87 lines
1.9 KiB
C#
87 lines
1.9 KiB
C#
using System;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Device.Unit;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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namespace Mainframe.LLs
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{
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public class LoadLockClawRoutine : LoadLockBaseRoutine
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{
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enum RoutineStep
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{
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LiftMove,
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ClawMove,
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}
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private bool _llCalw;
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private bool _isWaferClaw;
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private int _clawMoveTimeOut = 30;
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public LoadLockClawRoutine()
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{
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Name = "Claw";
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}
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public void Init(bool isWaferClaw,bool clawed)
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{
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_llCalw = clawed;
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_isWaferClaw = isWaferClaw;
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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 (_isWaferClaw)
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{
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if ((_llCalw && WaferClaw.State == ClawStateEnum.Clamp) || (!_llCalw && WaferClaw.State == ClawStateEnum.Open))
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{
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return Result.DONE;
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}
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}
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else
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{
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if ((_llCalw && TrayClaw.State == ClawStateEnum.Clamp) || (!_llCalw && TrayClaw.State == ClawStateEnum.Open))
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{
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return Result.DONE;
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}
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}
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_clawMoveTimeOut = SC.GetValue<int>("LoadLock.ClawMoveTimeOut");
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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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ClawMove((int)RoutineStep.ClawMove, (_isWaferClaw ? WaferClaw : TrayClaw), _llCalw, _clawMoveTimeOut);
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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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Notify("Finished");
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return Result.DONE;
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}
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public override void Abort()
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{
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}
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}
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}
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