org.openpnp.spi

Interface Nozzle

All Superinterfaces:

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

All Known Implementing Classes:

AbstractNozzle, ContactProbeNozzle, ReferenceNozzle

public interface Nozzle
extends HeadMountable, WizardConfigurable, PropertySheetHolder

A Nozzle is a tool capable of picking up parts and releasing them. It is attached to a Head and may move entirely with the head or partially independent of it. A Nozzle has a current NozzleTip that defines what types of Packages it can handle and it may have the capability of changing it's NozzleTip.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Nozzle.PartOffStep
static class	Nozzle.PartOnStep
static class	Nozzle.RotationMode Nozzle pick-to-place rotation mode.

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

Locatable.LocationOption

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

PropertySheetHolder.PropertySheet

Method Summary

Modifier and Type	Method and Description
void	addCompatibleNozzleTip(NozzleTip nt)
void	calibrate()
java.util.Set<NozzleTip>	getCompatibleNozzleTips()
java.util.Set<NozzleTip>	getCompatibleNozzleTips(Part part)
NozzleTip	getNozzleTip() Get the NozzleTip currently attached to the Nozzle.
Part	getPart() Get the part that is currently picked on the Nozzle, or null if none is picked.
Nozzle.RotationMode	getRotationMode()
default Length	getSafePartHeight()
Length	getSafePartHeight(Part part)
boolean	isAligningRotationMode()
boolean	isCalibrated()
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.
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.
void	loadNozzleTip(NozzleTip nozzleTip) Changer interface: Command the Nozzle to load the given NozzleTip as it's current NozzleTip.
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.
void	pick(Part part) Commands the Nozzle to perform it's pick operation.
void	place() Commands the Nozzle to perform it's place operation.
void	prepareForPickAndPlaceArticulation(Location pickLocation, Location placementLocation) Prepare the Nozzle for the next placement rotation.
void	removeCompatibleNozzleTip(NozzleTip nt)
void	unloadNozzleTip() Changer interface: Unload the current NozzleTip from the Nozzle, leaving it empty.

Methods inherited from interface org.openpnp.spi.HeadMountable

getCameraToolCalibratedOffset, 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

getEffectiveSafeZ, getSafeZ, getSafeZZone, home, 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

findIssues, getSubjectIcon, getSubjectText

Methods inherited from interface org.openpnp.spi.WizardConfigurable

getConfigurationWizard

Methods inherited from interface org.openpnp.spi.PropertySheetHolder

getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, getPropertySheets

Method Detail

getNozzleTip

NozzleTip getNozzleTip()

Get the NozzleTip currently attached to the Nozzle.

Returns:

getRotationMode

Nozzle.RotationMode getRotationMode()

Returns:

the RotationMode of the Nozzle. See Nozzle.RotationMode.

isAligningRotationMode

boolean isAligningRotationMode()

Returns:

Whether the bottom vision aligment of parts adjust the Rotation Mode of the nozzle to include the alignment rotation offset.

prepareForPickAndPlaceArticulation

void prepareForPickAndPlaceArticulation(Location pickLocation,
                                        Location placementLocation)
                                 throws java.lang.Exception

Prepare the Nozzle for the next placement rotation. This will apply a rotation offset to the Nozzle that implements the Nozzle.RotationMode and is subject to articulation limits, if present.

Parameters:

pickLocation -

placementLocation -

Throws:

java.lang.Exception

moveToPickLocation

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

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

Parameters:

feeder -

Throws:

java.lang.Exception

pick

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

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.

Throws:

java.lang.Exception

moveToPlacementLocation

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

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

Parameters:

placementLocation -

part - Part to be placed, null on discard.

Throws:

java.lang.Exception

place

void place()
    throws java.lang.Exception

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.

Throws:

java.lang.Exception

loadNozzleTip

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

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.

Parameters:

nozzleTip -

Throws:

java.lang.Exception

unloadNozzleTip

void unloadNozzleTip()
              throws java.lang.Exception

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

Throws:

java.lang.Exception

getPart

Part getPart()

Get the part that is currently picked on the Nozzle, or null if none is picked. Should typically be non-null after a pick operation and before a place operation and null after a pick operation. Of note, it should be non-null after a failed pick operation so that the system can determine which part it may need to discard. It may also be null if a user initiated, manual, pick is performed with no Part to reference.

isPartOnEnabled

boolean isPartOnEnabled(Nozzle.PartOnStep step)

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.

Parameters:

step - determines which JobProcessor Step wants to perform the check

Returns:

isPartOffEnabled

boolean isPartOffEnabled(Nozzle.PartOffStep step)

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.

Parameters:

step - determines which JobProcessor Step wants to perform the check

Returns:

isPartOn

boolean isPartOn()
          throws java.lang.Exception

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.

Returns:

Throws:

java.lang.Exception

isPartOff

boolean isPartOff()
           throws java.lang.Exception

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.

Returns:

Throws:

java.lang.Exception

getCompatibleNozzleTips

java.util.Set<NozzleTip> getCompatibleNozzleTips()

Returns:

A set of nozzle tips compatible with this nozzle.

getCompatibleNozzleTips

java.util.Set<NozzleTip> getCompatibleNozzleTips(Part part)

Parameters:

part -

Returns:

A set of nozzle tips compatible with this nozzle and the given part.

addCompatibleNozzleTip

void addCompatibleNozzleTip(NozzleTip nt)

removeCompatibleNozzleTip

void removeCompatibleNozzleTip(NozzleTip nt)

isNozzleTipChangedOnManualFeed

boolean isNozzleTipChangedOnManualFeed()

calibrate

void calibrate()
        throws java.lang.Exception

Throws:

java.lang.Exception

isCalibrated

boolean isCalibrated()

getSafePartHeight

default Length getSafePartHeight()

Returns:

The height of the part currently on the nozzle. If the part height is not yet known, the maximum part height configured on the nozzle tip is returned. If no part is on the nozzle, a zero Length is returned.

getSafePartHeight

Length getSafePartHeight(Part part)

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.