One core feature of Robotmaster is the ability to have your chosen tool in the software very closely match your real world tool. This allows for proper offsets, lengths, and collision detection.
This procedure will cover all of the steps required to create a spraying tool that can be used in any future operations. In Robotmaster, a spraying tool
For robotic spraying applications, the atomized spray mist is modeled as a cone in Robotmaster. This spray cone is defined as a “tool” in Robotmaster.
Create a tool
Navigate to a Task tab, either by selecting an already existing task or creating a new one.
Select the Tool manager button in the bottom left pane to open the Tool manager.
Create a new tool by selecting the [+] button next to Tools and select Spraying.
Use the Edit tool interface to customize the spraying tool.
In the Preview, you can left-click and drag to inspect the spray cone.
Adjust spraying tool parameters
Adjust the remaining parameters of the spraying tool to match the physical tool.
Set tool parameters as needed. Some properties to set include:
Tool number is used by default in the TCP manager, so should ideally match the tool number we use in real life.
Tool name and Tool description do not affect our program and are just used for reference, especially when the list of tools is long.
Nozzle diameter, Distance to part, X and Y pattern value, and Spray color are important for visualizing spray coverage when applying a spraying operation and for applying TCP at the end of the tool.
For a complete description of tool parameters, see Spraying tool properties .
Select OK at the top of the tool editor interface.
We now have a spraying tool that is ready to be used when creating operations.