{"id":5637,"date":"2026-02-06T11:14:58","date_gmt":"2026-02-06T11:14:58","guid":{"rendered":"https:\/\/pickandplacemachine.com\/?p=5637"},"modified":"2026-05-20T01:50:29","modified_gmt":"2026-05-20T01:50:29","slug":"coordinate-systems-in-pick-and-place-xy-z-and-rotational-movement","status":"publish","type":"post","link":"https:\/\/pickandplacemachine.com\/vi\/coordinate-systems-in-pick-and-place-xy-z-and-rotational-movement\/","title":{"rendered":"H\u1ec7 t\u1ecda \u0111\u1ed9 trong h\u1ec7 th\u1ed1ng \u0111\u1eb7t v\u00e0 l\u1ea5y: X, Y, Z v\u00e0 chuy\u1ec3n \u0111\u1ed9ng xoay"},"content":{"rendered":"<p class=\"wp-block-paragraph\">Ba con s\u1ed1. XY v\u00e0 Z tr\u00f4ng c\u00f3 v\u1ebb v\u00f4 h\u1ea1i cho \u0111\u1ebfn khi b\u1ea1n truy v\u1ebft l\u1ed7i \u0111\u1eb7t v\u1ecb tr\u00ed ng\u01b0\u1ee3c l\u1ea1i: g\u1ed1c t\u1ecda \u0111\u1ed9 CAD kh\u00f4ng kh\u1edbp v\u1edbi g\u1ed1c t\u1ecda \u0111\u1ed9 Gerber, g\u1ed1c t\u1ecda \u0111\u1ed9 m\u00e1y c\u0169ng kh\u00f4ng kh\u1edbp, v\u00e0 \u201c\u0111\u1ed9 xoay\u201d c\u1ee7a b\u1ea1n \u0111\u01b0\u1ee3c \u0111\u1ecbnh ngh\u0129a trong m\u1ed9t khung t\u1ecda \u0111\u1ed9 kh\u00e1c v\u1edbi khung t\u1ecda \u0111\u1ed9 m\u00e0 ng\u01b0\u1eddi v\u1eadn h\u00e0nh ngh\u0129 r\u1eb1ng h\u1ecd \u0111ang s\u1eed d\u1ee5ng.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">V\u1eady th\u1ef1c s\u1ef1 \u0111ang x\u1ea3y ra \u0111i\u1ec1u g\u00ec?<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">H\u1ea7u h\u1ebft c\u00e1c d\u00e2y chuy\u1ec1n SMT ho\u1ea1t \u0111\u1ed9ng tr\u00ean m\u1ed9t h\u1ec7 th\u1ed1ng khung t\u1ecda \u0111\u1ed9 ch\u1ed3ng ch\u00e9o, h\u1ea7u nh\u01b0 kh\u00f4ng kh\u1edbp v\u1edbi nhau. Khung c\u01a1 s\u1edf m\u00e1y. Khung gantry. Khung camera. Khung v\u00f2i phun. Khung PCB. Khung b\u1ea3ng \u0111i\u1ec1u khi\u1ec3n. Khung g\u00f3i linh ki\u1ec7n. V\u00e0 gi\u1eefa t\u1ea5t c\u1ea3 nh\u1eefng khung \u0111\u00f3, l\u00e0 c\u00e1c ph\u00e9p t\u00ednh chuy\u1ec3n \u0111\u1ed5i, ho\u1eb7c khi\u1ebfn d\u00e2y chuy\u1ec1n c\u1ee7a b\u1ea1n tr\u00f4ng nh\u01b0 ph\u00e9p m\u00e0u\u2026 ho\u1eb7c khi\u1ebfn n\u00f3 tr\u00f4ng nh\u01b0 b\u1ea1n \u0111\u00e3 thu\u00ea nh\u1eefng con gremlin.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"the-hard-truth-placement-accuracy-is-a-marketing-number-until-your-coordinate-map-is-sane\">S\u1ef1 th\u1eadt ph\u0169 ph\u00e0ng: \u201c\u0111\u1ed9 ch\u00ednh x\u00e1c c\u1ee7a v\u1ecb tr\u00ed\u201d ch\u1ec9 l\u00e0 con s\u1ed1 qu\u1ea3ng c\u00e1o cho \u0111\u1ebfn khi b\u1ea3n \u0111\u1ed3 t\u1ecda \u0111\u1ed9 c\u1ee7a b\u1ea1n \u0111\u01b0\u1ee3c thi\u1ebft l\u1eadp h\u1ee3p l\u00fd.<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">C\u00e2u ng\u1eafn. N\u1ebfu c\u00e1c ph\u00e9p bi\u1ebfn \u0111\u1ed5i t\u1ecda \u0111\u1ed9 c\u1ee7a b\u1ea1n kh\u00f4ng ch\u00ednh x\u00e1c, kh\u00f4ng c\u00f3 b\u1ea3ng th\u00f4ng s\u1ed1 k\u1ef9 thu\u1eadt n\u00e0o c\u00f3 th\u1ec3 c\u1ee9u b\u1ea1n, v\u00ec h\u1ec7 th\u1ed1ng s\u1ebd \u0111\u1eb7t ch\u00ednh x\u00e1c v\u00e0o v\u1ecb tr\u00ed sai, su\u1ed1t c\u1ea3 ng\u00e0y, \u1edf c\u00f4ng su\u1ea5t t\u1ed1i \u0111a (CPH), v\u00e0 khu v\u1ef1c quan t\u00e2m (AOI) c\u1ee7a b\u1ea1n s\u1ebd l\u1ecbch s\u1ef1 ghi ch\u00fa n\u00f3 l\u00e0 \u201c\u0111\u1eb7t sai v\u1ecb tr\u00ed\u201d nh\u01b0 th\u1ec3 \u0111\u00f3 l\u00e0 m\u1ed9t b\u00ed \u1ea9n.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Mu\u1ed1n bi\u1ebft b\u1ed1i c\u1ea3nh kh\u00f4ng tho\u1ea3i m\u00e1i? T\u1ef1 \u0111\u1ed9ng h\u00f3a \u0111ang gia t\u0103ng, kh\u00f4ng ph\u1ea3i ch\u1eadm l\u1ea1i. Hi\u1ec7p h\u1ed9i Robot Qu\u1ed1c t\u1ebf cho bi\u1ebft s\u1ed1 l\u01b0\u1ee3ng robot c\u00f4ng nghi\u1ec7p \u0111\u01b0\u1ee3c l\u1eafp \u0111\u1eb7t \u0111\u00e3 \u0111\u1ea1t&nbsp;<strong>4.281.585 \u0111\u01a1n v\u1ecb<\/strong>&nbsp;Ho\u1ea1t \u0111\u1ed9ng t\u1ea1i c\u00e1c nh\u00e0 m\u00e1y tr\u00ean to\u00e0n th\u1ebf gi\u1edbi (theo b\u00e1o c\u00e1o trong b\u1ea3n ph\u00e1t h\u00e0nh World Robotics 2024), t\u0103ng&nbsp;<strong>10%<\/strong>. \u0110i\u1ec1u \u0111\u00f3 c\u00f3 ngh\u0129a l\u00e0 c\u00f3 nhi\u1ec1u tr\u1ee5c di chuy\u1ec3n h\u01a1n, nhi\u1ec1u \u0111i\u1ec3m \u0111\u0103ng k\u00fd t\u1ecda \u0111\u1ed9 h\u01a1n v\u00e0 nhi\u1ec1u c\u01a1 h\u1ed9i h\u01a1n cho s\u1ef1 tr\u00f4i d\u1ea1t im l\u1eb7ng.&nbsp;<a href=\"https:\/\/ifr.org\/ifr-press-releases\/record-of-4-million-robots-working-in-factories-worldwide\" target=\"_blank\" rel=\"noopener\">Th\u00f4ng c\u00e1o b\u00e1o ch\u00ed c\u1ee7a IFR (24\/9\/2024)<\/a>. (<a href=\"https:\/\/ifr.org\/ifr-press-releases\/record-of-4-million-robots-working-in-factories-worldwide?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">Li\u00ean \u0111o\u00e0n Robot Qu\u1ed1c t\u1ebf (IFR)<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">V\u00e0 m\u1eadt \u0111\u1ed9 robot \u0111ang t\u0103ng cao \u1edf nh\u1eefng khu v\u1ef1c ch\u1ecbu \u00e1p l\u1ef1c chu\u1ed7i cung \u1ee9ng gay g\u1eaft nh\u1ea5t. Reuters \u0111\u00e3 \u0111\u01b0a tin v\u1ec1 s\u1ed1 li\u1ec7u m\u1eadt \u0111\u1ed9 robot n\u0103m 2023 c\u1ee7a IFR:&nbsp;<strong>Trung Qu\u1ed1c c\u00f3 470 robot tr\u00ean 10.000 nh\u00e2n vi\u00ean.<\/strong>&nbsp;vs&nbsp;<strong>\u0110\u1ee9c 429<\/strong>, v\u1edbi&nbsp;<strong>H\u00e0n Qu\u1ed1c \u1edf m\u1ee9c 1.012<\/strong>. D\u1ecbch: L\u1ee3i th\u1ebf c\u1ea1nh tranh ng\u00e0y c\u00e0ng \u0111\u1ebfn t\u1eeb kh\u1ea3 n\u0103ng ki\u1ec3m so\u00e1t chuy\u1ec3n \u0111\u1ed9ng v\u00e0 \u0111o l\u01b0\u1eddng c\u1ee7a b\u1ea1n, ch\u1ee9 kh\u00f4ng ph\u1ea3i t\u1eeb vi\u1ec7c b\u1ea3n tr\u00ecnh b\u00e0y b\u00e1n h\u00e0ng c\u1ee7a b\u1ea1n c\u00f3 \u1ea5n t\u01b0\u1ee3ng \u0111\u1ebfn m\u1ee9c n\u00e0o.&nbsp;<a href=\"https:\/\/www.reuters.com\/technology\/china-overtakes-germany-industrial-use-robots-says-report-2024-11-20\/\" target=\"_blank\" rel=\"noopener\">Reuters (20\/11\/2024)<\/a>. (<a href=\"https:\/\/www.reuters.com\/technology\/china-overtakes-germany-industrial-use-robots-says-report-2024-11-20\/?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">Reuters<\/a>)<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"xyzr-isn-t-just-axes-it-s-a-contract-\">XYZR kh\u00f4ng ch\u1ec9 l\u00e0 \u201cc\u00e1c tr\u1ee5c\u201d. \u0110\u00f3 l\u00e0 m\u1ed9t h\u1ee3p \u0111\u1ed3ng.<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Ba t\u1eeb. H\u1ec7 t\u1ecda \u0111\u1ed9 l\u00e0 m\u1ed9t th\u1ecfa thu\u1eadn: \u00fd ngh\u0129a c\u1ee7a \u201ctr\u1ee5c X d\u01b0\u01a1ng\u201d, \u00fd ngh\u0129a c\u1ee7a \u201c\u0111i\u1ec3m g\u1ed1c\u201d, \u00fd ngh\u0129a c\u1ee7a h\u01b0\u1edbng xoay, v\u00e0 \u0111i\u1ec1u g\u00ec x\u1ea3y ra khi b\u1ea3ng kh\u00f4ng n\u1eb1m \u1edf v\u1ecb tr\u00ed m\u00e0 b\u1ea1n ngh\u0129.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">D\u01b0\u1edbi \u0111\u00e2y l\u00e0 b\u1ed9 khung m\u00e0 b\u1ea1n th\u1ef1c s\u1ef1 ph\u1ea3i \u0111\u1ed1i m\u1eb7t trong qu\u00e1 tr\u00ecnh ch\u1ecdn v\u00e0 \u0111\u1eb7t:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Khung m\u00e1y (to\u00e0n c\u1ea7u):<\/strong>&nbsp;\u201cS\u1ef1 th\u1eadt\u201d b\u00ean trong c\u1ee7a m\u00e1y. Th\u01b0\u1eddng l\u00e0 \u0111i\u1ec3m tham chi\u1ebfu c\u01a1 s\u1edf ho\u1eb7c b\u0103ng t\u1ea3i.<\/li>\n\n\n\n<li><strong>Khung b\u1ea3ng m\u1ea1ch in (PCB):<\/strong>&nbsp;M\u1ee5c \u0111\u00edch c\u1ee7a ch\u01b0\u01a1ng tr\u00ecnh. Th\u01b0\u1eddng \u0111\u01b0\u1ee3c t\u1ea1o ra t\u1eeb d\u1eef li\u1ec7u CAD\/Gerber c\u1ed9ng v\u1edbi c\u00e1c gi\u00e1 tr\u1ecb d\u1ecbch chuy\u1ec3n.<\/li>\n\n\n\n<li><strong>Khung h\u00ecnh camera:<\/strong>&nbsp;Mapping t\u1eeb pixel sang milim\u00e9t, bi\u1ebfn d\u1ea1ng \u1ed1ng k\u00ednh, hi\u1ec7n t\u01b0\u1ee3ng \u00e1nh s\u00e1ng.<\/li>\n\n\n\n<li><strong>\u0110\u1ea7u phun \/ khung \u0111\u1ea7u phun:<\/strong>&nbsp;\u0110\u1ea7u c\u00f4ng c\u1ee5 di \u0111\u1ed9ng; bao g\u1ed3m \u0111\u1ed9 l\u1ec7ch c\u1ee7a v\u00f2i phun v\u00e0 h\u00e0nh vi c\u1ee7a tr\u1ee5c theta.<\/li>\n\n\n\n<li><strong>Khung c\u1ea5p li\u1ec7u \/ khung th\u00e0nh ph\u1ea7n:<\/strong>&nbsp;L\u1ed7i v\u1ecb tr\u00ed \u0111\u1eb7t t\u00fai, \u0111\u1ed9 l\u1ec7ch \u0111i\u1ec3m l\u1ea5y m\u1eabu, h\u01b0\u1edbng c\u1ee7a th\u00e0nh ph\u1ea7n t\u1ea1i \u0111i\u1ec3m l\u1ea5y m\u1eabu.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">V\u00e0 chi ti\u1ebft quan tr\u1ecdng nh\u1ea5t:&nbsp;<strong>M\u1ed7i ph\u00e9p bi\u1ebfn \u0111\u1ed5i \u0111\u1ec1u c\u00f3 c\u00e1c gi\u1ea3 \u0111\u1ecbnh.<\/strong>&nbsp;(\u0111\u01a1n v\u1ecb, h\u01b0\u1edbng tay, d\u1ea5u xoay, t\u1ef7 l\u1ec7). Ch\u1ec9 c\u1ea7n sai m\u1ed9t trong s\u1ed1 \u0111\u00f3, qu\u00e1 tr\u00ecnh \u201ckalibrate\u201d c\u1ee7a b\u1ea1n s\u1ebd tr\u1edf th\u00e0nh m\u1ed9t nghi th\u1ee9c.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/pickandplacemachine.com\/wp-admin\/post.php?post=1564&amp;action=edit\"><img decoding=\"async\" width=\"960\" height=\"640\" src=\"https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot3.jpg\" alt=\"Robot h\u00e0n\" class=\"wp-image-5641\" srcset=\"https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot3.jpg 960w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot3-300x200.jpg 300w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot3-768x512.jpg 768w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot3-18x12.jpg 18w\" sizes=\"(max-width: 960px) 100vw, 960px\" \/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"xy-the-easiest-axis-to-misunderstand-because-it-looks-flat\">XY: tr\u1ee5c d\u1ec5 b\u1ecb hi\u1ec3u l\u1ea7m nh\u1ea5t v\u00ec n\u00f3 tr\u00f4ng ph\u1eb3ng.<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">XY c\u00f3 v\u1ebb \u0111\u01a1n gi\u1ea3n. Nh\u01b0ng XY ch\u00ednh l\u00e0 n\u01a1i 80% nh\u1eefng l\u1ed7i ng\u1edb ng\u1ea9n nh\u1ea5t c\u1ee7a b\u1ea1n \u1ea9n n\u00e1u: tr\u1ee5c b\u1ecb ho\u00e1n \u0111\u1ed5i, b\u1ea3ng \u0111i\u1ec1u khi\u1ec3n b\u1ecb \u0111\u1ea3o ng\u01b0\u1ee3c, \u0111i\u1ec3m g\u1ed1c sai, m\u1eb7t sai, ho\u1eb7c l\u1ed7i kinh \u0111i\u1ec3n \u201cch\u00fang t\u00f4i \u0111\u00e3 s\u1eeda b\u1eb1ng c\u00e1ch th\u00eam \u0111\u1ed9 l\u1ec7ch\u201d khi\u1ebfn c\u00f4ng vi\u1ec7c ti\u1ebfp theo b\u1ecb h\u1ecfng.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Hai \u201ck\u1ebb gi\u1ebft ng\u01b0\u1eddi th\u1ea7m l\u1eb7ng\u201d ph\u1ed5 bi\u1ebfn:<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>S\u1ef1 kh\u00f4ng kh\u1edbp v\u1ec1 ngu\u1ed3n g\u1ed1c (CAD so v\u1edbi Gerber so v\u1edbi m\u00e1y):<\/strong>&nbsp;CAD c\u00f3 th\u1ec3 c\u00f3 g\u1ed1c t\u1ecda \u0111\u1ed9 \u1edf trung t\u00e2m, Gerber c\u00f3 th\u1ec3 c\u00f3 g\u1ed1c t\u1ecda \u0111\u1ed9 \u1edf g\u00f3c d\u01b0\u1edbi b\u00ean tr\u00e1i, xu\u1ea5t CAM c\u00f3 th\u1ec3 \u0111\u01b0\u1ee3c chia th\u00e0nh c\u00e1c t\u1ea5m v\u1edbi h\u1ec7 t\u1ecda \u0111\u1ed9 kh\u00e1c nhau, v\u00e0 ch\u01b0\u01a1ng tr\u00ecnh m\u00e1y c\u1ee7a b\u1ea1n c\u00f3 th\u1ec3 k\u1ebf th\u1eeba t\u1ec7p m\u00e0 l\u1eadp tr\u00ecnh vi\u00ean c\u1ee7a b\u1ea1n tin t\u01b0\u1edfng v\u00e0o th\u1ee9 Ba tu\u1ea7n tr\u01b0\u1edbc.<\/li>\n\n\n\n<li><strong>S\u1ef1 kh\u00f4ng kh\u1edbp v\u1ec1 quy \u01b0\u1edbc xoay (d\u1ea5u theta):<\/strong>&nbsp;M\u1ed9t s\u1ed1 h\u1ec7 th\u1ed1ng \u0111\u1ecbnh ngh\u0129a xoay thu\u1eadn chi\u1ec1u kim \u0111\u1ed3ng h\u1ed3 trong t\u1ecda \u0111\u1ed9 m\u00e0n h\u00ecnh; c\u00e1c h\u1ec7 th\u1ed1ng kh\u00e1c \u0111\u1ecbnh ngh\u0129a xoay ng\u01b0\u1ee3c chi\u1ec1u kim \u0111\u1ed3ng h\u1ed3 trong khung m\u00e1y tay ph\u1ea3i. Ng\u01b0\u1eddi v\u1eadn h\u00e0nh c\u00f3 th\u1ec3 xoay chi ti\u1ebft \u201c\u0111\u00fang\u201d v\u1ec1 m\u1eb7t h\u01b0\u1edbng nh\u01b0ng v\u1eabn sai v\u1ec1 d\u1ea5u.<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">C\u00e2u h\u1ecfi tu t\u1eeb: B\u1ea1n \u0111\u00e3 bao nhi\u00eau l\u1ea7n \u201cs\u1eeda ch\u1eefa\u201d l\u1ed7i sai l\u1ec7ch 90\u00b0 li\u00ean t\u1ee5c b\u1eb1ng c\u00e1ch thay \u0111\u1ed5i g\u00f3c quay c\u1ee7a th\u00e0nh ph\u1ea7n, thay v\u00ec th\u1eeba nh\u1eadn r\u1eb1ng c\u00e1c h\u1ec7 t\u1ecda \u0111\u1ed9 ch\u01b0a bao gi\u1edd \u0111\u01b0\u1ee3c c\u0103n ch\u1ec9nh \u0111\u00fang?<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"z-the-axis-that-turns-a-placement-problem-into-a-reliability-problem\">Z: tr\u1ee5c chuy\u1ec3n \u0111\u1ed5i v\u1ea5n \u0111\u1ec1 \u0111\u1eb7t v\u1ecb tr\u00ed th\u00e0nh v\u1ea5n \u0111\u1ec1 \u0111\u1ed9 tin c\u1eady.<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Z kh\u00f4ng ph\u1ea3i l\u00e0 v\u1ea5n \u0111\u1ec1 th\u1ea9m m\u1ef9. L\u1ed7i Z kh\u00f4ng ch\u1ec9 l\u00e0m l\u1ec7ch v\u1ecb tr\u00ed c\u00e1c linh ki\u1ec7n. Ch\u00fang l\u00e0m cong c\u00e1c d\u00e2y d\u1eabn, n\u1ee9t c\u00e1c t\u1ee5 \u0111i\u1ec7n MLCC, l\u00e0m lem keo d\u00e1n v\u00e0 t\u0103ng nguy c\u01a1 l\u1ed7i \u1edf c\u00e1c giai \u0111o\u1ea1n sau, n\u01a1i vi\u1ec7c kh\u1eafc ph\u1ee5c l\u1ed7i t\u1ed1n k\u00e9m c\u1ea3 ti\u1ec1n b\u1ea1c v\u00e0 th\u1eddi gian.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">N\u1ebfu b\u1ea1n mu\u1ed1n b\u1eb1ng ch\u1ee9ng cho th\u1ea5y \u201cl\u1ed7i s\u1ea3n ph\u1ea9m l\u00e0 t\u1ed1n k\u00e9m\u201d kh\u00f4ng ch\u1ec9 l\u00e0 m\u1ed9t kh\u1ea9u hi\u1ec7u, h\u00e3y xem c\u00e1c nghi\u00ean c\u1ee9u coi t\u1ef7 l\u1ec7 l\u1ed7i s\u1ea3n ph\u1ea9m l\u00e0 m\u1ed9t k\u1ebft qu\u1ea3 s\u1ea3n xu\u1ea5t c\u00f3 th\u1ec3 \u0111o l\u01b0\u1eddng \u0111\u01b0\u1ee3c. M\u1ed9t b\u00e0i b\u00e1o n\u0103m 2024 v\u1ec1 d\u1ef1 \u0111o\u00e1n t\u1ef7 l\u1ec7 l\u1ed7i c\u1ee7a b\u1ea3ng m\u1ea1ch in (PCBA) ch\u1ec9 ra r\u1eb1ng l\u1ed7i s\u1ea3n ph\u1ea9m c\u00f3 th\u1ec3 g\u00e2y ra nh\u1eefng t\u00e1c \u0111\u1ed9ng ti\u00eau c\u1ef1c v\u00e0 t\u1ed1n k\u00e9m ngay c\u1ea3 khi t\u1ef7 l\u1ec7 l\u1ed7i \u1edf m\u1ee9c th\u1ea5p.&nbsp;<a href=\"https:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896324007730\" target=\"_blank\" rel=\"noopener\">ScienceDirect (2024)<\/a>. (<a href=\"https:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896324007730?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">Khoa h\u1ecdc tr\u1ef1c ti\u1ebfp<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Z t\u01b0\u01a1ng t\u00e1c v\u1edbi:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>S\u1ef1 bi\u1ebfn d\u1ea1ng c\u1ee7a b\u1ea3ng (\u0111\u1eb7c bi\u1ec7t l\u00e0 c\u00e1c t\u1ea5m l\u1edbn, l\u1edbp laminate m\u1ecfng ho\u1eb7c c\u00e1c ch\u1ed1t h\u1ed7 tr\u1ee3 kh\u00f4ng \u0111\u1ec1u)<\/strong><\/li>\n\n\n\n<li><strong>S\u1ef1 bi\u1ebfn \u0111\u1ed5i \u0111\u1ed9 cao c\u1ee7a keo h\u00e0n<\/strong>&nbsp;(M\u00e0i m\u00f2n khu\u00f4n, \u00e1p l\u1ef1c c\u1ee7a d\u1ee5ng c\u1ee5 g\u1ea1t, t\u00ednh l\u01b0u bi\u1ebfn c\u1ee7a keo d\u00e1n)<\/li>\n\n\n\n<li><strong>Dung sai chi\u1ec1u cao c\u1ee7a c\u00e1c th\u00e0nh ph\u1ea7n<\/strong>&nbsp;v\u00e0 n\u01a1 g\u00f3i qu\u00e0<\/li>\n\n\n\n<li><strong>T\u00ecnh tr\u1ea1ng \u0111\u1ea7u v\u00f2i phun<\/strong>&nbsp;v\u00e0 \u0111\u1ed9 \u1ed5n \u0111\u1ecbnh trong ch\u00e2n kh\u00f4ng<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">V\u00e0 \u0111\u00fang v\u1eady, th\u00e0nh ph\u1ea7n h\u00f3a h\u1ecdc c\u1ee7a h\u00e0n ch\u00ec c\u0169ng \u1ea3nh h\u01b0\u1edfng \u0111\u1ebfn k\u1ebft qu\u1ea3. N\u1ebfu b\u1ea1n s\u1eed d\u1ee5ng SAC305 (Sn96.5\/Ag3.0\/Cu0.5), quy tr\u00ecnh h\u00e0n c\u1ee7a b\u1ea1n v\u1eabn s\u1ebd kh\u00f4ng ch\u1ea5p nh\u1eadn m\u1ed9t b\u1ea3n \u0111\u1ed3 \u0111\u1ed9 cao Z kh\u00f4ng \u0111\u1ea1t y\u00eau c\u1ea7u.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/pickandplacemachine.com\/wp-admin\/post.php?post=1494&amp;action=edit\"><img decoding=\"async\" width=\"960\" height=\"640\" src=\"https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot2.jpg\" alt=\"Robot h\u00e0n\" class=\"wp-image-5640\" srcset=\"https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot2.jpg 960w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot2-300x200.jpg 300w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot2-768x512.jpg 768w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot2-18x12.jpg 18w\" sizes=\"(max-width: 960px) 100vw, 960px\" \/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"theta-rotation-the-axis-that-exposes-who-actually-owns-the-process\">Theta (xoay): tr\u1ee5c th\u1ec3 hi\u1ec7n ai th\u1ef1c s\u1ef1 s\u1edf h\u1eefu quy tr\u00ecnh.<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Vi\u1ec7c xoay v\u00f2ng l\u00e0 v\u1ea5n \u0111\u1ec1 ch\u00ednh tr\u1ecb. B\u1edfi v\u00ec khi vi\u1ec7c xoay v\u00f2ng g\u1eb7p tr\u1ee5c tr\u1eb7c, m\u1ecdi ng\u01b0\u1eddi \u0111\u1ec1u \u0111\u1ed5 l\u1ed7i cho nhau: b\u1ed9 c\u1ea5p li\u1ec7u, h\u1ec7 th\u1ed1ng quan s\u00e1t, v\u00f2i phun, ph\u1ea7n m\u1ec1m, \u201cl\u1ed7i c\u1ee7a ng\u01b0\u1eddi v\u1eadn h\u00e0nh\u201d, th\u1eadm ch\u00ed c\u1ea3 giai \u0111o\u1ea1n c\u1ee7a m\u1eb7t tr\u0103ng.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">H\u00e3y l\u00e0m r\u00f5 \u0111i\u1ec1u \u0111\u00f3.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">L\u1ed7i Theta th\u01b0\u1eddng xu\u1ea5t ph\u00e1t t\u1eeb:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>L\u1ed7i nh\u1eadn d\u1ea1ng g\u00f3c<\/strong>&nbsp;(\u00c1nh s\u00e1ng k\u00e9m, bao b\u00ec c\u00f3 \u0111\u1ed9 t\u01b0\u01a1ng ph\u1ea3n th\u1ea5p, c\u00e1c \u0111\u1ea7u n\u1ed1i ph\u1ea3n chi\u1ebfu)<\/li>\n\n\n\n<li><strong>S\u1ef1 bi\u1ebfn \u0111\u1ed5i h\u01b0\u1edbng c\u1ee7a qu\u00e1 tr\u00ecnh thu th\u1eadp<\/strong>&nbsp;(L\u1ed7i t\u00fai b\u0103ng, \u0111\u1ed9 c\u0103ng b\u0103ng che, m\u00f2n b\u1ed9 c\u1ea5p li\u1ec7u)<\/li>\n\n\n\n<li><strong>\u0110\u1ed9 tr\u1ec5 quay c\u1ee7a v\u00f2i phun \/ s\u1ef1 tr\u00f4i d\u1ea1t hi\u1ec7u chu\u1ea9n<\/strong><\/li>\n\n\n\n<li><strong>\u0110\u1ecbnh ngh\u0129a sai v\u1ec1 \u201c0\u00b0\u201d<\/strong>&nbsp;\u0110\u1ed1i v\u1edbi g\u00f3i trong th\u01b0 vi\u1ec7n so v\u1edbi xoay CAD<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">N\u1ebfu b\u1ea1n mu\u1ed1n c\u00f3 m\u1ed9t ti\u00eau chu\u1ea9n tham chi\u1ebfu v\u1ec1 m\u1ee9c \u0111\u1ed9 ch\u00ednh x\u00e1c c\u1ee7a c\u00e1c m\u00e1y m\u00f3c hi\u1ec7n \u0111\u1ea1i c\u00f3 th\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c.&nbsp;<em>Khi chu\u1ed7i t\u1ecda \u0111\u1ed9 ho\u1ea1t \u0111\u1ed9ng b\u00ecnh th\u01b0\u1eddng<\/em>, \u0111\u1ecdc th\u00f4ng s\u1ed1 k\u1ef9 thu\u1eadt c\u1ee7a nh\u00e0 cung c\u1ea5p \u0111\u1ec3 ki\u1ec3m tra t\u00ednh h\u1ee3p l\u00fd:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Danh s\u00e1ch th\u00f4ng s\u1ed1 k\u1ef9 thu\u1eadt c\u1ee7a Yamaha YRM20 li\u1ec7t k\u00ea \u0111\u1ed9 ch\u00ednh x\u00e1c l\u1eafp \u0111\u1eb7t (ch\u1ebf \u0111\u1ed9 \u0111\u1ed9 ch\u00ednh x\u00e1c cao) \u1edf&nbsp;<strong>\u00b10,025 mm (Cpk \u2265 1,0)<\/strong>&nbsp;trong \u0111i\u1ec1u ki\u1ec7n t\u1ed1i \u01b0u.&nbsp;<a href=\"https:\/\/global.yamaha-motor.com\/business\/smt\/mounter\/yrm20\/spec\/\" target=\"_blank\" rel=\"noopener\">Th\u00f4ng s\u1ed1 k\u1ef9 thu\u1eadt c\u1ee7a Yamaha YRM20<\/a>. (<a href=\"https:\/\/global.yamaha-motor.com\/business\/smt\/mounter\/yrm20\/spec\/?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">Trang web to\u00e0n c\u1ea7u c\u1ee7a Yamaha Motor<\/a>)<\/li>\n\n\n\n<li>Trang NPM-WX c\u1ee7a Panasonic tr\u00edch d\u1eabn&nbsp;<strong>\u00b125 \u03bcm<\/strong>&nbsp;\u0110\u1ed9 ch\u00ednh x\u00e1c c\u1ee7a v\u1ecb tr\u00ed (b\u1ed1i c\u1ea3nh: c\u00e1c t\u00f9y ch\u1ecdn v\u00e0 \u0111i\u1ec1u ki\u1ec7n c\u1ee7a \u0111\u1ea7u \u0111\u01b0\u1ee3c c\u1ea5u h\u00ecnh).&nbsp;<a href=\"https:\/\/eu.connect.panasonic.com\/gb\/en\/smart-factory\/npm-wx\" target=\"_blank\" rel=\"noopener\">Panasonic NPM-WX<\/a>. (<a href=\"https:\/\/eu.connect.panasonic.com\/gb\/en\/smart-factory\/npm-wx?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">Panasonic K\u1ebft n\u1ed1i<\/a>)<\/li>\n\n\n\n<li>ASMPT\u2019s SIPLACE CA2 li\u1ec7t k\u00ea c\u00e1c l\u1edbp \u0111\u1ed9 ch\u00ednh x\u00e1c xu\u1ed1ng \u0111\u1ebfn&nbsp;<strong>10 \u03bcm @ 3 sigma<\/strong>&nbsp;(trong c\u00e1c \u0111i\u1ec1u ki\u1ec7n v\u00e0 c\u1ea5u h\u00ecnh \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh).&nbsp;<a href=\"https:\/\/smt.asmpt.com\/en\/products\/placement-solutions\/siplace-ca2\/\" target=\"_blank\" rel=\"noopener\">ASMPT SIPLACE CA2<\/a>. (<a href=\"https:\/\/smt.asmpt.com\/en\/products\/placement-solutions\/siplace-ca2\/?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">smt.asmpt.com<\/a>)<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Nh\u1eefng con s\u1ed1 \u0111\u00f3 kh\u00f4ng ph\u1ea3i l\u00e0 th\u1ef1c t\u1ebf c\u1ee7a b\u1ea1n theo m\u1eb7c \u0111\u1ecbnh. Ch\u00fang l\u00e0 nh\u1eefng g\u00ec b\u1ea1n nh\u1eadn \u0111\u01b0\u1ee3c sau khi ng\u1eebng t\u1ef1 l\u1eeba d\u1ed1i b\u1ea3n th\u00e2n v\u1ec1 h\u1ec7 t\u1ecda \u0111\u1ed9.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"fiducials-the-bridge-between-pcb-coordinate-system-vs-machine-coordinate-system\">\u0110i\u1ec3m tham chi\u1ebfu: c\u1ea7u n\u1ed1i gi\u1eefa h\u1ec7 t\u1ecda \u0111\u1ed9 PCB v\u00e0 h\u1ec7 t\u1ecda \u0111\u1ed9 m\u00e1y.<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Hai d\u1ea5u hi\u1ec7u. Hai d\u1ea5u hi\u1ec7u tham chi\u1ebfu to\u00e0n c\u1ea7u th\u01b0\u1eddng \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng \u0111\u1ec3 \u0111i\u1ec1u ch\u1ec9nh d\u1ecbch chuy\u1ec3n v\u00e0 xoay. Th\u00eam m\u1ed9t d\u1ea5u hi\u1ec7u th\u1ee9 ba, b\u1ea1n c\u00f3 th\u1ec3 \u01b0\u1edbc t\u00ednh \u0111\u1ed9 nghi\u00eang\/k\u00edch th\u01b0\u1edbc (t\u00f9y thu\u1ed9c v\u00e0o m\u00f4 h\u00ecnh m\u00e1y), \u0111i\u1ec1u n\u00e0y quan tr\u1ecdng h\u01a1n nhi\u1ec1u so v\u1edbi nh\u1eefng g\u00ec m\u1ecdi ng\u01b0\u1eddi th\u1eeba nh\u1eadn tr\u00ean c\u00e1c b\u1ea3ng l\u1edbn ho\u1eb7c khi vi\u1ec7c chia b\u1ea3ng g\u00e2y ra s\u1ef1 bi\u1ebfn d\u1ea1ng nh\u1eb9.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u0110\u00e2y l\u00e0 nh\u1eefng g\u00ec fiducials th\u1ef1c s\u1ef1 l\u00e0m: ch\u00fang cho ph\u00e9p m\u00e1y t\u00ednh gi\u1ea3i quy\u1ebft m\u1ed9t ph\u00e9p bi\u1ebfn \u0111\u1ed5i t\u1eeb&nbsp;<strong>Khung PCB \u2192 Khung m\u00e1y<\/strong>&nbsp;S\u1eed d\u1ee5ng v\u1ecb tr\u00ed \u0111\u00e1nh d\u1ea5u \u0111\u00e3 \u0111o. \u0110\u00f3 l\u00e0 robotics thu\u1ea7n t\u00fay.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">NIST kh\u00f4ng bi\u00ean so\u1ea1n c\u00e1c t\u00e0i li\u1ec7u h\u01b0\u1edbng d\u1eabn l\u1eadp tr\u00ecnh SMT, nh\u01b0ng c\u00f4ng tr\u00ecnh nghi\u00ean c\u1ee9u v\u1ec1 \u0111o l\u01b0\u1eddng robot c\u1ee7a h\u1ecd c\u0169ng \u0111\u1ec1 c\u1eadp \u0111\u1ebfn v\u1ea5n \u0111\u1ec1 c\u1ed1t l\u00f5i t\u01b0\u01a1ng t\u1ef1: b\u1ea1n ph\u1ea3i thu th\u1eadp v\u00e0 \u0111\u0103ng k\u00fd c\u00e1c bi\u1ebfn \u0111\u1ed5i t\u1ecda \u0111\u1ed9 \u0111\u1ec3 ki\u1ec3m so\u00e1t chuy\u1ec3n \u0111\u1ed9ng m\u1ed9t c\u00e1ch \u0111\u00e1ng tin c\u1eady. T\u00e0i li\u1ec7u k\u1ef9 thu\u1eadt n\u0103m 2023 c\u1ee7a NIST v\u1ec1 bi\u1ebfn \u0111\u1ed5i v\u00e0 \u0111\u0103ng k\u00fd h\u1ec7 t\u1ecda \u0111\u1ed9 s\u1eed d\u1ee5ng c\u00f9ng m\u1ed9t h\u1ec7 th\u1ed1ng to\u00e1n h\u1ecdc m\u00e0 b\u1ea1n \u0111ang \u00e1p d\u1ee5ng khi thi\u1ebft b\u1ecb l\u1eafp r\u00e1p c\u1ee7a b\u1ea1n \u201cnh\u1eadn di\u1ec7n c\u00e1c \u0111i\u1ec3m tham chi\u1ebfu\u201d.\u201d&nbsp;<a href=\"https:\/\/nvlpubs.nist.gov\/nistpubs\/TechnicalNotes\/NIST.TN.2258.pdf\" target=\"_blank\" rel=\"noopener\">NIST TN 2258 (Th\u00e1ng 7 n\u0103m 2023)<\/a>. (<a href=\"https:\/\/nvlpubs.nist.gov\/nistpubs\/TechnicalNotes\/NIST.TN.2258.pdf?utm_source=chatgpt.com\" target=\"_blank\" rel=\"noopener\">nvlpubs.nist.gov<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">V\u00ec v\u1eady, n\u1ebfu quy tr\u00ecnh chu\u1ea9n m\u1ef1c c\u1ee7a b\u1ea1n thi\u1ebfu ch\u00ednh x\u00e1c, b\u1ea1n kh\u00f4ng ch\u1ec9 \u201cm\u1ed9t ch\u00fat sai l\u1ec7ch\u201d. B\u1ea1n \u0111ang x\u00e2y d\u1ef1ng tr\u00ean m\u1ed9t b\u1ea3n \u0111\u1ed3 sai l\u1ec7ch.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"the-table-people-wish-they-had-before-the-night-shift\">B\u00e0n m\u00e0 m\u1ecdi ng\u01b0\u1eddi mong mu\u1ed1n c\u00f3 tr\u01b0\u1edbc ca \u0111\u00eam.<\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>L\u1edbp t\u1ecda \u0111\u1ed9<\/th><th>N\u00f3 \u201cc\u00f3 ngh\u0129a l\u00e0 g\u00ec\u201d<\/th><th>M\u00f4 h\u00ecnh h\u1ecfng h\u00f3c \u0111i\u1ec3n h\u00ecnh<\/th><th>\u0110i\u1ec1u g\u00ec kh\u1eafc ph\u1ee5c \u0111\u01b0\u1ee3c n\u00f3 (kh\u00f4ng ph\u1ea3i l\u00e0 m\u00ea t\u00edn)<\/th><\/tr><\/thead><tbody><tr><td>Ngu\u1ed3n g\u1ed1c PCB (CAD\/Gerber)<\/td><td>Thi\u1ebft k\u1ebf c\u00f3 t\u1ecda \u0111\u1ed9 0,0 v\u00e0 g\u00f3c xoay<\/td><td>To\u00e0n b\u1ed9 c\u00f4ng vi\u1ec7c \u0111\u01b0\u1ee3c d\u1ecbch chuy\u1ec3n, ph\u1ea3n chi\u1ebfu ho\u1eb7c xoay 90\u00b0.<\/td><td>\u0110\u1ed3ng b\u1ed9 h\u00f3a CAD \u2192 CAM \u2192 \u0111i\u1ec3m g\u1ed1c ch\u01b0\u01a1ng tr\u00ecnh; kh\u00f3a m\u1ed9t ti\u00eau chu\u1ea9n<\/td><\/tr><tr><td>\u0110\u1ed9 l\u1ec7ch c\u1ee7a m\u1ea3ng panel<\/td><td>H\u00ecnh h\u1ecdc l\u1eb7p l\u1ea1i<\/td><td>M\u1ed9t b\u1ea3ng trong b\u1ea3ng \u0111i\u1ec1u khi\u1ec3n ho\u1ea1t \u0111\u1ed9ng b\u00ecnh th\u01b0\u1eddng, c\u00e1c b\u1ea3ng kh\u00e1c b\u1ecb l\u1ec7ch.<\/td><td>Ki\u1ec3m tra kho\u1ea3ng c\u00e1ch gi\u1eefa c\u00e1c m\u1ea3ng, g\u00f3c xoay v\u00e0 \u0111i\u1ec3m g\u1ed1c c\u1ee7a b\u1ea3ng; kh\u00f4ng ch\u1ec9nh s\u1eeda th\u1ee7 c\u00f4ng c\u00e1c kho\u1ea3ng c\u00e1ch.<\/td><\/tr><tr><td>Bi\u1ebfn \u0111\u1ed5i tham chi\u1ebfu<\/td><td>B\u1ea3n v\u1ebd PCB \u0111\u00e3 \u0111o \u2192 B\u1ea3n \u0111\u1ed3 m\u00e1y<\/td><td>C\u00e1c v\u1ecb tr\u00ed ban \u0111\u1ea7u \u1ed5n, c\u00e1c ph\u1ea7n sau \u0111\u00f3 tr\u00f4i d\u1ea1t kh\u1eafp b\u1ea3ng.<\/td><td>S\u1eed d\u1ee5ng c\u00e1c \u0111i\u1ec3m tham chi\u1ebfu ch\u00ednh x\u00e1c, d\u1ea5u hi\u1ec7u r\u00f5 r\u00e0ng, \u00e1nh s\u00e1ng \u1ed5n \u0111\u1ecbnh; x\u00e1c nh\u1eadn m\u00f4 h\u00ecnh bi\u1ebfn \u0111\u1ed5i.<\/td><\/tr><tr><td>\u0110i\u1ec1u ch\u1ec9nh camera<\/td><td>Pixel \u2192 mm; bi\u1ebfn d\u1ea1ng \u1ed1ng k\u00ednh<\/td><td>Nh\u1eadn di\u1ec7n g\u00f3c \u201cng\u1eabu nhi\u00ean\u201d, c\u00e1c b\u1ed9 ph\u1eadn nh\u1ecf xoay sai h\u01b0\u1edbng.<\/td><td>\u0110i\u1ec1u ch\u1ec9nh l\u01b0\u1edbi camera, ch\u1ec9nh s\u1eeda m\u00e9o h\u00ecnh, duy tr\u00ec s\u1ef1 nh\u1ea5t qu\u00e1n v\u1ec1 \u00e1nh s\u00e1ng.<\/td><\/tr><tr><td>\u0110i\u1ec1u ch\u1ec9nh v\u00f2i phun\/g\u00f3c theta<\/td><td>C\u01a1 ch\u1ebf \u0111\u1ea7u v\u00e0 xoay 0<\/td><td>C\u00f9ng lo\u1ea1i g\u00f3i lu\u00f4n \u0111\u01b0\u1ee3c xoay theo m\u1ed9t g\u00f3c c\u1ed1 \u0111\u1ecbnh.<\/td><td>\u0110\u1eb7t l\u1ea1i gi\u00e1 tr\u1ecb ban \u0111\u1ea7u c\u1ee7a theta, ki\u1ec3m tra \u0111\u1ed9 tr\u1ec5, x\u00e1c minh quy \u01b0\u1edbc xoay c\u1ee7a th\u01b0 vi\u1ec7n.<\/td><\/tr><tr><td>B\u1ea3n \u0111\u1ed3 \u0111\u1ed9 cao Z<\/td><td>Chi\u1ec1u cao c\u1ee7a b\u1ea3ng trong khu v\u1ef1c \u0111\u1eb7t<\/td><td>MLCC b\u1ecb n\u1ee9t, c\u00e1c \u0111i\u1ec3m h\u1edf ng\u1eaft qu\u00e3ng, c\u00e1c \u0111i\u1ec3m h\u1edf kh\u00f4ng li\u00ean t\u1ee5c<\/td><td>T\u00e1i l\u1eadp b\u1ea3n \u0111\u1ed3 Z, c\u1ea3i thi\u1ec7n h\u1ed7 tr\u1ee3, x\u00e1c minh ki\u1ec3m so\u00e1t \u0111\u1ed9 cao d\u00e1n.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/pickandplacemachine.com\/wp-admin\/post.php?post=1360&amp;action=edit\"><img decoding=\"async\" width=\"960\" height=\"640\" src=\"https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot1.jpg\" alt=\"Robot h\u00e0n\" class=\"wp-image-5639\" srcset=\"https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot1.jpg 960w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot1-300x200.jpg 300w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot1-768x512.jpg 768w, https:\/\/pickandplacemachine.com\/wp-content\/uploads\/2026\/02\/Soldering-Robot1-18x12.jpg 18w\" sizes=\"(max-width: 960px) 100vw, 960px\" \/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"what-calibrate-pick-and-place-coordinates-should-mean-and-what-it-usually-means-\">\u201c\u0110i\u1ec1u ch\u1ec9nh t\u1ecda \u0111\u1ed9 \u0111\u1eb7t v\u00e0 l\u1ea5y\u201d n\u00ean c\u00f3 ngh\u0129a l\u00e0 g\u00ec (v\u00e0 th\u01b0\u1eddng c\u00f3 ngh\u0129a l\u00e0 g\u00ec)<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u0110i\u1ec1u ch\u1ec9nh nh\u01b0 m\u1ed9t ng\u01b0\u1eddi tr\u01b0\u1edfng th\u00e0nh. \u0110i\u1ec1u \u0111\u00f3 c\u00f3 ngh\u0129a l\u00e0 b\u1ea1n xem h\u1ec7 th\u1ed1ng nh\u01b0 m\u1ed9t s\u1ef1 k\u1ebft h\u1ee3p gi\u1eefa \u0111o l\u01b0\u1eddng v\u00e0 chuy\u1ec3n \u0111\u1ed9ng, ch\u1ee9 kh\u00f4ng ph\u1ea3i l\u00e0 \u201cch\u00fang ta \u0111\u00e3 \u0111i\u1ec1u ch\u1ec9nh n\u00f3 cho \u0111\u1ebfn khi AOI ng\u1eebng b\u00e1o \u0111\u1ed9ng.\u201d<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">M\u1ed9t v\u00f2ng hi\u1ec7u chu\u1ea9n th\u1ef1c t\u1ebf tr\u00f4ng nh\u01b0 sau:<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Kh\u00f3a chu\u1ed7i d\u1eef li\u1ec7u:<\/strong>&nbsp;M\u1ed9t ngu\u1ed3n th\u00f4ng tin ch\u00ednh x\u00e1c duy nh\u1ea5t cho c\u00e1c quy t\u1eafc xu\u1ea5t kh\u1ea9u CAD\/Gerber, quy tr\u00ecnh chia b\u1ea3ng m\u1ea1ch v\u00e0 quy \u01b0\u1edbc xoay.<\/li>\n\n\n\n<li><strong>Ki\u1ec3m tra ch\u1ea5t l\u01b0\u1ee3ng fiducial:<\/strong>&nbsp;K\u00edch th\u01b0\u1edbc d\u1ea5u, \u0111\u1ed9 t\u01b0\u01a1ng ph\u1ea3n, kho\u1ea3ng c\u00e1ch l\u1edbp ph\u1ee7 h\u00e0n, \u0111\u1ed9 s\u1ea1ch, \u00e1nh s\u00e1ng.<\/li>\n\n\n\n<li><strong>C\u00e0i \u0111\u1eb7t l\u1ea1i camera \u0111\u1ec3 l\u1eadp b\u1ea3n \u0111\u1ed3:<\/strong>&nbsp;\u0110i\u1ec1u ch\u1ec9nh m\u00e9o \u1ed1ng k\u00ednh; x\u00e1c minh t\u1ef7 l\u1ec7 pixel-to-mm tr\u00ean to\u00e0n b\u1ed9 tr\u01b0\u1eddng \u1ea3nh, kh\u00f4ng ch\u1ec9 \u1edf v\u00f9ng trung t\u00e2m.<\/li>\n\n\n\n<li><strong>X\u00e1c th\u1ef1c theta:<\/strong>&nbsp;\u0110\u1eb7t m\u1eabu th\u1eed nghi\u1ec7m xoay \u0111\u00e3 bi\u1ebft, \u0111o ph\u00e2n b\u1ed1 sai s\u1ed1 g\u00f3c v\u00e0 kh\u1eafc ph\u1ee5c c\u00e1c v\u1ea5n \u0111\u1ec1 v\u1ec1 d\u1ea5u\/zero \u1edf c\u1ea5p \u0111\u1ed9 th\u01b0 vi\u1ec7n.<\/li>\n\n\n\n<li><strong>Ki\u1ec3m tra Z d\u01b0\u1edbi t\u1ea3i:<\/strong>&nbsp;\u0110o \u0111\u1ed9 cong c\u1ee7a t\u1ea5m v\u00e1n b\u1eb1ng c\u00f4ng c\u1ee5 h\u1ed7 tr\u1ee3 th\u1ef1c t\u1ebf c\u1ee7a b\u1ea1n; \u0111\u1eebng tin v\u00e0o nh\u1eefng \u201c\u1ea3o t\u01b0\u1edfng v\u1ec1 t\u1ea5m v\u00e1n ph\u1eb3ng\u201d.<\/li>\n\n\n\n<li><strong>\u0110\u00f3ng v\u00f2ng l\u1eb7p b\u1eb1ng b\u1eb1ng ch\u1ee9ng:<\/strong>&nbsp;Xu h\u01b0\u1edbng d\u1eef li\u1ec7u AOI\/SPI, kh\u00f4ng ph\u1ea3i c\u1ea3m gi\u00e1c.<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">N\u1ebfu b\u1ea1n mu\u1ed1n ki\u1ebfn th\u1ee9c n\u00e0y kh\u00f4ng c\u00f2n l\u00e0 ki\u1ebfn th\u1ee9c b\u00ed truy\u1ec1n, h\u00e3y t\u00edch h\u1ee3p n\u00f3 v\u00e0o ch\u01b0\u01a1ng tr\u00ecnh \u0111\u00e0o t\u1ea1o. \u0110\u00f3 l\u00e0 l\u00fd do t\u1ea1i sao t\u00f4i lu\u00f4n khuy\u1ebfn kh\u00edch c\u00e1c nh\u00e0 m\u00e1y \u00e1p d\u1ee5ng quy tr\u00ecnh tri\u1ec3n khai v\u00e0 \u0111\u00e0o t\u1ea1o l\u1ea1i c\u00f3 t\u00e0i li\u1ec7u h\u01b0\u1edbng d\u1eabn, ch\u1ee9 kh\u00f4ng ch\u1ec9 d\u1ef1a v\u00e0o \u201cm\u1ed9t l\u1eadp tr\u00ecnh vi\u00ean gi\u1ecfi\u201d. N\u1ebfu b\u1ea1n th\u1ef1c s\u1ef1 nghi\u00eam t\u00fac, h\u00e3y b\u1eaft \u0111\u1ea7u v\u1edbi...&nbsp;<a href=\"https:\/\/pickandplacemachine.com\/solution\/training-after-sales-support\/\">\u0110\u00e0o t\u1ea1o v\u00e0 h\u1ed7 tr\u1ee3 sau b\u00e1n h\u00e0ng<\/a>&nbsp;v\u00e0 bi\u1ebfn n\u00f3 th\u00e0nh m\u1ed9t ph\u1ea7n c\u1ee7a quy tr\u00ecnh, kh\u00f4ng ph\u1ea3i l\u00e0 m\u1ed9t nhi\u1ec7m v\u1ee5 c\u1ee9u h\u1ed9.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"faqs\">C\u00e2u h\u1ecfi th\u01b0\u1eddng g\u1eb7p<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"what-is-a-pick-and-place-coordinate-system-\">H\u1ec7 t\u1ecda \u0111\u1ed9 \u0111\u1eb7t v\u00e0 l\u1ea5y l\u00e0 g\u00ec?<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">H\u1ec7 t\u1ecda \u0111\u1ed9 \u0111\u1eb7t linh ki\u1ec7n l\u00e0 c\u00e1ch th\u1ee9c c\u00f3 c\u1ea5u tr\u00fac c\u1ee7a m\u00e1y \u0111\u1ec3 x\u00e1c \u0111\u1ecbnh v\u1ecb tr\u00ed v\u00e0 g\u00f3c quay cho qu\u00e1 tr\u00ecnh \u0111\u1eb7t linh ki\u1ec7n, bao g\u1ed3m vi\u1ec7c \u00e1nh x\u1ea1 v\u1ecb tr\u00ed PCB (X, Y), \u0111\u1ed9 cao \u0111\u1eb7t linh ki\u1ec7n (Z) v\u00e0 g\u00f3c linh ki\u1ec7n (theta) tr\u00ean nhi\u1ec1u khung tham chi\u1ebfu (PCB, camera, v\u00f2i phun v\u00e0 c\u01a1 s\u1edf m\u00e1y) \u0111\u1ec3 c\u00e1c l\u1ec7nh \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng \u0111\u01b0\u1ee3c th\u1ef1c hi\u1ec7n ch\u00ednh x\u00e1c tr\u00ean c\u00e1c pad m\u1ee5c ti\u00eau, kh\u00f4ng ph\u1ea3i \u201cg\u1ea7n \u0111\u00f3\u201d.\u201d<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"what-does-xyzr-mean-in-pick-and-place-machines-\">XYZR c\u00f3 ngh\u0129a l\u00e0 g\u00ec trong m\u00e1y \u0111\u1eb7t linh ki\u1ec7n?<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">XYZR (th\u01b0\u1eddng \u0111\u01b0\u1ee3c vi\u1ebft l\u00e0 XYZT ho\u1eb7c XY + theta) m\u00f4 t\u1ea3 c\u00e1c th\u00f4ng s\u1ed1 chuy\u1ec3n \u0111\u1ed9ng ch\u00ednh m\u00e0 m\u00e1y l\u1eafp r\u00e1p s\u1eed d\u1ee5ng: X v\u00e0 Y cho v\u1ecb tr\u00ed ph\u1eb3ng tr\u00ean b\u1ea3ng m\u1ea1ch in (PCB), Z cho \u0111\u1ed9 cao \u0111\u1eb7t d\u1ecdc, v\u00e0 R\/theta cho g\u00f3c xoay c\u1ee7a linh ki\u1ec7n quanh tr\u1ee5c Z, cho ph\u00e9p \u0111\u1ecbnh h\u01b0\u1edbng ch\u00ednh x\u00e1c cho c\u00e1c g\u00f3i linh ki\u1ec7n c\u00f3 c\u1ef1c v\u00e0 kh\u00f4ng \u0111\u1ed1i x\u1ee9ng.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"how-does-pick-and-place-rotation-theta-actually-work-\">C\u01a1 ch\u1ebf ho\u1ea1t \u0111\u1ed9ng c\u1ee7a vi\u1ec7c xoay (theta) trong qu\u00e1 tr\u00ecnh \u0111\u1eb7t v\u00e0 l\u1ea5y linh ki\u1ec7n th\u1ef1c s\u1ef1 di\u1ec5n ra nh\u01b0 th\u1ebf n\u00e0o?<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Qu\u00e1 tr\u00ecnh xoay \u0111\u1eb7t linh ki\u1ec7n ho\u1ea1t \u0111\u1ed9ng b\u1eb1ng c\u00e1ch xoay v\u00f2i phun ho\u1eb7c \u0111\u1ea7u \u0111\u1eb7t linh ki\u1ec7n \u0111\u1ec3 c\u0103n ch\u1ec9nh h\u01b0\u1edbng nh\u1eadn di\u1ec7n c\u1ee7a linh ki\u1ec7n v\u1edbi g\u00f3c m\u1ee5c ti\u00eau c\u1ee7a ch\u01b0\u01a1ng tr\u00ecnh, s\u1eed d\u1ee5ng c\u00f4ng ngh\u1ec7 ph\u00e1t hi\u1ec7n g\u00f3c d\u1ef1a tr\u00ean h\u00ecnh \u1ea3nh v\u00e0 tr\u1ee5c theta \u0111\u00e3 hi\u1ec7u chu\u1ea9n, \u0111\u1ea3m b\u1ea3o linh ki\u1ec7n \u0111\u01b0\u1ee3c \u0111\u1eb7t kh\u1edbp v\u1edbi h\u00ecnh d\u1ea1ng pad, d\u1ea5u c\u1ef1c v\u00e0 quy \u01b0\u1edbc th\u01b0 vi\u1ec7n linh ki\u1ec7n.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"what-s-the-difference-between-pcb-coordinates-and-machine-coordinates-\">S\u1ef1 kh\u00e1c bi\u1ec7t gi\u1eefa t\u1ecda \u0111\u1ed9 PCB v\u00e0 t\u1ecda \u0111\u1ed9 m\u00e1y l\u00e0 g\u00ec?<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">T\u1ecda \u0111\u1ed9 PCB m\u00f4 t\u1ea3 v\u1ecb tr\u00ed c\u1ee7a c\u00e1c pad v\u00e0 linh ki\u1ec7n trong khung thi\u1ebft k\u1ebf c\u1ee7a b\u1ea3ng m\u1ea1ch, trong khi t\u1ecda \u0111\u1ed9 m\u00e1y m\u00f4 t\u1ea3 v\u1ecb tr\u00ed th\u1ef1c t\u1ebf c\u1ee7a khung gantry v\u00e0 \u0111\u1ea7u m\u00e1y so v\u1edbi b\u0103ng t\u1ea3i\/n\u1ec1n; m\u00e1y l\u1eafp r\u00e1p s\u1eed d\u1ee5ng c\u00e1c \u0111i\u1ec3m tham chi\u1ebfu v\u00e0 ph\u00e9p bi\u1ebfn \u0111\u1ed5i \u0111\u1ec3 chuy\u1ec3n \u0111\u1ed5i v\u1ecb tr\u00ed PCB th\u00e0nh l\u1ec7nh \u0111i\u1ec1u khi\u1ec3n chuy\u1ec3n \u0111\u1ed9ng c\u1ee7a m\u00e1y, t\u00ednh \u0111\u1ebfn s\u1ef1 d\u1ecbch chuy\u1ec3n v\u00e0 xoay c\u1ee7a b\u1ea3ng m\u1ea1ch.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"how-do-fiducials-enable-coordinate-transformation-\">C\u00e1c \u0111i\u1ec3m tham chi\u1ebfu (fiducials) ho\u1ea1t \u0111\u1ed9ng nh\u01b0 th\u1ebf n\u00e0o \u0111\u1ec3 th\u1ef1c hi\u1ec7n bi\u1ebfn \u0111\u1ed5i t\u1ecda \u0111\u1ed9?<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">C\u00e1c \u0111i\u1ec3m tham chi\u1ebfu (fiducials) cho ph\u00e9p chuy\u1ec3n \u0111\u1ed5i t\u1ecda \u0111\u1ed9 b\u1eb1ng c\u00e1ch cung c\u1ea5p cho m\u00e1y c\u00e1c \u0111i\u1ec3m tham chi\u1ebfu \u0111\u00e3 bi\u1ebft tr\u00ean b\u1ea3ng m\u1ea1ch in (PCB), m\u00e0 m\u00e1y s\u1ebd \u0111o l\u01b0\u1eddng b\u1eb1ng h\u1ec7 th\u1ed1ng th\u1ecb gi\u00e1c \u0111\u1ec3 t\u00ednh to\u00e1n s\u1ef1 d\u1ecbch chuy\u1ec3n v\u00e0 xoay (v\u00e0 \u0111\u00f4i khi l\u00e0 \u0111\u1ed9 nghi\u00eang\/t\u1ef7 l\u1ec7) nh\u1eb1m \u00e1nh x\u1ea1 t\u1ecda \u0111\u1ed9 b\u1ea3ng m\u1ea1ch c\u1ee7a ch\u01b0\u01a1ng tr\u00ecnh v\u00e0o khung t\u1ecda \u0111\u1ed9 c\u1ee7a m\u00e1y, b\u00f9 \u0111\u1eafp cho s\u1ef1 bi\u1ebfn \u0111\u1ed5i t\u1ea3i tr\u1ecdng trong th\u1ef1c t\u1ebf.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"what-are-the-best-practices-for-pick-and-place-axis-calibration-\">Nh\u1eefng ph\u01b0\u01a1ng ph\u00e1p t\u1ed1t nh\u1ea5t \u0111\u1ec3 hi\u1ec7u chu\u1ea9n tr\u1ee5c \u0111\u1eb7t v\u00e0 l\u1ea5y l\u00e0 g\u00ec?<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">C\u00e1c ph\u01b0\u01a1ng ph\u00e1p t\u1ed1t nh\u1ea5t \u0111\u1ec3 hi\u1ec7u chu\u1ea9n tr\u1ee5c pick and place bao g\u1ed3m: chu\u1ea9n h\u00f3a \u0111i\u1ec3m g\u1ed1c d\u1eef li\u1ec7u v\u00e0 quy \u01b0\u1edbc xoay, gi\u1eef cho c\u00e1c \u0111i\u1ec3m tham chi\u1ebfu s\u1ea1ch s\u1ebd v\u00e0 c\u00f3 \u0111\u1ed9 t\u01b0\u01a1ng ph\u1ea3n cao, hi\u1ec7u chu\u1ea9n \u0111\u1ecbnh k\u1ef3 m\u00e9o h\u00ecnh camera v\u00e0 \u00e1nh x\u1ea1 pixel sang mm, x\u00e1c minh \u0111i\u1ec3m zero\/d\u1ea5u theta \u1edf c\u1ea5p \u0111\u1ed9 th\u01b0 vi\u1ec7n, v\u00e0 duy tr\u00ec b\u1ea3n \u0111\u1ed3 \u0111\u1ed9 cao Z d\u1ef1a tr\u00ean \u0111\u1ed9 cong th\u1ef1c t\u1ebf c\u1ee7a b\u1ea3ng m\u1ea1ch v\u00e0 h\u1ed7 tr\u1ee3 c\u00f4ng c\u1ee5 \u2014 kh\u00f4ng d\u1ef1a tr\u00ean gi\u1ea3 \u0111\u1ecbnh.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"conclusion\">K\u1ebft lu\u1eadn<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">N\u1ebfu \u0111\u01b0\u1eddng k\u1ebb c\u1ee7a b\u1ea1n c\u1ee9 \u201cb\u00ed \u1ea9n\u201d tr\u00f4i \u0111i, t\u00f4i d\u00e1m c\u00e1 l\u00e0 n\u00f3 kh\u00f4ng h\u1ec1 b\u00ed \u1ea9n. \u0110\u00f3 l\u00e0 do h\u1ee3p \u0111\u1ed3ng gi\u1eefa c\u00e1c khung h\u00ecnh b\u1ecb h\u1ecfng.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">N\u1ebfu b\u1ea1n mu\u1ed1n m\u1ed9t gi\u1ea3i ph\u00e1p c\u00f3 c\u1ea5u tr\u00fac, h\u00e3y b\u1eaft \u0111\u1ea7u v\u1edbi hai t\u00e0i s\u1ea3n th\u1ef1c t\u1ebf: duy\u1ec7t&nbsp;<a href=\"https:\/\/pickandplacemachine.com\/resource\/customer-cases\/\">C\u00e1c nghi\u00ean c\u1ee9u tr\u01b0\u1eddng h\u1ee3p kh\u00e1ch h\u00e0ng t\u1eeb c\u00e1c nh\u00e0 m\u00e1y th\u1ef1c t\u1ebf<\/a>&nbsp;\u0110\u1ec3 xem c\u00e1c m\u1eabu th\u1ea5t b\u1ea1i tr\u00f4ng nh\u01b0 th\u1ebf n\u00e0o trong th\u1ef1c t\u1ebf, th\u00ec&nbsp;<a href=\"https:\/\/pickandplacemachine.com\/resource\/download-catalog\/\">T\u1ea3i xu\u1ed1ng danh m\u1ee5c s\u1ea3n ph\u1ea9m pick-and-place<\/a>&nbsp;So s\u00e1nh c\u00e1c n\u1ec1n t\u1ea3ng v\u00e0 kh\u1ea3 n\u0103ng m\u00e0 kh\u00f4ng c\u1ea7n ph\u1ea3i gi\u1ea3i th\u00edch m\u1ed9t c\u00e1ch m\u01a1 h\u1ed3.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">V\u00e0 n\u1ebfu b\u1ea1n c\u1ea7n h\u1ed7 tr\u1ee3 ch\u1ea9n \u0111o\u00e1n m\u1ed9t v\u1ea5n \u0111\u1ec1 c\u1ee5 th\u1ec3 li\u00ean quan \u0111\u1ebfn XYZR\/theta tr\u00ean h\u1ec7 th\u1ed1ng c\u1ee7a m\u00ecnh, h\u00e3y s\u1eed d\u1ee5ng k\u00eanh h\u1ed7 tr\u1ee3 tr\u1ef1c ti\u1ebfp:&nbsp;<a href=\"https:\/\/pickandplacemachine.com\/contact\/\">Li\u00ean h\u1ec7 v\u1edbi \u0111\u1ed9i ng\u0169 SMT c\u1ee7a ch\u00fang t\u00f4i<\/a>. \u0110\u1ec3 bi\u1ebft th\u00eam th\u00f4ng tin v\u1ec1 ph\u1ea1m vi ph\u1ea3n h\u1ed3i v\u00e0 h\u1ed7 tr\u1ee3, vui l\u00f2ng \u0111\u1ecdc t\u00e0i li\u1ec7u c\u1ee7a ch\u00fang t\u00f4i.&nbsp;<a href=\"https:\/\/pickandplacemachine.com\/service-promise\/\">Cam k\u1ebft d\u1ecbch v\u1ee5<\/a>.<\/p>","protected":false},"excerpt":{"rendered":"<p> H\u1ec7 t\u1ecda \u0111\u1ed9 kh\u00f4ng ph\u1ea3i l\u00e0 l\u00fd thuy\u1ebft trong SMT. Ch\u00fang l\u00e0 l\u1edbp \u1ea9n n\u01a1i c\u00e1c l\u1ed7i \u201cng\u1eabu nhi\u00ean\u201d \u0111\u01b0\u1ee3c t\u1ea1o ra m\u1ed9t c\u00e1ch c\u00f3 ch\u1ee7 \u0111\u00edch. H\u01b0\u1edbng d\u1eabn n\u00e0y gi\u1ea3i th\u00edch c\u00e1ch c\u00e1c tr\u1ee5c XY, Z v\u00e0 xoay th\u1ef1c s\u1ef1 ho\u1ea1t \u0111\u1ed9ng b\u00ean trong c\u00e1c h\u1ec7 th\u1ed1ng \u0111\u1eb7t linh ki\u1ec7n hi\u1ec7n \u0111\u1ea1i, v\u00e0 c\u00e1ch ph\u00e1t hi\u1ec7n nh\u1eefng th\u00f4ng tin sai l\u1ec7ch m\u00e0 d\u00e2y chuy\u1ec1n s\u1ea3n xu\u1ea5t c\u1ee7a b\u1ea1n \u0111ang cung c\u1ea5p.<\/p>","protected":false},"author":1,"featured_media":5641,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_gspb_post_css":"","footnotes":""},"categories":[838],"tags":[1011,1028,986,1025,1002,1027],"class_list":["post-5637","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-maintenance-spares","tag-fiducial-alignment","tag-pcb-coordinate-mapping","tag-pick-and-place-programming","tag-placement-accuracy","tag-smt-calibration","tag-theta-rotation"],"blocksy_meta":[],"_links":{"self":[{"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/posts\/5637","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/comments?post=5637"}],"version-history":[{"count":3,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/posts\/5637\/revisions"}],"predecessor-version":[{"id":6386,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/posts\/5637\/revisions\/6386"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/media\/5641"}],"wp:attachment":[{"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/media?parent=5637"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/categories?post=5637"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/pickandplacemachine.com\/vi\/wp-json\/wp\/v2\/tags?post=5637"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}