52 lines
1.4 KiB
C#
52 lines
1.4 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots
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{
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public interface IRobot
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{
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RobotStateEnum RobotState { get; }
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RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm);
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string[] GetStationsInUse();
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bool Home(object[] param);
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//-------------------------------------------------------------------------
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// Single arm operations
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bool ApproachForPick(RobotArmEnum arm, string station, int slot);
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bool ApproachForPlace(RobotArmEnum arm, string station, int slot);
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bool Pick(RobotArmEnum arm, string station, int slot);
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bool Place(RobotArmEnum arm, string station, int slot);
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bool Swap(RobotArmEnum pickArm, string station, int slot);
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bool Transfer(RobotArmEnum arm, string sourceStation, int sourceSlot, string destStation, int destSlot);
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//-------------------------------------------------------------------------
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// Dual arm operations
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bool DualPick(string station, int lowerSlot);
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bool DualPlace(string station, int lowerSlot);
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bool DualSwap(string station, int lowerSlotPlaceTo, int lowerSlotPickFrom);
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bool DualTransfer(string sourceStation, int sourceLowerSlot, string destStation, int destLowerSlot);
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}
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}
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