> If possible, I would like to be able to skip the Z axis
in the homing operation that occurs in the sequence when a job
is run for camera calibration.
> (I can avoid breaking head parts....
I don't understand what you mean. Please elaborate.
_Mark
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Hi Saito,
To better understand: what do you mean by "stage"?
> The nozzle moved in the Z direction at that location, causing the nozzle to clash with an object on the stage.
This should not happen. Can you be more specific? When exactly was this the case? What is your Safe Z?
> In this case, for all fiducials, the solution should be to place the object in such a way that it avoids crashing into the nozzle when the camera is looking at it.
Yes, see the Wiki here:
The camera must be free to move in a wide area (250mm × 250mm) centered around the fiducial so that the camera can perform some fast moves for various calibration purposes. Do not place the fiducial at the edge of the machine motion range.
https://github.com/openpnp/openpnp/wiki/Vision-Solutions#calibration-primary-fiducial
This large range is needed for backlash-calibration.
> Automatic homing always carries with it the risk of crash.
Ideally, it should not. The assumption is that Z homes to the
maximum (single nozzle) or to the mid-point (dual nozzle) first,
only then it moves in X, Y. When your nozzle is at the homed Z, it
should be above all obstacles over the whole soft-limit range
(i.e. where it can be after OpenPnP operation) and moving from
anywhere there towards the homing end-switches.
But I agree, that we cannot take this for granted. There are
machines that are manually homed, and some that need manual
positioning of the head and/or nozzle safely, before homing is
allowed. So full homing should not be performed implicitly.
On the other hand, Visual Homing is an option. In fact, when you
do the Advanced Camera Calibration through Issues & Solutions,
that's what it does (only for method ResetToFiducialLocation
though).
_Mark
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