org.openpnp.machine.reference

Class ReferenceNozzle

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.spi.base.AbstractHeadMountable

org.openpnp.spi.base.AbstractNozzle

org.openpnp.machine.reference.ReferenceNozzle

All Implemented Interfaces:

ReferenceHeadMountable, Identifiable, Named, Solutions.Subject, HeadMountable, Locatable, Movable, MovableMountable, Nozzle, PropertySheetHolder, WizardConfigurable

Direct Known Subclasses:

ContactProbeNozzle

public class ReferenceNozzle
extends AbstractNozzle
implements ReferenceHeadMountable

Nested Class Summary

Nested classes/interfaces inherited from interface org.openpnp.spi.Locatable

Locatable.LocationOption

Nested classes/interfaces inherited from interface org.openpnp.spi.Nozzle

Nozzle.PartOffStep, Nozzle.PartOnStep, Nozzle.RotationMode

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Field Summary

Fields

Modifier and Type	Field and Description
javax.swing.Action	deleteAction
protected ReferenceNozzleTip	nozzleTip
protected Length	safeZ Deprecated.

Fields inherited from class org.openpnp.spi.base.AbstractNozzle

aligningRotationMode, compatibleNozzleTipIds, compatibleNozzleTips, head, id, maxAlignmentArticulationAngle, maxPickArticulationAngle, name, part, rotationMode, rotationModeOffset

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Constructor Summary

Constructors

Constructor and Description
ReferenceNozzle()
ReferenceNozzle(java.lang.String id)

Method Summary

Modifier and Type	Method and Description
protected void	actuateBlowValve(double value)
protected void	actuateVacuumValve(boolean on)
protected void	actuateVacuumValve(double value)
void	adjustHeadOffsetsDependencies(Location headOffsetsOld, Location headOffsetsNew) Adjust any dependent head offsets, e.g.
void	applyConfiguration(Configuration configuration)
protected void	assertManualChangeLocation()
void	calibrate()
protected void	ensureZCalibrated(boolean assumeNozzleTipLoaded)
protected void	establishPickVacuumLevel(int milliseconds)
protected void	establishPlaceVacuumLevel(int milliseconds)
void	findIssues(Solutions solutions) Report any detected issue and proposed solution in the list.
Actuator	getBlowOffActuator()
ReferenceNozzleTip	getCalibrationNozzleTip()
Location	getCameraToolCalibratedOffset(Camera camera) Get the tool specific calibrated offset for the camera.
PropertySheetHolder[]	getChildPropertySheetHolders()
Wizard	getConfigurationWizard() Gets a Wizard that can be used to configure this object.
Length	getEffectiveSafeZ()
Actuator	getExpectedBlowOffActuator()
Actuator	getExpectedVacuumActuator()
Actuator	getExpectedVacuumSenseActuator()
Location	getHeadOffsets()
Location	getManualNozzleTipChangeLocation()
ReferenceNozzleTip	getNozzleTip() Get the NozzleTip currently attached to the Nozzle.
int	getPickDwellMilliseconds()
int	getPlaceDwellMilliseconds()
javax.swing.Action[]	getPropertySheetHolderActions()
java.lang.String	getPropertySheetHolderTitle()
PropertySheetHolder.PropertySheet[]	getPropertySheets()
Length	getSafePartHeight(Part part)
protected ReferenceNozzleTip	getUnloadedNozzleTipStandin()
Actuator	getVacuumActuator()
Actuator	getVacuumSenseActuator()
void	home() Perform any homing operation on each movable.
boolean	isBlowOffClosingValve()
boolean	isCalibrated()
boolean	isChangerEnabled()
boolean	isEnableDynamicSafeZ()
boolean	isLimitRotation() Deprecated.
protected boolean	isManualNozzleTipChangeLocationUndefined()
boolean	isNozzleTipChangedOnManualFeed()
boolean	isPartOff() Returns true if a part appears to be off the nozzle.
boolean	isPartOffEnabled(Nozzle.PartOffStep step) Returns true if the isPartOff() method is available.
protected boolean	isPartOffGraphEnabled()
boolean	isPartOn() Returns true if a part appears to be on the nozzle.
boolean	isPartOnEnabled(Nozzle.PartOnStep step) Returns true if the isPartOn() method is available.
protected boolean	isPartOnGraphEnabled()
protected boolean	isVaccumActuatorEnabled()
protected boolean	isVaccumSenseActuatorEnabled()
void	loadNozzleTip(NozzleTip nozzleTip) Changer interface: Command the Nozzle to load the given NozzleTip as it's current NozzleTip.
void	migrateSafeZ() Deprecated.
void	moveToPickLocation(Feeder feeder) Move the Nozzle to the given feeder pick location.
void	moveToPlacementLocation(Location placementLocation, Part part) Move the Nozzle to the given placementLocation.
protected void	persist()
void	pick(Part part) Commands the Nozzle to perform it's pick operation.
void	place() Commands the Nozzle to perform it's place operation.
protected double	probePartOffVacuumLevel(int probingMilliseconds, int dwellMilliseconds)
double	readVacuumLevel()
void	setBlowOffActuator(Actuator actuator) Set the actuator used to blow off parts on the Nozzle.
void	setBlowOffClosingValve(boolean blowOffClosingValve)
void	setChangerEnabled(boolean changerEnabled)
void	setEnableDynamicSafeZ(boolean enableDynamicSafeZ)
void	setHeadOffsets(Location headOffsets)
void	setManualNozzleTipChangeLocation(Location manualNozzleTipChangeLocation)
void	setNozzleTip(ReferenceNozzleTip nozzleTip)
void	setNozzleTipChangedOnManualFeed(boolean nozzleTipChangedOnManualFeed)
void	setPickDwellMilliseconds(int pickDwellMilliseconds)
void	setPlaceDwellMilliseconds(int placeDwellMilliseconds)
void	setVacuumActuator(Actuator actuator) Set the actuator used to switch the vacuum valve on the Nozzle.
void	setVacuumSenseActuator(Actuator actuator) Set the actuator used to sense the vacuum on the Nozzle.
protected void	storeBeforePickVacuumLevel()
protected void	storeBeforePlaceVacuumLevel()
Location	toHeadLocation(Location location, Location currentLocation, Locatable.LocationOption... options)
Location	toHeadMountableLocation(Location location, Location currentLocation, Locatable.LocationOption... options)
java.lang.String	toString()
void	unloadNozzleTip() Changer interface: Unload the current NozzleTip from the Nozzle, leaving it empty.

Methods inherited from class org.openpnp.spi.base.AbstractNozzle

addCompatibleNozzleTip, getCompatibleNozzleTips, getCompatibleNozzleTips, getHead, getId, getName, getPart, getPropertySheetHolderIcon, getRotationMode, getRotationModeLimits, getRotationModeOffset, isAligningRotationMode, isNozzleTipAndPartCompatible, prepareForPickAndPlaceArticulation, removeCompatibleNozzleTip, setAligningRotationMode, setHead, setName, setPart, setRotationMode, setRotationModeOffset, syncCompatibleNozzleTipIds

Methods inherited from class org.openpnp.spi.base.AbstractHeadMountable

getApproximativeLocation, getAxis, getAxisRotation, getAxisX, getAxisY, getAxisZ, getCalibratedHeadOffsets, getCoordinateAxisZ, getLocation, getMachine, getMappedAxes, getSafeZ, getSafeZZone, headMountableToRawZ, isInSafeZZone, isReachable, moveTo, moveTo, moveToSafeZ, moveToSafeZ, rawToHeadMountableZ, setAxis, setAxis, setAxisRotation, setAxisX, setAxisY, setAxisZ, setSafeZ, substituteUnchangedCoordinates, toAxesLocation, toHeadLocation, toHeadMountableLocation, toMappedLocation, toRaw, toTransformed, waitForCompletion

Methods inherited from class org.openpnp.model.AbstractModelObject

addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, firePropertyChange, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.openpnp.spi.HeadMountable

getHead, setHead, toHeadLocation, toHeadMountableLocation, waitForCompletion

Methods inherited from interface org.openpnp.spi.MovableMountable

getAxis, getAxisRotation, getAxisX, getAxisY, getAxisZ, getMappedAxes, toRaw, toTransformed

Methods inherited from interface org.openpnp.spi.Movable

getSafeZ, getSafeZZone, isInSafeZZone, isReachable, moveTo, moveTo, moveToSafeZ, moveToSafeZ

Methods inherited from interface org.openpnp.spi.Locatable

getApproximativeLocation, getLocation

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.model.Named

getName, setName

Methods inherited from interface org.openpnp.model.Solutions.Subject

getSubjectIcon, getSubjectText

Methods inherited from interface org.openpnp.spi.Nozzle

getSafePartHeight

Field Detail

safeZ

@Deprecated
protected Length safeZ

Deprecated.

nozzleTip

protected ReferenceNozzleTip nozzleTip

deleteAction

public javax.swing.Action deleteAction

Constructor Detail

ReferenceNozzle

public ReferenceNozzle()

ReferenceNozzle

public ReferenceNozzle(java.lang.String id)

Method Detail

applyConfiguration

public void applyConfiguration(Configuration configuration)

Overrides:

applyConfiguration in class AbstractHeadMountable

persist

protected void persist()

isLimitRotation

@Deprecated
public boolean isLimitRotation()

Deprecated.

isEnableDynamicSafeZ

public boolean isEnableDynamicSafeZ()

setEnableDynamicSafeZ

public void setEnableDynamicSafeZ(boolean enableDynamicSafeZ)

getPickDwellMilliseconds

public int getPickDwellMilliseconds()

setPickDwellMilliseconds

public void setPickDwellMilliseconds(int pickDwellMilliseconds)

getPlaceDwellMilliseconds

public int getPlaceDwellMilliseconds()

setPlaceDwellMilliseconds

public void setPlaceDwellMilliseconds(int placeDwellMilliseconds)

getHeadOffsets

public Location getHeadOffsets()

Specified by:

getHeadOffsets in interface ReferenceHeadMountable

setHeadOffsets

public void setHeadOffsets(Location headOffsets)

Specified by:

setHeadOffsets in interface ReferenceHeadMountable

adjustHeadOffsetsDependencies

public void adjustHeadOffsetsDependencies(Location headOffsetsOld,
                                          Location headOffsetsNew)

Adjust any dependent head offsets, e.g. after calibration.

Parameters:

headOffsetsOld -

headOffsetsNew -

offsetsDiff -

getNozzleTip

public ReferenceNozzleTip getNozzleTip()

Description copied from interface: Nozzle

Get the NozzleTip currently attached to the Nozzle.

Specified by:

getNozzleTip in interface Nozzle

Returns:

setNozzleTip

public void setNozzleTip(ReferenceNozzleTip nozzleTip)

isNozzleTipChangedOnManualFeed

public boolean isNozzleTipChangedOnManualFeed()

Specified by:

isNozzleTipChangedOnManualFeed in interface Nozzle

setNozzleTipChangedOnManualFeed

public void setNozzleTipChangedOnManualFeed(boolean nozzleTipChangedOnManualFeed)

getManualNozzleTipChangeLocation

public Location getManualNozzleTipChangeLocation()

setManualNozzleTipChangeLocation

public void setManualNozzleTipChangeLocation(Location manualNozzleTipChangeLocation)

moveToPickLocation

public void moveToPickLocation(Feeder feeder)
                        throws java.lang.Exception

Description copied from interface: Nozzle

Move the Nozzle to the given feeder pick location. This will move at safe Z and position the Nozzle so it is ready for Nozzle.pick(Part). This might or might not involve offsets and actions for contact-probing e.g. to determine the feeder's calibrated Z.

Specified by:

moveToPickLocation in interface Nozzle

Throws:

java.lang.Exception

pick

public void pick(Part part)
          throws java.lang.Exception

Description copied from interface: Nozzle

Commands the Nozzle to perform it's pick operation. Generally this just consists of turning on the vacuum. When this is called during job processing the processor will have already positioned the nozzle over the part to be picked and lowered it to the correct height. Some implementations may choose to do further work in pick(), such as firing air cylinders, monitoring pressure sensors, probing for contact etc.

Specified by:

pick in interface Nozzle

Throws:

java.lang.Exception

moveToPlacementLocation

public void moveToPlacementLocation(Location placementLocation,
                                    Part part)
                             throws java.lang.Exception

Description copied from interface: Nozzle

Move the Nozzle to the given placementLocation. This will move at safe Z and position the Nozzle so it is ready for Nozzle.place(). This might or might not involve offsets and actions for contact-probing.

Specified by:

moveToPlacementLocation in interface Nozzle

part - Part to be placed, null on discard.

Throws:

java.lang.Exception

place

public void place()
           throws java.lang.Exception

Description copied from interface: Nozzle

Commands the Nozzle to perform it's place operation. Generally this just consists of releasing vacuum and may include a puff of air to set the Part. When this is called during job processing the processor will have already positioned the nozzle over the part to be placed and lowered it to the correct height.

Specified by:

place in interface Nozzle

Throws:

java.lang.Exception

getUnloadedNozzleTipStandin

protected ReferenceNozzleTip getUnloadedNozzleTipStandin()

getCalibrationNozzleTip

public ReferenceNozzleTip getCalibrationNozzleTip()

getCameraToolCalibratedOffset

public Location getCameraToolCalibratedOffset(Camera camera)

Description copied from interface: HeadMountable

Get the tool specific calibrated offset for the camera.

Specified by:

getCameraToolCalibratedOffset in interface HeadMountable

Overrides:

getCameraToolCalibratedOffset in class AbstractNozzle

Returns:

See Also:

org.openpnp.spi.Camera.getLocation(HeadMountable)

calibrate

public void calibrate()
               throws java.lang.Exception

Specified by:

calibrate in interface Nozzle

Throws:

java.lang.Exception

isCalibrated

public boolean isCalibrated()

Specified by:

isCalibrated in interface Nozzle

toHeadLocation

public Location toHeadLocation(Location location,
                               Location currentLocation,
                               Locatable.LocationOption... options)

Overrides:

toHeadLocation in class AbstractHeadMountable

toHeadMountableLocation

public Location toHeadMountableLocation(Location location,
                                        Location currentLocation,
                                        Locatable.LocationOption... options)

Overrides:

toHeadMountableLocation in class AbstractHeadMountable

getSafePartHeight

public Length getSafePartHeight(Part part)

Specified by:

getSafePartHeight in interface Nozzle

Returns:

The height of the given part. If the part height is not yet known (to be probed), the maximum part height configured on the nozzle tip is returned. If part is null, a zero Length is returned.

getEffectiveSafeZ

public Length getEffectiveSafeZ()
                         throws java.lang.Exception

Specified by:

getEffectiveSafeZ in interface Movable

Overrides:

getEffectiveSafeZ in class AbstractHeadMountable

Returns:

The effective Safe Z, including any dynamic adjustment such as for parts on a Nozzle.

Throws:

java.lang.Exception

home

public void home()
          throws java.lang.Exception

Description copied from interface: Movable

Perform any homing operation on each movable. The head and driver have already been homed at this time.

Specified by:

home in interface Movable

Throws:

java.lang.Exception

loadNozzleTip

public void loadNozzleTip(NozzleTip nozzleTip)
                   throws java.lang.Exception

Description copied from interface: Nozzle

Changer interface: Command the Nozzle to load the given NozzleTip as it's current NozzleTip. If this returns without Exception then subsequently calling getNozzleTip() should return the same NozzleTip as was passed to this call. If the specified NozzleTip is already loaded this method should do nothing.

Specified by:

loadNozzleTip in interface Nozzle

Throws:

java.lang.Exception

unloadNozzleTip

public void unloadNozzleTip()
                     throws java.lang.Exception

Description copied from interface: Nozzle

Changer interface: Unload the current NozzleTip from the Nozzle, leaving it empty. After this call getNozzleTip() should return null.

Specified by:

unloadNozzleTip in interface Nozzle

Throws:

java.lang.Exception

assertManualChangeLocation

protected void assertManualChangeLocation()
                                   throws java.lang.Exception

Throws:

java.lang.Exception

isManualNozzleTipChangeLocationUndefined

protected boolean isManualNozzleTipChangeLocationUndefined()

isChangerEnabled

public boolean isChangerEnabled()

setChangerEnabled

public void setChangerEnabled(boolean changerEnabled)

ensureZCalibrated

protected void ensureZCalibrated(boolean assumeNozzleTipLoaded)
                          throws java.lang.Exception

Throws:

java.lang.Exception

getConfigurationWizard

public Wizard getConfigurationWizard()

Description copied from interface: WizardConfigurable

Gets a Wizard that can be used to configure this object.

Specified by:

getConfigurationWizard in interface WizardConfigurable

Returns:

getPropertySheetHolderTitle

public java.lang.String getPropertySheetHolderTitle()

Specified by:

getPropertySheetHolderTitle in interface PropertySheetHolder

getChildPropertySheetHolders

public PropertySheetHolder[] getChildPropertySheetHolders()

Specified by:

getChildPropertySheetHolders in interface PropertySheetHolder

getPropertySheets

public PropertySheetHolder.PropertySheet[] getPropertySheets()

Specified by:

getPropertySheets in interface PropertySheetHolder

getPropertySheetHolderActions

public javax.swing.Action[] getPropertySheetHolderActions()

Specified by:

getPropertySheetHolderActions in interface PropertySheetHolder

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

isVaccumSenseActuatorEnabled

protected boolean isVaccumSenseActuatorEnabled()

isVaccumActuatorEnabled

protected boolean isVaccumActuatorEnabled()

isPartOnEnabled

public boolean isPartOnEnabled(Nozzle.PartOnStep step)

Description copied from interface: Nozzle

Returns true if the isPartOn() method is available. Some machines do not have vacuum sensors or other part detection sensors, so this feature is optional.

Specified by:

isPartOnEnabled in interface Nozzle

Parameters:

step - determines which JobProcessor Step wants to perform the check

Returns:

isPartOffEnabled

public boolean isPartOffEnabled(Nozzle.PartOffStep step)

Description copied from interface: Nozzle

Returns true if the isPartOff() method is available. Some machines do not have vacuum sensors or other part detection sensors, so this feature is optional.

Specified by:

isPartOffEnabled in interface Nozzle

Parameters:

step - determines which JobProcessor Step wants to perform the check

Returns:

getVacuumSenseActuator

public Actuator getVacuumSenseActuator()

Returns:

The actuator used to sense the vacuum on the Nozzle.

getExpectedVacuumSenseActuator

public Actuator getExpectedVacuumSenseActuator()
                                        throws java.lang.Exception

Returns:

The actuator used to sense the vacuum on the Nozzle.

Throws:

java.lang.Exception

setVacuumSenseActuator

public void setVacuumSenseActuator(Actuator actuator)

Set the actuator used to sense the vacuum on the Nozzle.

Parameters:

actuator -

getVacuumActuator

public Actuator getVacuumActuator()

Returns:

The actuator used to switch the vacuum valve on the Nozzle.

getExpectedVacuumActuator

public Actuator getExpectedVacuumActuator()
                                   throws java.lang.Exception

Returns:

The actuator used to switch the vacuum valve on the Nozzle.

Throws:

java.lang.Exception - when the actuator is not configured.

setVacuumActuator

public void setVacuumActuator(Actuator actuator)

Set the actuator used to switch the vacuum valve on the Nozzle.

Parameters:

actuator -

getBlowOffActuator

public Actuator getBlowOffActuator()

Returns:

The actuator used to blow off parts on the Nozzle.

getExpectedBlowOffActuator

public Actuator getExpectedBlowOffActuator()
                                    throws java.lang.Exception

Returns:

The actuator used to blow off parts on the Nozzle.

Throws:

java.lang.Exception - when the actuator is not configured.

setBlowOffActuator

public void setBlowOffActuator(Actuator actuator)

Set the actuator used to blow off parts on the Nozzle.

Parameters:

actuator -

isBlowOffClosingValve

public boolean isBlowOffClosingValve()

setBlowOffClosingValve

public void setBlowOffClosingValve(boolean blowOffClosingValve)

actuateVacuumValve

protected void actuateVacuumValve(boolean on)
                           throws java.lang.Exception

Throws:

java.lang.Exception

actuateVacuumValve

protected void actuateVacuumValve(double value)
                           throws java.lang.Exception

Throws:

java.lang.Exception

actuateBlowValve

protected void actuateBlowValve(double value)
                         throws java.lang.Exception

Throws:

java.lang.Exception

readVacuumLevel

public double readVacuumLevel()
                       throws java.lang.Exception

Throws:

java.lang.Exception

isPartOnGraphEnabled

protected boolean isPartOnGraphEnabled()

isPartOffGraphEnabled

protected boolean isPartOffGraphEnabled()

storeBeforePickVacuumLevel

protected void storeBeforePickVacuumLevel()
                                   throws java.lang.Exception

Throws:

java.lang.Exception

storeBeforePlaceVacuumLevel

protected void storeBeforePlaceVacuumLevel()
                                    throws java.lang.Exception

Throws:

java.lang.Exception

establishPickVacuumLevel

protected void establishPickVacuumLevel(int milliseconds)
                                 throws java.lang.Exception

Throws:

java.lang.Exception

establishPlaceVacuumLevel

protected void establishPlaceVacuumLevel(int milliseconds)
                                  throws java.lang.Exception

Throws:

java.lang.Exception

probePartOffVacuumLevel

protected double probePartOffVacuumLevel(int probingMilliseconds,
                                         int dwellMilliseconds)
                                  throws java.lang.Exception

Throws:

java.lang.Exception

isPartOn

public boolean isPartOn()
                 throws java.lang.Exception

Description copied from interface: Nozzle

Returns true if a part appears to be on the nozzle. This is typically implemented by checking a vacuum level range, but other methods such as laser or vision detection are possible.

Specified by:

isPartOn in interface Nozzle

Returns:

Throws:

java.lang.Exception

isPartOff

public boolean isPartOff()
                  throws java.lang.Exception

Description copied from interface: Nozzle

Returns true if a part appears to be off the nozzle. This is typically implemented by checking a vacuum level range, but other methods such as laser or vision detection are possible.

Specified by:

isPartOff in interface Nozzle

Returns:

Throws:

java.lang.Exception

findIssues

public void findIssues(Solutions solutions)

Description copied from interface: Solutions.Subject

Report any detected issue and proposed solution in the list.

Specified by:

findIssues in interface Solutions.Subject

migrateSafeZ

@Deprecated
public void migrateSafeZ()

Deprecated.