Made a new OpenPnP Pull Request that adds Nozzle tip changer XY and Z calibration using vision and probing. Used to calibrate the nozzles and nozzle tips to be able to precisely contact probe part heights, feeder heights and placements. Also adds Auto-Focus based part height sensing for parts with enabled bottom vision.

Main Features

• Vision calibrated nozzle changer slot locations (XY) based on template images. Also detects nozzle changer slot empty/occupied status and prevents collisions.
• Manual and automatic nozzle/nozzle tip/slot Z calibration for precision multi-nozzle leveling and nozzle tip length calibration.
• Adds Auto-Focus in front of Bottom vision to determine the part height, if unknown.
• ContactProbeNozzle provides on-the-fly part height probing/learning, feeder Z calibration, placement height calibration.

More information here:

• Read the Wiki about the ContactProbingNozzle and AutoFocus.
• Pull Request
• Watch the Video