Exemplo n.º 1
0
        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.");
        }
Exemplo n.º 2
0
 public void Reset()
 {
     Motion.SetSpeed(DefaultRobotSpeed);
     //SystemFault = false;
     RobotReleaseControlOnConveyor();
     ResetConveyor();
     Conveyor.HasBinAPhone = false;
     Conveyor.StopBeltBin();
     Conveyor.HasPlaceAPhone = false;
 }
Exemplo n.º 3
0
        /// <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);
            }
        }
Exemplo n.º 4
0
        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);
            }
        }
Exemplo n.º 5
0
        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 + ".");
        }
Exemplo n.º 6
0
        /// <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 + ".");
        }
Exemplo n.º 7
0
        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;
        }