def move_scanner():
    """
    """
    print "move_scanner"
    
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    #Enabling
    enable_motion()    

    barcode_reader.start_read(10.0)
    if not robot.is_scanner():
        robot.move_scanner()

    time.sleep(0.25)
    dm = barcode_reader.get_readout()    
    if dm is None:
        detected =  is_pin_detected_in_scanner()
    else: 
        detected = True

    print ("Detected: " + str( detected) +  " - Datamatrix: " + str(dm))

    return (detected, dm)