Remember your particular SMD shop may have a preference for what type & size fiducials they prefer, so ask first. Open up the top solder mask so that the copper reflects nicely from the fiducial marks. Some robots look for a crosshair (each part of the "hair" say being 35mils long & of a thickness of 15mils) & others a small circle (say 15mils in diameter). Normally you would place at least one fiducial mark on your circuit.
Part of this pick & place information contains the exact centre point of each component along with the rotation angle of each component. This is generated by your pcb design software & supplied directly to the SMD shop (or to yourself if running your own SMD robot). The gerbers don't contain the pick & place information.
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