private void Worker_DoWork(object sender, DoWorkEventArgs e)
{
// run all background tasks here
BackgroundWorker worker = sender as BackgroundWorker;
DataTable dtComponents = dsData.Tables["Components"];
DataView dv = new DataView(dtComponents);
dv.RowFilter = "Pick = 1";
int currentrow = 0;
int totalrows = dv.Count;
Nozzle1Xoffset = dh.Nozzle1Xoffset;
Nozzle1Yoffset = dh.Nozzle1Yoffset;
Nozzle2Xoffset = dh.Nozzle2Xoffset;
Nozzle2Yoffset = dh.Nozzle2Yoffset;
if (totalrows > 0)
{
/* Components table columns
* ComponentCode
* ComponentName
* PlacementX
* PlacementY
* PlacementRotate
* PlacementNozzle
*
* component list
* ComponentCode
* ComponentValue
* Package
*
* PlacementHeight
* FeederHeight
* FeederX
* FeederY
* VerifywithCamera
* TapeFeeder
*
*
* */
double pcbHeight = double.Parse(dsData.Tables["BoardInfo"].Rows[0][1].ToString());
double feedrate = 100;
// double placerate = 20000;
// double feederPosX = 0;
//double feederPosY = 0;
//double feederPosZ = 0;
//double placePosX = 0;
//double placePosY = 0;
//double ComponentRotation = 0;
//double PlacementHeight = 0;
//int PlacementNozzle = 1;
//double PlaceSpeed = 100;
// bool TapeFeeder = false;
// bool VerifyCamera = false;
while (currentrow < totalrows)
{
if (backgroundWorkerBuildPCB.CancellationPending)
{
e.Cancel = true;
dv.Dispose();
break;
}
kfl.PlacementNozzle = int.Parse(dv[currentrow]["PlacementNozzle"].ToString());
kfl.PickSpeed = feedrate;
kfl.PlaceSpeed = comp.GetPlaceSpeed(dv[currentrow]["ComponentCode"].ToString(), feedrate);
kfl.FeederX = CalcXLocation(comp.GetFeederX(dv[currentrow]["ComponentCode"].ToString()), kfl.PlacementNozzle);
kfl.FeederY = CalcYLocation(comp.GetFeederY(dv[currentrow]["ComponentCode"].ToString()), kfl.PlacementNozzle);
kfl.FeederHeight = comp.GetFeederHeight(dv[currentrow]["ComponentCode"].ToString());
kfl.PlaceHeight = comp.GetPlacementHeight(dv[currentrow]["ComponentCode"].ToString()) - pcbHeight;
kfl.TapeFeeder = comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString());
kfl.PlaceX = CalcXLocation(double.Parse(dv[currentrow]["PlacementX"].ToString()), kfl.PlacementNozzle);
kfl.PlaceY = CalcYLocation(double.Parse(dv[currentrow]["PlacementY"].ToString()), kfl.PlacementNozzle);
kfl.PlaceRotation = double.Parse(dv[currentrow]["PlacementRotate"].ToString());
kfl.VerifyCamera = comp.GetComponentVerifywithCamera(dv[currentrow]["ComponentCode"].ToString());
//feederPosX = CalcXLocation(comp.GetFeederX(dv[currentrow]["ComponentCode"].ToString()), PlacementNozzle);
//double feederPosY = CalcYLocation(comp.GetFeederY(dv[currentrow]["ComponentCode"].ToString()), PlacementNozzle);
//feederPosZ = comp.GetFeederHeight(dv[currentrow]["ComponentCode"].ToString());
// PlacementHeight = comp.GetPlacementHeight(dv[currentrow]["ComponentCode"].ToString()) - pcbHeight;
//TapeFeeder = comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString());
// placePosX = CalcXLocation(double.Parse(dv[currentrow]["PlacementX"].ToString()), kfl.PlacementNozzle);
//placePosY = CalcYLocation(double.Parse(dv[currentrow]["PlacementY"].ToString()), kfl.PlacementNozzle);
//ComponentRotation = double.Parse(dv[currentrow]["PlacementRotate"].ToString());
//VerifyCamera = comp.GetComponentVerifywithCamera(dv[currentrow]["ComponentCode"].ToString());
if (currentrow == 0)
{
SetFeederOutputs(comp.GetFeederID(dv[currentrow]["ComponentCode"].ToString())); // send feeder to position
}
//MessageBox.Show(kfl.FeederY.ToString());
//kf.MoveSingleFeed(kfl.PickSpeed, 100, kfl.FeederY, ClearHeight, ClearHeight, 0, 0);
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, ClearHeight, ClearHeight, 0, 0);
if (comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString()))
{
while (!usbController.GetFeederReadyStatus())
{
Thread.Sleep(10);
}
Thread.Sleep(50);
if (kfl.PlacementNozzle == 1)
{
// use picker 1
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, kfl.FeederHeight, ClearHeight, 0, 0);
Thread.Sleep(Nozzel1PickSleep);
// go down and turn on suction
usbController.SetVAC1(true);
Thread.Sleep(Nozzel1PickSleep);
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, ClearHeight, ClearHeight, 0, 0);
}
else
{
// nozzle 2 on tape feeder
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, ClearHeight, kfl.FeederHeight, 0, 0);
Thread.Sleep(Nozzel2PickSleep);
// go down and turn on suction
usbController.SetVAC2(true);
Thread.Sleep(Nozzel2PickSleep);
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, ClearHeight, ClearHeight, 0, 0);
}
}
else
{
// use picker 2
while (usbController.CheckChipMotorRunning())
{
Thread.Sleep(10);
}
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, ClearHeight, kfl.FeederHeight, 0, 0);
Thread.Sleep(Nozzel2PickSleep); // 200
usbController.SetVAC2(true);
Thread.Sleep(Nozzel2PickSleep); // 300
kf.MoveSingleFeed(kfl.PickSpeed, kfl.FeederX, kfl.FeederY, ClearHeight, ClearHeight, 0, 0);
}
// send picker to pick next item
if (currentrow >= 0 && (currentrow + 1) < totalrows)
{
Thread.Sleep(100);
Thread.Sleep(100);
SetFeederOutputs(comp.GetFeederID(dv[currentrow + 1]["ComponentCode"].ToString())); // send feeder to position
}
// check if place speed needs to go slower
// rotate head and place component
//SetResultsLabelText("Placing Component");
if (comp.GetComponentTapeFeeder(dv[currentrow]["ComponentCode"].ToString()) && (kfl.PlacementNozzle == 1))
{
/*
* if (kfl.VerifyCamera)
* {
* kfl = CheckWithCamera(kfl, kf, 1, usbController, img);
* kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, ClearHeight, 0, kfl.PlaceRotation);
* kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, kfl.PlaceHeight, ClearHeight, 0, kfl.PlaceRotation);
*
* } else
* {
*/
kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, ClearHeight, 0, kfl.PlaceRotation);
kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, kfl.PlaceHeight, ClearHeight, 0, kfl.PlaceRotation);
// }
Thread.Sleep(Nozzel1PlaceSleep);
usbController.SetVAC1(false);
Thread.Sleep(Nozzel1PlaceSleep);
kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, ClearHeight, 0, kfl.PlaceRotation);
}
else
{
// use picker 2 CalcXwithNeedleSpacing
/*
* if (kfl.VerifyCamera)
* {
* kfl = CheckWithCamera(kfl, kf, 2, usbController, img);
* kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, ClearHeight, kfl.PlaceRotation, 0);
* Thread.Sleep(200);
* kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, kfl.PlaceHeight, kfl.PlaceRotation, 0);
* }
* else
* {*/
kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, ClearHeight, kfl.PlaceRotation, 0);
Thread.Sleep(Nozzel2PlaceSleep);
kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, kfl.PlaceHeight, kfl.PlaceRotation, 0);
//}
// go down and turn off suction
Thread.Sleep(Nozzel2PlaceSleep);
usbController.SetVAC2(false);
Thread.Sleep(Nozzel2PlaceSleep);
kf.MoveSingleFeed(kfl.PlaceSpeed, kfl.PlaceX, kfl.PlaceY, ClearHeight, ClearHeight, kfl.PlaceRotation, 0);
}
currentrow++;
}
// move near to home point
kf.MoveSingleFeed(kfl.PickSpeed, 10, 10, 10, 10, 0, 0);
}
else
{
MessageBox.Show("Board file not loaded");
}
backgroundWorkerBuildPCB.CancelAsync();
usbController.SetResetFeeder();
usbController.RunVibrationMotor(MotorRunLoop);
kf.RunHomeAll();
//dtLog.WriteXml(_LogFile);
dv.Dispose();
dtComponents.Dispose();
}
public KflopLocation CheckWithCamera(KflopLocation kfl, Kflop kf, int nozzle, UsbDevice usbController, System.Windows.Controls.Image imgref)
{
double CameraX = 295.4;
double CameraY = 150.2;
double CameraX2 = 263.5;
double CameraY2 = 150.2;
double PlaceX = kfl.PlaceX;
double PlaceY = kfl.PlaceY;
double PlaceRotation = kfl.PlaceRotation;
int retrycounter = 0;
img = imgref;
outstr.Loc1X = 0;
videoCam.Start();
if (nozzle == 1)
{
kf.MoveSingleFeed(kfl.PlaceSpeed, CameraX, CameraY, ClearHeight, ClearHeight, 0, kfl.PlaceRotation);
usbController.SetHeadCameraLED(true);
}
else
{
kf.MoveSingleFeed(kfl.PlaceSpeed, CameraX2, CameraY2, ClearHeight, ClearHeight, kfl.PlaceRotation, 0);
usbController.SetHeadCameraLED(true);
}
Thread.Sleep(2000);
// verify camera image if needed
// loop until part has correct rotation
while (VisionCorrectionNeeded && retrycounter < 100)
{
if (outstr.OffsetX < 0.5 && outstr.OffsetY < 0.5)
{
PlaceX = PlaceX + outstr.OffsetX;
PlaceY = PlaceY + outstr.OffsetY;
PlaceRotation = PlaceRotation + outstr.LocAngle;
VisionCorrectionNeeded = true;
}
else
{
if (nozzle == 1)
{
PlaceX = PlaceX + outstr.OffsetX;
PlaceY = PlaceY + outstr.OffsetY;
PlaceRotation = PlaceRotation + outstr.LocAngle;
CameraX = CameraX + outstr.OffsetX;
CameraY = CameraY + outstr.OffsetY;
kf.MoveSingleFeed(kfl.PlaceSpeed, CameraX, CameraY, ClearHeight, ClearHeight, 0, PlaceRotation);
}
else
{
PlaceX = PlaceX + outstr.OffsetX;
PlaceY = PlaceY + outstr.OffsetY;
PlaceRotation = PlaceRotation + outstr.LocAngle;
CameraX2 = CameraX2 + outstr.OffsetX;
CameraX2 = CameraX2 + outstr.OffsetY;
kf.MoveSingleFeed(kfl.PlaceSpeed, CameraX2, CameraY2, ClearHeight, ClearHeight, kfl.PlaceRotation, 0);
}
VisionCorrectionNeeded = false;
}
outstr.Loc1X = 0;
Thread.Sleep(1000);
retrycounter++;
}
usbController.SetHeadCameraLED(false);
if (videoCam != null && videoCam.IsRunning)
{
videoCam.SignalToStop();
}
return(kfl);
}