[Maarten]

Hi, I would like to use the Spray_Add() command with the parameter PROJECT to project a spray onto an object, but I'm having difficulty to get it to work.

In attached station, running program 'myProg' should illustrate the issue: a Python macro 'mySprayProject' is called to use Spray_Add() with PROJECT, but subsequently moving the robot TCP over the plate shows no sprays. Then macro 'mySprayNoProject' with NO_PROJECT is called, and in this case the sprays do appear at the TCP, as expected. 

In other stations, I do have projection working as expected, but I haven't figured out why it doesn't work in this stripped down example. Any ideas?


Two related questions: Am I correctly assuming projection is in the Z-direction of the TCP? And finally, what may cause an undesired delay that sometimes seems to occur after calling Spray_Add, resulting in part of a path not getting sprayed? (Any pause after the Spray_Add command before any subsequent move commands doesn't seem to solve it.)

Kind regards, Maarten

   

[Maarten]

It seems the issue is in the plate object: under Object details>More options>Move geometry, I had applied a 90° Z-rotation. Without this move, the projection would not hit the plate, and no particles are to be drawn.

When I set these 'move geometry' parameters to zero and reposition the plate by its pose to be in front of the TCP, the projected particles do appear on the plate.

So it seems the 'move geometry' parameters are not taken into account by the Spray_Add function (and perhaps others). Is this intended behavior?

Maarten

[Albert]

I'm sorry we didn't get back to you earlier. I was unable to reproduce the behavior you mentioned in the first question you asked on this thread. Both mySprayProject and mySprayNoProject worked for me. Are you using the latest version of RoboDK ?