public void Reset()
{
Motion.SetSpeed(DefaultRobotSpeed);
//SystemFault = false;
RobotReleaseControlOnConveyor();
ResetConveyor();
Conveyor.HasBinAPhone = false;
Conveyor.StopBeltBin();
Conveyor.HasPlaceAPhone = false;
}
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 + ".");
}