METHOD OF MOUNTING SUITABLE FOR POSITIONING REEVED COMPONENTS ON A PRINTED CIRCUIT BOARD PCB

The invention provides a method of mounting, suitable for placing components on a PCB, by means of an industrial robot that comprises a force and/or moment sensor and means for gripping and transporting a component, said method comprising the steps of drawing a component, transporting the component to a predetermined starting position, taring the force and/or moment sensor, moving the sensor in Z-axis defined as a height over the surface of the board, towards the board, until the component contacts the board surface, activating the regulator with determined parameters, transmitting from the regulator, when output data are stabilized, a signal to means for gripping and transporting of the industrial robot as Z-axis offset, releasing the components from the means for gripping and transporting of the industrial robot if the Z-axis offset is greater than or equal to a preset parameter and establishing the current position of the component as a starting point, moving the component if the Z-axis offset is less than the preset parameter, along a predetermined path, beginning from the current position point, arresting the movement of the component when the force and/or moment sensor detects an opening edge in the board, moving the component away from the opening edge based on data from the force and/or moment sensor, repeating steps g.-j, while a change in the component movement is executed.