84 lines
2.3 KiB
C#
84 lines
2.3 KiB
C#
using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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using MECF.Framework.Common.Equipment;
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using SicModules.EFEMs.Routines.Base;
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namespace SicModules.EFEMs.Routines
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{
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public class TrayRobotMapRoutine : EfemBaseRoutine
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{
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enum RoutineStep
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{
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CheckRobotReady,
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RobotMap,
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TimeDelay1,
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}
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public TrayRobotMapRoutine()
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{
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Module = ModuleName.TrayRobot.ToString();
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Name = "TrayRobortMap";
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}
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private ModuleName _source;
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private int _motionTimeOut = 10;
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public void Init(ModuleName source)
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{
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_source = source;
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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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if (_source == ModuleName.LoadLock || _source == ModuleName.UnLoad)
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{
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return Result.DONE;
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}
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if (_source == ModuleName.CassBL)
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{
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//检测凸片Sensor和有无Sensor
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if (_cassBLWaferConvex.Value)
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{
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EV.PostWarningLog(Module, $"Can not map,{_source} check wafer convex");
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return Result.FAIL;
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}
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if (!_cassBL6Inch.Value)
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{
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EV.PostWarningLog(Module, $"Can not map,{_source} sensor check no cassette");
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return Result.FAIL;
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}
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}
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_motionTimeOut = SC.GetConfigItem($"{ModuleName.TrayRobot}.MotionTimeout").IntValue;
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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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CheckRobotReady((int)RoutineStep.CheckRobotReady, WaferRobot, _motionTimeOut); //判断机械手当前是否空闲
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Map((int)RoutineStep.RobotMap, TrayRobot, _source, _motionTimeOut); //机械手吸住,收回
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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 ex)
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{
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LOG.Error(ex.ToString());
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return Result.FAIL;
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}
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Notify($"Finish");
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return Result.DONE;
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}
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}
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}
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