False error when positioning camera over parts

[Jim Young]

I'm having to adjust the parts locations for my board. The locations of the pads don't quite match what my design files specify. 

I move the camera to the first part, adjust the position, then I click the button to position the camera to the next location. I get this error:

2023-06-23 13:40:05.919 MessageBoxes DEBUG: Error: java.lang.Exception: Nozzle would crash into board: BoardLocation EG-2-Bottom-PCB-Top @48fa7010 defined by @48fa7010: (C:\Users\jim\Documents\OpenPnP\Jobs\EG-2\EG-2-Bottom-PCB.board.xml), location ((61.868000, 156.828542, -27.853000, 0.000000 mm)), side (Top)
To disable the board protection go to the "Safety" tab in the "Machine Controls" panel.

The nozzle is physically at the park position, 0.0. But the program show the Z position as -27.853, the surface of the board. It's as if when positioning the camera over a part position, the logical Z position in software is set to the part Z position and that is being used as the physical reference.

The only solution I have found is to either override board protection or part the nozzle Z position before moving to the next part.

[Jim Young]

More info: This only occurs when using the Jog tool to adjust the part position. If I click the button to move to the next part, "Position the camera to the next placement location", the error does not happen. If the position then needs to be adjusted by jogging, I have to zero the nozzle position or turn off board protection, otherwise I get the error.

[mark maker]

I guess it is faulty not taking the nature of the Z axis of the movable into account (camera has Virtual Axis).

https://github.com/openpnp/openpnp/wiki/Machine-Axes#referencevirtualaxis

Switch the faulty protection off by enabling Override Board Protection:

I will look into it.

_Mark

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[Jim Young]

Thanks for looking into it, Mark.

I've disabled board protection for now, but I normally drive with my seatbelt on.

[mark maker]

Hi Jim

thanks for reporting this.

I fixed the bug but found various other issues that I fixed and improved.

Consider the seat-belt was quite threadbare before. 😬

Highlights:

• When the selected tool is jogged, all the HeadMountables attached to the same Head will now be checked for safe motion:

• A dual nozzle machine will now check what the other/inverted nozzle does.

• A moved camera will also check any of the nozzles etc. perhaps still at low Z and moved with the head.

• If a part is on the nozzle, the part height is now taken into consideration for Z collision.

• If a part is on the nozzle, half the Max. Part Diameter, as set on the nozzle tip, is added to the safe distance.

• If a nozzle tip is loaded, half the Outside Diameter is added to the safe distance (whichever of the two is greater).

• The error message is now naming the head mountable that would be colliding, including loaded nozzle tip and part, if present.

  

• The error message's broken naming of the colliding board is fixed.

• Tools at their safe Z are always assumed to clear a board. In this case the board Z is assumed to not be set yet (usually left at zero after import). Note, with the new default board Z recently introduced, users can make sure the Z is always set and therefore safety-checked.

• In addition to "arrow" jogging, now also checks "Move tool to camera location" and (less likely relevant) "Move camera to tool location" for safety against boards.

See here:

https://github.com/openpnp/openpnp/pull/1567

In the newest test version, allow for some minutes to deploy.

@Jim, thanks for testing this quickly 😎 💯

_Mark

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[Jim Young]

Mark, thanks for the quick and comprehensive fix! 

It's behaving as it should now. Z position is showing the correct value after moving the camera to a part and the error is not being generated when manually jogging. That's my simple use case, as I only have one nozzle to test with.