Spraying tool properties

For robotic spraying applications, the atomized spray material is defined as a tool in Robotmaster.

Tool number

This used by default in the TCP manager and should ideally match the tool number used in real life.

Tool name

A name for the tool, used for reference only. It does not affect the program. Use a short, unique name that makes it easy to identify the tool.

For example, Spray 1 mm Nozzle.

Tool description

More descriptive text will be included alongside the tool name in some areas of Robotmaster.

For example, AirPro EFX Air Spray 1 mm Nozzle SST.

Spraying parameters

Nozzle diameter

Diameter of the top of the spray cone, at the nozzle opening.

This is represented by the top of the spray cone in the Preview.

Distance to part

The distance from the nozzle tip to the surface of workpiece. This should represent the optimal spraying distance.

For spraying applications, this distance can be thought of as the tool length, where the TCP is placed at the bottom of the spray cone.

X and Y pattern value

X and Y pattern value settings define the shape and size of the bottom of the spray cone.

Set X and Y to the same value for a circular shape.

Set X and Y to different values to create an elliptical bottom shape. This can be used to model a fan-shaped spray pattern.

The X and Y pattern values for the cone/tool will align with the TCP. This is visible in the viewport on the Device side.

Keep this in mind for applications that require a specific spray cone orientation relative to the tool path on the workpiece, such as with fan-shaped painting patterns.

Max effective distance

Sets how far the spray can reach and still effectively cover the workpiece. The max effective distance must be larger than the distance to part.

This would be blank/empty on the part if it exceeds the max effective distance.

Does this limit the robot paths and kinematics at all? Will the user be presented with an error if they exceed this distance?

Spray rate

The accumulation of spray deposition on the surface in mm/min. A rate of 1 means that the thickness of deposited material would go from 0 to 1 mm in one minute when the tool is stationary.

How to correlate this to cc/min?

Spraying simulation

Spray color

Select a color for spraying. This is the color that will be used in the Task area and in the Device area when simulating spraying in coverage mode.

Accumulation target value

This value represents the targeted value for the spray thickness when in accumulation mode.

Accumulation target value is used as the midpoint accumulation level.

Preview

The Preview shows a