64 lines
1.6 KiB
C#
64 lines
1.6 KiB
C#
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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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namespace Mainframe.EFEMs
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{
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public class EFEMHomeRoutine : EfemBaseRoutine
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{
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enum RoutineStep
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{
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Home,
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Home2,
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TimeDelay1,
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TimeDelay2,
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TimeDelay3,
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WaitReady1,
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WaitReady2
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}
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private int _homeTimeout1;
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private int _homeTimeout2;
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public EFEMHomeRoutine()
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{
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Name = "RobortHome";
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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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_homeTimeout1 = SC.GetValue<int>("WaferRobot.HomeTimeout");
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_homeTimeout2 = SC.GetValue<int>("TrayRobot.HomeTimeout");
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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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RobotHomeExcute((int)RoutineStep.Home, WaferRobot, _homeTimeout1);
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RobotHomeExcute((int)RoutineStep.Home2, TrayRobot, _homeTimeout2);
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TimeDelay((int)RoutineStep.TimeDelay1, 2);
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CheckRobotReady((int)RoutineStep.WaitReady1, WaferRobot, _homeTimeout1);
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CheckRobotReady((int)RoutineStep.WaitReady2, TrayRobot, _homeTimeout2);
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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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