be configured with multiple nozzles.

14. Nozzle

Different component sizes require different nozzle models. You can assign a nozzle model via the component package settings. For nozzle-to-package recommendations, refer to the “Nozzle Model vs Package” guide.

15. Nozzle Diameter

The physical diameter of the nozzle. Either inner diameter or outer diameter may be used as the reference standard (depending on your nozzle spec).

16. Recognition Range (Nozzle Page)

The maximum allowed offset of the nozzle from the crosshair center during recognition. This value should not be too large; otherwise component recognition may fail or become inaccurate.

17. Z Height

Usually refers to the distance from the nozzle to the target surface. How to obtain it:

• Move the nozzle close to and touch the target, then read the Z value from the status bar (bottom-right) and enter it
• Click the software icon for “Get Nozzle Position” (or equivalent function)

Important: This value must be negative.

18. Component Thickness (Height)

The height parameter of the component. You can measure it with a caliper or obtain it from the component datasheet.

19. Mechanical Origin

The machine’s mechanical reference point. All machine coordinates are based on this reference and it must not be modified. The origin is located at the cylinder near the bottom camera, and the machine will automatically calibrate this point on each startup.

2) Coordinate System

This pick & place machine uses a right-handed coordinate system, which is widely used in physics, mathematics, 3D graphics, and most CAD software. (For a formal definition, you may refer to Wikipedia.)

Coordinate rules (viewed from above the machine):

• X-axis: left/right movement; moving left is negative
• Y-axis: front/back movement; moving toward the back is positive
• Z-axis: up/down movement; moving up is positive
• C-axis (rotation): clockwise / counterclockwise rotation; counterclockwise is positive

Notes

• If your CSV import format is not listed, contact XAutoLab support and include a sample export file.
• Correct PCB origin selection is critical. A mismatched origin is a common cause of placement offset.
• For best accuracy, use fiducials (MARK points) and keep them free of solder paste.