public void Pick(RackGripper gripper = RackGripper.None, bool okToReloadConveyor = true)
{
OnInfoOccured(20016, "Find gripper for pick.");
if (gripper == RackGripper.None)
{
gripper = GetAvailableGripper();
}
OnInfoOccured(20016, "About to pick phone on conveyor with gripper" + gripper + ".");
if (LatestPhone != null)
{
if (LatestPhone.OnGripper != RackGripper.None)
{
OnInfoOccured(20016, "Already got a phone in " + gripper + ".");
//Robot not release control on conveyor in this case.
OkToReloadOnConveyor();
return;
}
}
else
{
throw new Exception("Phone is not ready.");
}
if (EcatIo.GetInput(Input.PickHasPhone) == false)
{
throw new Exception("No phone in pick position. Quit picking.");
}
RobotTakeControlOnConveyor();
CheckGripperAvailable(gripper);
Conveyor.ReadyForPicking();
TargetPosition target = Motion.PickPosition;
if (gripper == RackGripper.Two)
{
target.XPos = target.XPos + Motion.PickOffset.XPos;
}
MoveToTargetPosition(gripper, target, false, false);
CloseGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, Motion.PickPosition.ApproachHeight);
CheckPhoneLost(gripper);
MoveToPointTillEnd(Motion.MotorY, Motion.HomePosition.YPos);
LatestPhone.OnGripper = gripper;
if (okToReloadConveyor)
{
OkToReloadOnConveyor();
RobotReleaseControlOnConveyor();
}
OnInfoOccured(20017, "Pick phone succeed.");
}
public void Reset()
{
Motion.SetSpeed(DefaultRobotSpeed);
//SystemFault = false;
RobotReleaseControlOnConveyor();
ResetConveyor();
Conveyor.HasBinAPhone = false;
Conveyor.StopBeltBin();
Conveyor.HasPlaceAPhone = false;
}
/// <summary>
///
/// </summary>
/// <see cref="Conveyor.Monitor"/>
private void ConveyorManager()
{
while (true)
{
_conveyorWorkingManualResetEvent.WaitOne();
try
{
ConveyorIsBusy = true;
if (LatestPhone == null && Conveyor.PickBufferHasPhone)
{
if (OkToLetInNewPhone())
{
//if (ScannerOnline)
//{
// if (Scanner.ScanSuccessful == false)
// {
// throw new Exception("Scan fail, please remove phone manually.");
// }
//}
Conveyor.InposForPicking();
//Conveyor is still stop, so no new SN would enter, wrong SN would not happen.
AddNewPhone();
}
}
if (LatestPhone == null || Conveyor.PickBufferHasPhone == false || Conveyor.HasPlaceAPhone)
{
Conveyor.RunBeltPick();
}
if (LatestPhone != null && Conveyor.PickBufferHasPhone && Conveyor.HasPlaceAPhone == false)
{
Conveyor.StopBeltPick();
Delay(100);
Conveyor.ReadyForPicking();
_conveyorPickReadyManualResetEvent.Set();
_conveyorPickReadyManualResetEvent.WaitOne();
}
}
catch (Exception e)
{
OnErrorOccured(40007, "Conveyor error:" + e.Message);
_conveyorWorkingManualResetEvent.Reset();
}
finally
{
ConveyorIsBusy = false;
}
Delay(100);
}
}
public void ReadyThePhone(int timeout = 3000)
{
//RobotTakeControlOnConveyor();
Conveyor.Clamp(false);
Conveyor.UpBlockSeparate(false);
Conveyor.UpBlockPick(false);
Conveyor.SideBlockSeparate(false);
Conveyor.ConveyorMovingForward = !Conveyor.ConveyorMovingForward;
Conveyor.UpBlockSeparate(false);
Conveyor.UpBlockPick(false);
Conveyor.SideBlockSeparate(false);
Conveyor.ConveyorMovingForward = !Conveyor.ConveyorMovingForward;
EcatIo.SetOutput(Output.ClampPick, true);
Stopwatch sw = new Stopwatch();
sw.Start();
while (!EcatIo.GetInput(Input.ClampTightPick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
EcatIo.SetOutput(Output.SideBlockPick, true);
sw.Restart();
while (EcatIo.GetInput(Input.SideBlockPick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
Thread.Sleep(500);
EcatIo.SetOutput(Output.SideBlockPick, false);
sw.Restart();
while (!EcatIo.GetInput(Input.SideBlockPick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
EcatIo.SetOutput(Output.ClampPick, false);
sw = new Stopwatch();
sw.Restart();
while (!EcatIo.GetInput(Input.ClampLoosePick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
}
public void Bin(RackGripper gripper, Phone phone = null)
{
OnInfoOccured(20019, "Try binning phone with " + gripper + ".");
if (phone != null)
{
string footprint = string.Empty;
foreach (var foot in phone.TargetPositionFootprint)
{
footprint += (int)foot.TeachPos + ",";
}
OnProductionComplete(false, phone.SerialNumber, footprint, phone.FailDetail);
}
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
while (Conveyor.NgFullWarning)
{
if (stopwatch.ElapsedMilliseconds > 2 * 60 * 60 * 1000) // 2 hour waiting.
{
throw new Exception("Can't bin because ng conveyor is full.");
}
Delay(1000);
}
if (Conveyor.HasBinAPhone == true || EcatIo.GetInput(Input.ConveyorBinIn) == true ||
EcatIo.GetInput(Input.ConveyorBinInTwo) == true)
{
throw new Exception("Last bin movement has't finished.");
}
Conveyor.RobotBinning = true;
ShieldBox3.RobotBining = true;
bool needReopen = false;
if (gripper == RackGripper.One)
{
if (ShieldBox3.WasEnabled)
{
if (ShieldBox3.IsClosed() == false)
{
ShieldBox3.CloseBox(5000, false);
needReopen = true;
}
}
}
Conveyor.StopBeltBin();
MoveToTargetPosition(gripper, Motion.BinPosition, true);
OpenGripper(gripper);
Conveyor.HasBinAPhone = true;
MoveToPointTillEnd(Motion.MotorZ, Motion.BinPosition.ApproachHeight);
YRetractFromBox();
Conveyor.RunBeltBin();
if (needReopen && ShieldBox3.Enabled)
{
ShieldBox3.OpenBox(5000, true, true);
}
ShieldBox3.RobotBining = false;
Conveyor.RobotBinning = false;
OnInfoOccured(20019, "Finish binning phone with " + gripper + ".");
}
/// <summary>
///
/// </summary>
/// If a new phone went into pick position, it has to be picked before
/// place a pass phone, in <see cref="ArrangePhones"/> , it serve new
/// phone before wifi phone(second priority), and new phone will only come in
/// when there is empty enough Rf box.
/// <param name="gripper"></param>
public void Place(RackGripper gripper, Phone phone = null)
{
OnInfoOccured(20026, "Try placing with " + gripper + ".");
if (Conveyor.HasPlaceAPhone == true)
{
throw new Exception("Last place movement has't finished.");
}
if (phone != null)
{
string footprint = string.Empty;
foreach (var foot in phone.TargetPositionFootprint)
{
footprint += (int)foot.TeachPos + ",";
}
OnProductionComplete(true, phone.SerialNumber, footprint, "");
}
RobotTakeControlOnConveyor();
Conveyor.StopBeltPick();
RackGripper theOtherGripper = RackGripper.None;
if (Conveyor.PickPhoneSensor())
{
if (LatestPhone != null)
{
theOtherGripper = gripper == RackGripper.One ? RackGripper.Two : RackGripper.One;
Pick(theOtherGripper, false);
}
else
{
throw new Exception("When place, has an unknown phone.");
}
}
if (Conveyor.PickPhoneSensor())
{
throw new Exception("When place, has an unknown phone in pick position.");
}
if (EcatIo.GetInput(Input.UpBlockPickForward) ||
EcatIo.GetInput(Input.UpBlockPickBackward) || EcatIo.GetInput(Input.ClampTightPick))
{
throw new Exception("When place, cylinder on conveyor is up.");
}
CheckPhoneLost(gripper);
TargetPosition placePosition = Motion.PickPosition;
if (gripper == RackGripper.Two)
{
placePosition.XPos = placePosition.XPos + 1 + Motion.PickOffset.XPos;
}
else
{
placePosition.XPos = placePosition.XPos + 1;
}
placePosition.ZPos = placePosition.ZPos + 4;
if (theOtherGripper != RackGripper.None)
{
Motion.ToPointX(placePosition.XPos);
ToPointR(placePosition, gripper);
//ToPointGripper(placePosition, gripper);
ToPointGripperOnConveyorTillEnd(placePosition, gripper);
//WaitTillEndGripper(placePosition, gripper);
Motion.WaitTillEndX();
Motion.WaitTillEnd(Motion.MotorR);
MotorYOutThenBreakMotorZDown(placePosition, gripper, false);
}
else
{
MoveToTargetPosition(gripper, placePosition, true, false);
}
OpenGripper(gripper);
if (theOtherGripper != RackGripper.None)
{
Steppers.ToPoint(theOtherGripper, Motion.PickPosition.APos);
}
MoveToPointTillEnd(Motion.MotorZ, Motion.PickPosition.ApproachHeight);
MoveToPointTillEnd(Motion.MotorY, Motion.HomePosition.YPos);
Conveyor.HasPlaceAPhone = true;
if (theOtherGripper != RackGripper.None)
{
//Steppers.ToPoint(theOtherGripper, Motion.PickPosition.APos);
Steppers.WaitTillEnd(theOtherGripper, Motion.PickPosition.APos);
}
RobotReleaseControlOnConveyor();
OnInfoOccured(20026, "Finish placing with " + gripper + ".");
}
public void Start()
{
SetupComplete = false;
if (EthercatOnline)
{
if (_ch.IsConnected == false)
{
EnableEvent();
_ch.OpenCommEthernet(_ip, 701);
}
if (EcatIo == null)
{
EcatIo = new EthercatIo(_ch, 72, 7, 4);
}
EcatIo.Setup();
}
if (MotorsOnline)
{
if (Motion == null)
{
Motion = new EthercatMotion(_ch, 5);
}
if (Motion.MotorSetupComplete == false)
{
Motion.Setup();
}
Motion.LoadPositions();
SetMotorSpeed(DefaultRobotSpeed);
if (EthercatOnline)
{
EcatIo.MapEtherCAT();
}
}
if (StepperOnline)
{
if (Steppers == null)
{
Steppers = new Stepper("COM2");
}
Steppers.Setup();
SetStepperSpeed(DefaultRobotSpeed);
}
if (ConveyorOnline)
{
if (Conveyor == null)
{
Conveyor = new Conveyor(EcatIo);
}
Conveyor.Start();
Conveyor.ErrorOccured -= Conveyor_ErrorOccured;
Conveyor.ErrorOccured += Conveyor_ErrorOccured;
StartConveyorManager();
}
if (ShieldBoxOnline)
{
ShieldBoxSetup();
if (TesterOnline)
{
TesterSetup();
}
}
if (ScannerOnline)
{
if (Scanner == null)
{
Scanner = new Scanner("COM44");
Scanner.InfoOccured -= Scanner_InfoOccured;
Scanner.InfoOccured += Scanner_InfoOccured;
Scanner.ErrorOccured -= Scanner_ErrorOccured;
Scanner.ErrorOccured += Scanner_ErrorOccured;
}
Scanner.Start();
}
GoldPhoneSetup();
SelfChecking();
SetupComplete = true;
}
