71 lines
1.6 KiB
C#
71 lines
1.6 KiB
C#
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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namespace Mainframe.Aligners
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{
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public class AlignerHomeRoutine : AlignerBaseRoutine
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{
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enum RoutineStep
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{
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ClearAlignerAlarm,
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ResetVar,
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Home,
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MoveToMeasure,
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CheckWafer,
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TimeDelay1,
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}
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public AlignerHomeRoutine()
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{
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Name = "Home";
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}
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public override Result Start(params object[] objs)
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{
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Reset();
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Notify("Start");
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return Result.RUN;
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}
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public override Result Monitor()
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{
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try
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{
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if (SC.GetValue<bool>($"System.IsSimulatorMode"))
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{
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TimeDelay((int)RoutineStep.TimeDelay1, 3);
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return Result.DONE;
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}
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//清除Aligner报警
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AlignerERS((int)RoutineStep.ClearAlignerAlarm, 3);
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//初始化变量值Reset
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ResetVar((int)RoutineStep.ClearAlignerAlarm);
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//三轴回原点
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Home((int)RoutineStep.Home, 20);
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//移动到测量中心
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AlignerMoveToMeasure((int)RoutineStep.MoveToMeasure, 20);
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//检查是否有Wafer
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CheckHaveWafer((int)RoutineStep.CheckWafer, 10);
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}
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catch (RoutineBreakException)
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{
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return Result.RUN;
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}
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catch (RoutineFaildException)
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{
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return Result.FAIL;
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}
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return Result.DONE;
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}
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}
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}
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