Method of mounting suitable for positioning reeved components on a printed circuit board PCB

A method for mounting, suitable for positioning reeved component 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, comprising the steps of:

• a. drawing a component,
• b. transporting the component to a predetermined starting position,
• c. taring the force and/or moment sensor,
• d. transporting the component in the Z-axis, defined as a height over the surface of the board, in the direction of the board, until the component contacts the board surface,
• e. actuating a regulator with determined parameters,
• f. transmitting from the regulator, when output data are stabilized, of a signal to means for gripping and transporting of the industrial robot as Z-axis offset,
• g. releasing the component 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,
• h. moving the component, if the Z-axis offset is less than a preset parameter, along a predetermined path, beginning from the current position point,
• i. arresting the movement of the component, when the force sensor and/or the moment sensor detect an opening edge in the board,
• j. moving the component away from the opening edge based on data from the force and/or moment sensor,
• k. repeating steps g.-j, while a change in the component movement is executed.