The CAT manipulator is a prototype machine designed by Assembléon, a subdivision of Philips. It is a fast component placer-abbreviated as FCM, a machine to pick surface mount devices and place them on printed circuit boards. Different than ordinary FCMs, the CAT Manipulator has two moving heads with Phi-Z drives on the XY frame which is enabling the machine to place the components faster. Because of the usage of the linear motors, the machine is a very accurate and fast component mounter. The position frame and the force frame are separated in mechanical design sense, to increase the accuracy. Because of economic reasons the project funding was cut off and design of this machine was cancelled although there has been too much work on it. The machine has been untouched for the last 5 years in Philips, now it is given to Control Engineering Laboratory at the Faculty of Electrical Engineering, University of Twente. The set up is complete in means of electrical and mechanical design; however the software design is incomplete and undocumented. T
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