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.");
}
/// <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);
}
}