Note that the blow-off actuator is actuated with a Double value, not Boolean. Set the actuator to Double:
https://github.com/openpnp/openpnp/wiki/Setup-and-Calibration:-Actuators#actuator-value-type
Then I&S should propose setting the right command type.
Note, as already discussed on this list, the Double value can
also determine a time, not only a strength. Some blow off valves
might be Boolean in nature, but you can pulse them with the Double
value duration. Use a dwell command in G-code (G4).
Blow-off only happens, if your Package has a non-zero Blow Off Level defined.
Frankly, this is not well implemented. There should be a more
central default for the blow off level, maybe on the nozzle tip,
as I guess blow strength might actually be more related to the
nozzle tip air bore than to the package. So if the package level
is zero it should take the nozzle tip level.
Do you blow-off-ers (😂) agree?
Furthermore, I don't understand the code. If you have a
blow-off it does no longer actuate the vacuum valve off?!
I get it that some blow-off actuators might actually be the same device/valve, as the vacuum valve, but this cannot be assumed as universally true. And if it were universally true, one would not need a separate actuator.
Similarly strange: if the Package has a Vacuum Level, it actuates
as Double in the pick...
but then actuates as Boolean (false) in the place?! (see
upper link again)
_Mark
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Ah, I see. The problem is that the confetti Part and Package is
just created "on the fly" and you can't set the blow-off-value
there.
It is actually also a consequential problem of the
missing nozzle tip default.
I will look into it. Stay tuned.
_Mark
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Hi Chris, Jan,
I made a fix, and hope you, @Chris, can test this quickly, in the testing version, because I can't on my machine (no blower).
See the PR:
https://github.com/openpnp/openpnp/pull/1484
And the Wiki about the "confetti" calibration, quote:
The calibration is executed using the regular pick and place cycle, so all the vacuum control settings etc. apply. If you need to control the properties of the part to be picked, like the part height or package blow-off level, etc. you can create a part with the ID "TEST-OBJECT". It will be used automatically.
@Jan, thanks for the insight, I guess you will now have more options, which I hope would make the temporary changes unnecessary, assuming you can adjust blow strength or pulse time on the CHMT (I know it was discussed but I don't really remember). I hope you could give it a try too 😁
If you can't adjust the blower on the fly, then maybe a better test-object can be created. I'm thinking a heavier one perhaps made from strong aluminium foil (the baking oven floor protection kind). Maybe even glue several layers together then hole-punch it. The underside could perhaps also be treated to increase friction, something a bit rubbery e.g. coat with acrylic glue and let dry.
Thanks for the on-going testing!💯
_Mark
😎
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