1663 lines
71 KiB
C#
1663 lines
71 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using System.Text;
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using Aitex.Core.Common.DeviceData;
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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.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.OperationCenter;
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using Aitex.Core.RT.SCCore;
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using Aitex.Core.Util;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.Common.Device.Bases;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
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using Newtonsoft.Json;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.SubstrateTrackings;
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using System.Threading;
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using Aitex.Core.Common;
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using Aitex.Core.RT.DataCenter;
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using System.Text.RegularExpressions;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
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using MECF.Framework.Common.CommonData;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
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{
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public class JelRobot : RobotBaseDevice, IConnection
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{
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private int _bodyNumber;
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private string _robotModel; //T-00902H
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public int BodyNumber { get => _bodyNumber; }
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private string _address = "";
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public string Address { get => _address; }
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private bool isSimulatorMode;
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private string _scRoot;
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private PeriodicJob _thread;
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private JelRobotConnection _connection;
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private R_TRIG _trigError = new R_TRIG();
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private R_TRIG _trigCommunicationError = new R_TRIG();
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private R_TRIG _trigRetryConnect = new R_TRIG();
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private R_TRIG _trigActionDone = new R_TRIG();
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//private LinkedList<HandlerBase> _lstMoveHandler = new LinkedList<HandlerBase>();
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private LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
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private DateTime _dtActionStart;
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private object _locker = new object();
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private bool _enableLog;
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public string PortName;
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public bool IsConnected { get; }
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public bool Connect()
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{
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return true;
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}
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public bool Disconnect()
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{
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return true;
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}
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public JelRobot(string module, string name, string scRoot, string portName,string robotModel = "") : base(module, name)
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{
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_robotModel = robotModel;
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isSimulatorMode = SC.ContainsItem("System.IsSimulatorMode") ? SC.GetValue<bool>("System.IsSimulatorMode") : false;
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_scRoot = scRoot;
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PortName = portName;
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//base.Initialize();
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ResetPropertiesAndResponses();
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RegisterSpecialData();
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_enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
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_bodyNumber = SC.GetValue<int>($"{_scRoot}.{Name}.BodyNumber");
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PortName = SC.GetStringValue($"{_scRoot}.{Name}.PortName");
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_connection = new JelRobotConnection(PortName);
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_connection.EnableLog(_enableLog);
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if (_connection.Connect())
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{
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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}
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_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
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}
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#region Properties
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public JelAxisStatus RightarmAndThetaarmStatus { get; private set; }
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public JelAxisStatus LeftarmAndZaxisStatus { get; private set; }
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public float RightArmPostion { get; private set; }
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public float ThetaAxisPostion { get; private set; }
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public float LeftArmPostion { get; private set; }
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public float ZAxisPostion { get; private set; }
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public Int32[] AData { get; private set; } = new Int32[1000];
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public JelParameterData[] RobotParameters { get; private set; } = new JelParameterData[2000];
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public string ReadBankNumber { get; private set; } = "";
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public int ReadCassetNumber { get; private set; }
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public int ReadSlotNumber { get; private set; }
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public bool IsRightArmPressureSensorON { get; private set; }
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public bool IsLeftArmPressureSensorON { get; private set; }
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public bool IsEchoBack { get; private set; }
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public JelCommandStatus CurrentCompoundCommandStatus { get; private set; }
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public string StopPostionOfCompoundCommand { get; private set; }
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public string[] MainRoutines { get; private set; } = new string[320];
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public string[] SubRoutines { get; private set; } = new string[16];
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public string CurrentReadRoutine { get; private set; }
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public int HighSpeed { get; private set; }
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public int LowSpeed { get; private set; }
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public int DomainOfAccDec { get; private set; }
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public int AccDecSpeed { get; private set; }
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public int MagnificationOfFrequency { get; private set; }
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public int PulsePostionOfManualSlowDown { get; private set; }
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public int CurrentReadSpeedData
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{
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get;set;
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}
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public Int32 CurrentReadAData { get; private set; }
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public Int32 ReadPosRightArmPostion { get; private set; }
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public Int32 ReadPosThetaAxisPostion { get; private set; }
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public Int32 ReadPosLeftArmPostion { get; private set; }
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public Int32 ReadPosZAxisPostion { get; private set; }
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public float ReadParameterMin { get; private set; }
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public float ReadParameterMax { get; private set; }
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public float ReadParameterValue { get; private set; }
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//Mapping Data
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public float MappingFirstSlotPosition { get; private set; }
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public float MappingTopSlotPostion { get; private set; }
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public int MappingSlotsNumber { get; private set; }
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public float MappingMinDetectWidth { get; private set; }
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public float MappingMaxDetectWidth { get; private set; }
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public float MappingGateWidth { get; private set; }
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public float MappingStopPostion { get; private set; }
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public float MappingSpeed { get; private set; }
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public bool IsMappingSensorON { get; private set; }
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public string MappingWaferResult { get; private set; } = string.Empty;
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public string MappingWidthResult { get; private set; } = string.Empty;
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#endregion
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#region ParseHandler
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public void ParseData(string command,string parameter,string data)
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{
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try
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{
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string datavalue = data.Replace($"${BodyNumber}", "").Replace("\r", "");
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if (command == "SPA")
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{
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CurrentReadSpeedData = Convert.ToInt32(datavalue);
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}
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if (command == "") ParseRobotStatus(datavalue); // Read Robot Status
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if (command == "6" || command == "6M") ParseRobotPostion(parameter, datavalue); //Read Postion Data
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if (command == "A") // Read A data
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{
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int _index;
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if (!int.TryParse(parameter.Replace("D", ""), out _index)) return;
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AData[_index] = Convert.ToInt32(datavalue);
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CurrentReadAData = Convert.ToInt32(datavalue);
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}
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if (command == "BC")
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{
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ReadBankNumber = datavalue;
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}
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if (command == "WCP")
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{
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string[] strvalues = datavalue.Split(',');
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ReadCassetNumber = Convert.ToInt32(strvalues[0]);
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ReadSlotNumber = Convert.ToInt32(strvalues[1]);
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}
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if (command == "CS")
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{
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if (parameter == "1")
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IsRightArmPressureSensorON = datavalue == "1";
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if (parameter == "2")
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IsLeftArmPressureSensorON = datavalue == "1";
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}
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if (command == "DTD")
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{
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int _index;
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if (!int.TryParse(parameter, out _index)) return;
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string[] paradata = datavalue.Split(',');
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//if (paradata.Length < 3) return;
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RobotParameters[_index].Value = paradata[0];
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RobotParameters[_index].MinValue = paradata[1];
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RobotParameters[_index].MaxValue = paradata[2];
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}
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if (command == "EE")
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{
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IsEchoBack = datavalue == "E";
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}
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if (command == "G")
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{
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if (datavalue == "0") CurrentCompoundCommandStatus = JelCommandStatus.NormalEnd;
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if (datavalue == "1") CurrentCompoundCommandStatus = JelCommandStatus.InExecution;
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if (datavalue == "P") CurrentCompoundCommandStatus = JelCommandStatus.InPause;
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if (datavalue == "E") CurrentCompoundCommandStatus = JelCommandStatus.InError;
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}
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if (command == "GER")
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{
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LOG.Write("Compaund command stop postion:" + datavalue);
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}
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if (command == "IR")
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{
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int _index;
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if (!int.TryParse(parameter, out _index)) return;
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if (_index < 0 || _index > 319) return;
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MainRoutines[_index] = datavalue;
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CurrentReadRoutine = datavalue;
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}
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if (command == "IRS")
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{
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int _index = Convert.ToInt32(parameter, 16);
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if (_index < 0 || _index > 15) return;
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SubRoutines[_index] = datavalue;
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CurrentReadRoutine = datavalue;
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}
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if (command == "O")
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{
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//CurrentReadSpeedData = Convert.ToInt32(datavalue);
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if (parameter == "H")
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HighSpeed = Convert.ToInt32(datavalue);
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if (parameter == "L")
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LowSpeed = Convert.ToInt32(datavalue);
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if (parameter == "S")
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DomainOfAccDec = Convert.ToInt32(datavalue);
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if (parameter == "G")
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AccDecSpeed = Convert.ToInt32(datavalue);
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if (parameter == "X")
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MagnificationOfFrequency = Convert.ToInt32(datavalue);
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if (parameter == "D")
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PulsePostionOfManualSlowDown = Convert.ToInt32(datavalue);
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}
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if (command == "PSD")
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{
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string[] stradata = datavalue.Split(',');
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ReadPosRightArmPostion = Convert.ToInt32(stradata[0].ToString());
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ReadPosThetaAxisPostion = Convert.ToInt32(stradata[1].ToString());
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ReadPosLeftArmPostion = Convert.ToInt32(stradata[2].ToString());
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ReadPosZAxisPostion = Convert.ToInt32(stradata[3].ToString());
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}
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if (command == "DTD")
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{
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string[] stradata = datavalue.Split(',');
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ReadParameterValue = Convert.ToSingle(stradata[0].ToString());
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ReadParameterMin = Convert.ToSingle(stradata[1].ToString());
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ReadParameterMax = Convert.ToSingle(stradata[2].ToString());
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}
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if (command == "WLO") // Obtaining the postion data of mapping 1st slot detected
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MappingFirstSlotPosition = Convert.ToSingle(datavalue);
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if(command == "WHI")
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MappingTopSlotPostion = Convert.ToSingle(datavalue);
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if(command == "WFC")
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MappingSlotsNumber = Convert.ToInt32(datavalue);
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if(command == "WWN")
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MappingMinDetectWidth = Convert.ToSingle(datavalue);
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if(command == "WWM")
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MappingMaxDetectWidth = Convert.ToSingle(datavalue);
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if(command == "WWG")
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MappingGateWidth = Convert.ToSingle(datavalue);
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if(command == "WEND")
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MappingStopPostion = Convert.ToSingle(datavalue);
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if(command == "WSP")
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MappingSpeed = Convert.ToSingle(datavalue);
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if(command == "WFK")
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{
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MappingWaferResult = datavalue;
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NotifySlotMapResult(CurrentInteractModule, datavalue.Replace(",", "").Replace("E", "?"));
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}
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if (command == "WFW")
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MappingWidthResult = datavalue;
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}
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catch(Exception ex)
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{
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LOG.Write($"Parse {command}.{parameter??parameter} data {data} error:" + ex.ToString());
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OnError($"Parse data error:{command}.{parameter ?? parameter} data {data}");
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}
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}
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private void ParseRobotStatus(string data)
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{
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if (data.Length < 2) return;
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RightarmAndThetaarmStatus = (JelAxisStatus)Convert.ToInt16(data.ToArray()[0].ToString());
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LeftarmAndZaxisStatus = (JelAxisStatus)Convert.ToInt16(data.ToArray()[1].ToString());
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}
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private void ParseRobotPostion(string axis,string data)
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{
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float _floatvalue;
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if (!float.TryParse(data, out _floatvalue)) return;
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if (axis == "1")
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{
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RightArmPostion = _floatvalue;
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PositionAxis1 = _floatvalue;
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}
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if (axis == "2")
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{
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ThetaAxisPostion = _floatvalue;
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PositionAxis2 = _floatvalue;
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}
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if (axis == "3")
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{
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LeftArmPostion = _floatvalue;
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PositionAxis3 = _floatvalue;
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}
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if (axis == "4")
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{
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ZAxisPostion = _floatvalue;
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PositionAxis4 = _floatvalue;
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}
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}
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#endregion
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private bool OnTimer()
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{
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try
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{
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if (!_connection.IsConnected || _connection.IsCommunicationError)
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{
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lock (_locker)
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{
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_lstMonitorHandler.Clear();
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}
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_trigRetryConnect.CLK = !_connection.IsConnected;
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if (_trigRetryConnect.Q)
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{
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_connection.SetPortAddress(SC.GetStringValue($"{_scRoot}.{Name}.PortName"));
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if (!_connection.Connect())
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{
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EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
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}
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else
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{
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}
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}
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return true;
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}
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HandlerBase handler = null;
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DateTime dtstart = DateTime.Now;
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lock (_locker)
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{
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if (_lstMonitorHandler.Count > 0)
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{
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if (!_connection.IsBusy)
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{
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handler = _lstMonitorHandler.First.Value;
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_connection.Execute(handler);
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_lstMonitorHandler.RemoveFirst();
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}
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else
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{
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_connection.MonitorTimeout();
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_trigCommunicationError.CLK = _connection.IsCommunicationError;
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if (_trigCommunicationError.Q)
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{
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_lstMonitorHandler.Clear();
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OnError($"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
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}
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}
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}
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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return true;
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}
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private void RegisterSpecialData()
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{
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DATA.Subscribe($"{Module}.{Name}.CurrentReadRoutine", () => CurrentReadRoutine);
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DATA.Subscribe($"{Module}.{Name}.CurrentReadSpeedData", () => CurrentReadSpeedData);
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DATA.Subscribe($"{Module}.{Name}.CurrentReadAData", () => CurrentReadAData);
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DATA.Subscribe($"{Module}.{Name}.IsLeftArmPressureSensorON", () => IsLeftArmPressureSensorON);
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DATA.Subscribe($"{Module}.{Name}.IsRightArmPressureSensorON", () => IsRightArmPressureSensorON);
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DATA.Subscribe($"{Module}.{Name}.LeftarmAndZaxisStatus", () => LeftarmAndZaxisStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.RightarmAndThetaarmStatus", () => RightarmAndThetaarmStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.CurrentCompoundCommandStatus", () => CurrentCompoundCommandStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadCassetNumber", () => ReadCassetNumber.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadSlotNumber", () => ReadSlotNumber.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadBankNumber", () => ReadBankNumber.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadPosLeftArmPostion", () => ReadPosLeftArmPostion);
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DATA.Subscribe($"{Module}.{Name}.ReadPosRightArmPostion", () => ReadPosRightArmPostion.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadPosZAxisPostion", () => ReadPosZAxisPostion.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadPosThetaAxisPostion", () => ReadPosThetaAxisPostion.ToString());
|
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|
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DATA.Subscribe($"{Module}.{Name}.ReadParameterMax", () => ReadParameterMax.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadParameterMin", () => ReadParameterMin.ToString());
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DATA.Subscribe($"{Module}.{Name}.ReadParameterValue", () => ReadParameterValue.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingFirstSlotPosition", () => MappingFirstSlotPosition.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingGateWidth", () => MappingGateWidth.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingMaxDetectWidth", () => MappingMaxDetectWidth.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingMinDetectWidth", () => MappingMinDetectWidth.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingSlotsNumber", () => MappingSlotsNumber.ToString());
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DATA.Subscribe($"{Module}.{Name}.MappingSpeed", () => MappingSpeed.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingStopPostion", () => MappingStopPostion.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingTopSlotPostion", () => MappingTopSlotPostion.ToString());
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DATA.Subscribe($"{Module}.{Name}.IsMappingSensorON", () => IsMappingSensorON.ToString());
|
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DATA.Subscribe($"{Module}.{Name}.MappingWaferResult", () => MappingWaferResult.ToString());
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DATA.Subscribe($"{Module}.{Name}.MappingWidthResult", () => MappingWidthResult.ToString());
|
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|
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|
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|
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}
|
||
|
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private void ResetPropertiesAndResponses()
|
||
{
|
||
|
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}
|
||
protected override bool fReset(object[] param)
|
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{
|
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_dtActionStart = DateTime.Now;
|
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_trigError.RST = true;
|
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|
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_connection.SetCommunicationError(false, "");
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_trigCommunicationError.RST = true;
|
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_enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
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_connection.EnableLog(_enableLog);
|
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_trigRetryConnect.RST = true;
|
||
|
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_lstMonitorHandler.Clear();
|
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_connection.ForceClear();
|
||
|
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lock (_locker)
|
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{
|
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_lstMonitorHandler.AddLast(new JelRobotRawCommandHandler(this, $"${BodyNumber}RD\r"));
|
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_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
|
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}
|
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return true;
|
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}
|
||
|
||
|
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|
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protected override bool fMonitorReset(object[] param)
|
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{
|
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IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("ResetTimeout");
|
||
return true;
|
||
}
|
||
if (RightarmAndThetaarmStatus == JelAxisStatus.NormalEnd
|
||
&& LeftarmAndZaxisStatus == JelAxisStatus.NormalEnd
|
||
&& _lstMonitorHandler.Count == 0
|
||
&& !_connection.IsBusy)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
_connection.Execute(new JelRobotReadHandler(this, ""));
|
||
return false;
|
||
}
|
||
protected override bool fStartMove(object[] param)
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
if (param.Length < 4) return false;
|
||
int axis,intdirect;
|
||
if (!int.TryParse(param[0].ToString(), out axis)) return false;
|
||
if (axis > 4 || axis < 0) return false;
|
||
if (!int.TryParse(param[1].ToString(), out intdirect)) return false;
|
||
if (intdirect > 1 || intdirect < 0) return false;
|
||
RobotMoveDirectionEnum direction = (RobotMoveDirectionEnum)Convert.ToInt16(param[1].ToString());
|
||
uint instance;
|
||
if (!uint.TryParse(param[2].ToString(), out instance)) return false;
|
||
if (instance > 8388607) instance = 8388607;
|
||
string movebasetype = Regex.Replace(param[3].ToString().Replace("（", "(").Replace("）", ")"), @"\([^\(]*\)", "");
|
||
if (movebasetype != "0" && movebasetype != "1") return false;
|
||
string commandstr = "";
|
||
if (movebasetype == "0") commandstr = "3";
|
||
if(movebasetype == "1")
|
||
{
|
||
if (direction == RobotMoveDirectionEnum.Fwd) commandstr = "4";
|
||
else commandstr = "5";
|
||
}
|
||
if (string.IsNullOrEmpty(commandstr)) return false;
|
||
string speedtype = string.Empty;
|
||
if (param.Length > 4)
|
||
speedtype = Regex.Replace(param[4].ToString().Replace("（", "(").Replace("）", ")"), @"\([^\(]*\)", "");
|
||
|
||
if (speedtype != "" && speedtype != "M" && speedtype != "L") return false;
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "2", instance.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, commandstr + "M", axis.ToString() + speedtype));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
|
||
}
|
||
return true;
|
||
}
|
||
protected override bool fMonitorMoving(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("MoveTimeout");
|
||
return true;
|
||
}
|
||
if (RightarmAndThetaarmStatus == JelAxisStatus.NormalEnd
|
||
&& (LeftarmAndZaxisStatus == JelAxisStatus.NormalEnd)
|
||
&& _lstMonitorHandler.Count == 0
|
||
&& !_connection.IsBusy)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 &&!_connection.IsBusy)
|
||
_connection.Execute(new JelRobotReadHandler(this, ""));
|
||
return false;
|
||
}
|
||
|
||
protected override bool fMonitorGoTo(object[] param)
|
||
{
|
||
if (RightarmAndThetaarmStatus == JelAxisStatus.NormalEnd
|
||
&& (LeftarmAndZaxisStatus == JelAxisStatus.NormalEnd)
|
||
&& _lstMonitorHandler.Count == 0
|
||
&& !_connection.IsBusy)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
_connection.Execute(new JelRobotReadHandler(this, ""));
|
||
return false;
|
||
}
|
||
protected override bool fStartInit(object[] param)
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.InitCmdNO");
|
||
int Robotspeed = SC.GetValue<int>($"Robot.{Name}.RobotSpeed");
|
||
if (Robotspeed < 0)
|
||
Robotspeed = 0;
|
||
if (Robotspeed > 9)
|
||
Robotspeed = 9;
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, ""));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "G"));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "CS1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "BC")); // Read bank number
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "WCP")); // Read Cassette Number
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "6M", "1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "6M", "2"));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "6M", "3"));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "6M", "4"));
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "SP", Robotspeed.ToString()));
|
||
//_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "SPA"));
|
||
|
||
|
||
}
|
||
return true;
|
||
}
|
||
protected override bool fMonitorInit(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("InitTimeout");
|
||
return true;
|
||
}
|
||
|
||
|
||
if (RightarmAndThetaarmStatus == JelAxisStatus.NormalEnd
|
||
&& (LeftarmAndZaxisStatus == JelAxisStatus.NormalEnd)
|
||
&& !_connection.IsBusy)
|
||
{
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
|
||
|
||
|
||
CmdTarget = ModuleName.System;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
_connection.Execute(new JelRobotReadHandler(this, ""));
|
||
return false;
|
||
}
|
||
protected override bool fStartReadData(object[] param)
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
if(param.Length <1) return false;
|
||
string readcommand = param[0].ToString();
|
||
switch(readcommand)
|
||
{
|
||
case "CurrentStatus":
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "2"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "G"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "BC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WCP"));
|
||
}
|
||
|
||
break;
|
||
case "CurrentPositionData":
|
||
lock(_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "6M", "1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "6M", "2"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "6M", "3"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "6M", "4"));
|
||
}
|
||
break;
|
||
case "CompaundCommand":
|
||
if (param.Length < 3) return false;
|
||
string routineselction = param[1].ToString();
|
||
if(routineselction == "MainRoutine")
|
||
{
|
||
int routineno;
|
||
if (!int.TryParse(param[2].ToString(), out routineno)) return false;
|
||
if (routineno > 319 || routineno < 1) return false;
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "IR",routineno.ToString().PadLeft(3,'0')));
|
||
}
|
||
if (routineselction == "SubRoutine")
|
||
{
|
||
char routineno;
|
||
if (!char.TryParse(param[2].ToString(), out routineno)) return false;
|
||
if (routineno > 'F' || routineno < 1) return false;
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "IRS", routineno.ToString()));
|
||
}
|
||
break;
|
||
case "RobotSpeed":
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "SPA"));
|
||
break;
|
||
case "AData":
|
||
if (param.Length < 2) return false;
|
||
int datano;
|
||
if (!int.TryParse(param[1].ToString(), out datano)) return false;
|
||
if (datano < 0 || datano > 999) return false;
|
||
lock(_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "A", datano.ToString("D3")+"D"));
|
||
}
|
||
break;
|
||
case "EPData":
|
||
if (param.Length < 2) return false;
|
||
if (param[1].ToString() == "AData")
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotRawCommandHandler (this, $"${BodyNumber}AL"));
|
||
}
|
||
}
|
||
break;
|
||
case "PositionData":
|
||
if (param.Length < 2) return false;
|
||
int posNO;
|
||
if (!int.TryParse(param[1].ToString(), out posNO)) return false;
|
||
if (posNO > 999 || posNO < 0) return false;
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "PSD", posNO.ToString("D3")));
|
||
}
|
||
break;
|
||
case "RobotParameter":
|
||
if (param.Length < 2) return false;
|
||
uint parano;
|
||
if(!uint.TryParse(param[1].ToString(), out parano)) return false;
|
||
lock(_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "DTD", parano.ToString()));
|
||
}
|
||
break;
|
||
case "MappingData":
|
||
lock(_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WLO"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WHI"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WWN"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WWM"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WWG"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WEND"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WSP"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFK"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFW"));
|
||
}
|
||
break;
|
||
|
||
}
|
||
return true;
|
||
|
||
|
||
}
|
||
protected override bool fMonitorReadData(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("ReadDataTimeout");
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
return false;
|
||
}
|
||
protected override bool fStartSetParameters(object[] param)
|
||
{
|
||
try
|
||
{
|
||
|
||
string setcommand = param[0].ToString();
|
||
switch (setcommand)
|
||
{
|
||
case "CompaundCommand":
|
||
if (param.Length < 4) return false;
|
||
string routineselction = param[1].ToString();
|
||
if (routineselction == "MainRoutine")
|
||
{
|
||
int routineno;
|
||
if (!int.TryParse(param[2].ToString(), out routineno)) return false;
|
||
if (routineno > 319 || routineno < 1) return false;
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "I", routineno.ToString().PadLeft(3, '0')));
|
||
_lstMonitorHandler.AddLast(new JelRobotRawCommandHandler(this, param[3].ToString()));
|
||
|
||
}
|
||
if (routineselction == "SubRoutine")
|
||
{
|
||
char routineno;
|
||
if (!char.TryParse(param[2].ToString(), out routineno)) return false;
|
||
if (routineno > 'F' || routineno < 1) return false;
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "IS", routineno.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotRawCommandHandler(this, param[3].ToString()));
|
||
|
||
}
|
||
break;
|
||
case "RobotSpeed":
|
||
Int32 speedvalue;
|
||
if (!Int32.TryParse(param[2].ToString(), out speedvalue)) return false;
|
||
|
||
if (SC.ContainsItem($"Robot.{RobotModuleName}.RobotSpeed"))
|
||
{
|
||
SC.SetItemValue($"Robot.{RobotModuleName}.RobotSpeed", speedvalue);
|
||
}
|
||
|
||
|
||
if (speedvalue < 0)
|
||
speedvalue = 0;
|
||
if (speedvalue > 9)
|
||
speedvalue = 9;
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "SPA", speedvalue.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "SPA"));
|
||
|
||
break;
|
||
|
||
|
||
case "AData":
|
||
if (param.Length < 3) return false;
|
||
Int32 datano, datavalue;
|
||
if (!Int32.TryParse(param[1].ToString(), out datano)) return false;
|
||
if (!Int32.TryParse(param[2].ToString(), out datavalue)) return false;
|
||
if (datano > 999 || datano < 0) return false;
|
||
if (datavalue > 8388607 || datavalue < -8388608) return false;
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "A", datano.ToString("D3") + datavalue.ToString()));
|
||
}
|
||
break;
|
||
case "EPData":
|
||
if (param.Length < 2) return false;
|
||
if (param[1].ToString() == "AData")
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "AW"));
|
||
}
|
||
}
|
||
break;
|
||
case "PositionData":
|
||
if (param.Length < 6) return false;
|
||
Int32 posno, rightarmpos, thetapos, leftarmpos, zpos;
|
||
if (!Int32.TryParse(param[1].ToString(), out posno)) return false;
|
||
if (!Int32.TryParse(param[2].ToString(), out rightarmpos)) return false;
|
||
if (!Int32.TryParse(param[3].ToString(), out thetapos)) return false;
|
||
if (!Int32.TryParse(param[4].ToString(), out leftarmpos)) return false;
|
||
if (!Int32.TryParse(param[5].ToString(), out zpos)) return false;
|
||
if (posno > 999 || posno < 0) return false;
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "PS",
|
||
$"{posno.ToString("D3")}{rightarmpos},{thetapos},{leftarmpos},{zpos}"));
|
||
}
|
||
return true;
|
||
case "CurrentPositionData":
|
||
Int32 currentpos = Int32.Parse(param[1].ToString());
|
||
if (currentpos > 999 || currentpos < 0) return false;
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "PS",
|
||
$"{currentpos.ToString("D3")}"));
|
||
}
|
||
break;
|
||
|
||
case "RobotParameter":
|
||
if (param.Length < 3) return false;
|
||
Int32 parano, paravalue;
|
||
if (!Int32.TryParse(param[1].ToString(), out parano)) return false;
|
||
if (!Int32.TryParse(param[2].ToString(), out paravalue)) return false;
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DTSVAL", $"{parano},{paravalue}"));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DW"));
|
||
}
|
||
break;
|
||
|
||
case "MappingData":
|
||
lock(_locker)
|
||
{
|
||
|
||
if (!string.IsNullOrEmpty(param[1].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[1].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue <0)
|
||
{
|
||
strtempvalue = "-" +(-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WLO",strtempvalue));
|
||
}
|
||
|
||
if (!string.IsNullOrEmpty(param[2].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[2].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue < 0)
|
||
{
|
||
strtempvalue = "-" + (-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WHI",strtempvalue));
|
||
}
|
||
|
||
if (!string.IsNullOrEmpty(param[3].ToString()))
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WFC",
|
||
(Convert.ToInt16(param[3].ToString()).ToString("D2"))));
|
||
|
||
if (!string.IsNullOrEmpty(param[4].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[4].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue < 0)
|
||
{
|
||
strtempvalue = "-" + (-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WWN", strtempvalue));
|
||
}
|
||
|
||
if (!string.IsNullOrEmpty(param[5].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[5].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue < 0)
|
||
{
|
||
strtempvalue = "-" + (-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WWM", strtempvalue));
|
||
}
|
||
|
||
if (!string.IsNullOrEmpty(param[6].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[6].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue < 0)
|
||
{
|
||
strtempvalue = "-" + (-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WWG", strtempvalue));
|
||
}
|
||
|
||
if (!string.IsNullOrEmpty(param[7].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[7].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue < 0)
|
||
{
|
||
strtempvalue = "-" + (-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WEND", strtempvalue));
|
||
}
|
||
|
||
if (!string.IsNullOrEmpty(param[8].ToString()))
|
||
{
|
||
float tempvalue = float.Parse(param[8].ToString());
|
||
string strtempvalue;
|
||
if (tempvalue < 0)
|
||
{
|
||
strtempvalue = "-" + (-tempvalue).ToString().PadLeft(7, '0');
|
||
}
|
||
else
|
||
strtempvalue = tempvalue.ToString().PadLeft(8, '0');
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WSP", strtempvalue));
|
||
}
|
||
|
||
}
|
||
break;
|
||
case "MappingCommand":
|
||
lock(_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotMoveHandler(this, "WFS"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFK"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFW"));
|
||
}
|
||
break;
|
||
case "BankNumber":
|
||
lock (_locker)
|
||
{
|
||
if (param.Length > 1 && !string.IsNullOrEmpty(param[1].ToString()))
|
||
{
|
||
int bankno = Convert.ToInt16(param[1].ToString());
|
||
if (bankno <= 15 && bankno >= 0)
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
|
||
}
|
||
if (param.Length > 2 && !string.IsNullOrEmpty(param[2].ToString()))
|
||
{
|
||
int cassetteno = Convert.ToInt16(param[2].ToString());
|
||
if (cassetteno <=5 && cassetteno <= 1)
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteno.ToString()));
|
||
}
|
||
if (param.Length > 3 && !string.IsNullOrEmpty(param[3].ToString()))
|
||
{
|
||
int slotno = Convert.ToInt16(param[3].ToString());
|
||
if (slotno <= 25 && slotno >= 1)
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCD", slotno.ToString()));
|
||
}
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "BC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WCP"));
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
catch (Exception )
|
||
{
|
||
string reason = "";
|
||
if(param!=null)
|
||
{
|
||
foreach(var para in param)
|
||
{
|
||
reason += para.ToString() + ",";
|
||
}
|
||
}
|
||
EV.PostAlarmLog(Name, "Set command parameter valid:" + reason);
|
||
return false;
|
||
}
|
||
return true;
|
||
|
||
|
||
|
||
}
|
||
protected override bool fMonitorSetParamter(object[] param)
|
||
{
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
|
||
return base.fMonitorSetParamter(param);
|
||
}
|
||
|
||
|
||
public override bool IsReady()
|
||
{
|
||
return RobotState == RobotStateEnum.Idle && !IsBusy;
|
||
}
|
||
|
||
protected override bool fClear(object[] param)
|
||
{
|
||
throw new NotImplementedException();
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
protected override bool fStartTransferWafer(object[] param)
|
||
{
|
||
throw new NotImplementedException();
|
||
}
|
||
|
||
protected override bool fStartUnGrip(object[] param)
|
||
{
|
||
if (param == null || param.Length < 1) return false;
|
||
RobotArmEnum arm = (RobotArmEnum)((int)param[0]);
|
||
lock (_locker)
|
||
{
|
||
if (arm == RobotArmEnum.Lower)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "20"));
|
||
}
|
||
if (arm == RobotArmEnum.Upper)
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "10"));
|
||
if (arm == RobotArmEnum.Both)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "20"));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "10"));
|
||
}
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "2"));
|
||
}
|
||
return true;
|
||
|
||
}
|
||
protected override bool fMonitorUnGrip(object[] param)
|
||
{
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
RobotArmEnum arm = (RobotArmEnum)((int)CurrentParamter[0]);
|
||
if (arm == RobotArmEnum.Lower && IsLeftArmPressureSensorON)
|
||
{
|
||
OnError("Grip wafer failed!");
|
||
}
|
||
if (arm == RobotArmEnum.Upper && IsRightArmPressureSensorON)
|
||
{
|
||
|
||
OnError("Grip wafer failed!");
|
||
}
|
||
if (arm == RobotArmEnum.Both && ((IsRightArmPressureSensorON) || IsLeftArmPressureSensorON))
|
||
OnError("Grip wafer failed!");
|
||
|
||
IsBusy = false;
|
||
return true;
|
||
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
protected override bool fStartGrip(object[] param)
|
||
{
|
||
if(param == null || param.Length <1) return false;
|
||
|
||
RobotArmEnum arm = (RobotArmEnum)((int)param[0]);
|
||
lock (_locker)
|
||
{
|
||
if (arm == RobotArmEnum.Lower)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "21"));
|
||
}
|
||
if(arm == RobotArmEnum.Upper)
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "11"));
|
||
if(arm == RobotArmEnum.Both)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "21"));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "DS", "11"));
|
||
}
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "2"));
|
||
}
|
||
_dtActionStart = DateTime.Now;
|
||
|
||
return true;
|
||
}
|
||
protected override bool fMonitorGrip(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("GripTimeout");
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
RobotArmEnum arm = (RobotArmEnum)((int)CurrentParamter[0]);
|
||
if (arm == RobotArmEnum.Lower && !IsLeftArmPressureSensorON)
|
||
{
|
||
OnError("Grip wafer failed!");
|
||
}
|
||
if (arm == RobotArmEnum.Upper && !IsRightArmPressureSensorON)
|
||
{
|
||
|
||
OnError("Grip wafer failed!");
|
||
}
|
||
if(arm == RobotArmEnum.Both &&((!IsRightArmPressureSensorON) || !IsLeftArmPressureSensorON))
|
||
OnError("Grip wafer failed!");
|
||
|
||
IsBusy = false;
|
||
|
||
return true;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
protected override bool fStop(object[] param)
|
||
{
|
||
_lstMonitorHandler.Clear();
|
||
_connection.ForceClear();
|
||
_connection.Execute(new JelRobotSetHandler(this, "S"));
|
||
return ReadStatus();
|
||
|
||
}
|
||
|
||
protected override bool fStartGoTo(object[] param)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
protected override bool fStartMapWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[0].ToString());
|
||
int carrierindex=0;
|
||
|
||
if(ModuleHelper.IsLoadPort(tempmodule))
|
||
{
|
||
var lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());
|
||
carrierindex = lp.InfoPadCarrierIndex;
|
||
}
|
||
else
|
||
{
|
||
WaferSize wz = WaferManager.Instance.GetWaferSize(tempmodule, 0);
|
||
if (wz == WaferSize.WS12) carrierindex = 12;
|
||
if (wz == WaferSize.WS8) carrierindex = 8;
|
||
if (wz == WaferSize.WS6) carrierindex = 6;
|
||
if (wz == WaferSize.WS4) carrierindex = 4;
|
||
if (wz == WaferSize.WS3) carrierindex = 3;
|
||
}
|
||
int bankno = SC.GetValue<int>($"CarrierInfo.{tempmodule}BankNumber{carrierindex}");
|
||
int cassetteNO = SC.GetValue<int>($"CarrierInfo.{tempmodule}CassetteNumber{carrierindex}");
|
||
int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.MapCmdNO");
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "BC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WCP"));
|
||
|
||
_lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFK"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFW"));
|
||
}
|
||
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
string reason = "";
|
||
if (param != null)
|
||
foreach (var strpara in param)
|
||
reason += strpara.ToString();
|
||
OnError($"{Name} Map command valid:" + reason);
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
protected override bool fMonitorMap(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("MapTimeout");
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
return false;
|
||
}
|
||
|
||
protected override bool fStartSwapWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
RobotArmEnum arm = (RobotArmEnum)param[0];
|
||
ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
|
||
|
||
int slotindex = int.Parse(param[2].ToString());
|
||
JelRobotArm jelarm = (JelRobotArm)(int)arm;
|
||
|
||
var wz = WaferManager.Instance.GetWaferSize(RobotModuleName, arm == RobotArmEnum.Both ? 0 : (int)arm);
|
||
int wzindex = 0;
|
||
if (wz == WaferSize.WS12) wzindex = 12;
|
||
if (wz == WaferSize.WS8) wzindex = 8;
|
||
if (wz == WaferSize.WS6) wzindex = 6;
|
||
if (wz == WaferSize.WS4) wzindex = 4;
|
||
if (wz == WaferSize.WS3) wzindex = 3;
|
||
|
||
int bankno = SC.GetValue<int>($"CarrierInfo.{tempmodule}BankNumber{wzindex}");
|
||
int cassetteNO = SC.GetValue<int>($"CarrierInfo.{tempmodule}CassetteNumber{wzindex}");
|
||
int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.{jelarm}PickSwapCmdNO");
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCD", (slotindex+1).ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "BC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WCP"));
|
||
_lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
|
||
|
||
}
|
||
|
||
Blade1Target = tempmodule;
|
||
Blade2Target = tempmodule;
|
||
|
||
|
||
|
||
CmdTarget = tempmodule;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
string reason = "";
|
||
if (param != null)
|
||
foreach (var strpara in param)
|
||
reason += strpara.ToString();
|
||
OnError($"{Name} Swap command valid:" + reason);
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
|
||
return true;
|
||
}
|
||
protected override bool fMonitorSwap(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("SwapTimeout");
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
if (CurrentCompoundCommandStatus == JelCommandStatus.InError)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "GER"));
|
||
OnError("Compaund Comand execution failed");
|
||
}
|
||
RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
|
||
ModuleName sourcemodule;
|
||
if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
|
||
int Sourceslotindex;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;
|
||
if (arm == RobotArmEnum.Lower)
|
||
{
|
||
WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 0);
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
|
||
}
|
||
if (arm == RobotArmEnum.Upper)
|
||
{
|
||
WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 1);
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
|
||
}
|
||
if (arm == RobotArmEnum.Both)
|
||
{
|
||
|
||
}
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
|
||
|
||
|
||
CmdTarget = ModuleName.System;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
|
||
|
||
IsBusy = false;
|
||
return true;
|
||
|
||
|
||
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
protected override bool fStartPlaceWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
RobotArmEnum arm = (RobotArmEnum)param[0];
|
||
ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
|
||
|
||
int slotindex = int.Parse(param[2].ToString());
|
||
JelRobotArm jelarm = (JelRobotArm)(int)arm;
|
||
|
||
var wz = WaferManager.Instance.GetWaferSize(RobotModuleName, arm == RobotArmEnum.Both ? 0 : (int)arm);
|
||
int wzindex = 0;
|
||
if (wz == WaferSize.WS12) wzindex = 12;
|
||
if (wz == WaferSize.WS8) wzindex = 8;
|
||
if (wz == WaferSize.WS6) wzindex = 6;
|
||
if (wz == WaferSize.WS4) wzindex = 4;
|
||
if (wz == WaferSize.WS3) wzindex = 3;
|
||
|
||
int bankno = SC.GetValue<int>($"CarrierInfo.{tempmodule}BankNumber{wzindex}");
|
||
int cassetteNO = SC.GetValue<int>($"CarrierInfo.{tempmodule}CassetteNumber{wzindex}");
|
||
int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.{jelarm}PlaceCmdNO");
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCD", (slotindex+1).ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "BC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WCP"));
|
||
_lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
|
||
}
|
||
|
||
Blade1Target = tempmodule;
|
||
Blade2Target = tempmodule;
|
||
|
||
|
||
|
||
CmdTarget = tempmodule;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
string reason = "";
|
||
if (param != null)
|
||
foreach (var strpara in param)
|
||
reason += strpara.ToString();
|
||
OnError($"{Name} Pick command valid:" + reason);
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartPickWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
_dtActionStart = DateTime.Now;
|
||
RobotArmEnum arm = (RobotArmEnum)param[0];
|
||
ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
|
||
|
||
int slotindex = int.Parse(param[2].ToString());
|
||
JelRobotArm jelarm = (JelRobotArm)(int)arm;
|
||
|
||
var wz = WaferManager.Instance.GetWaferSize(tempmodule, slotindex);
|
||
int wzindex = 0;
|
||
if (wz == WaferSize.WS12) wzindex = 12;
|
||
if (wz == WaferSize.WS8) wzindex = 8;
|
||
if (wz == WaferSize.WS6) wzindex = 6;
|
||
if (wz == WaferSize.WS4) wzindex = 4;
|
||
if (wz == WaferSize.WS3) wzindex = 3;
|
||
|
||
int bankno = SC.GetValue<int>($"CarrierInfo.{tempmodule}BankNumber{wzindex}");
|
||
int cassetteNO = SC.GetValue<int>($"CarrierInfo.{tempmodule}CassetteNumber{wzindex}");
|
||
int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.{jelarm}PickCmdNO");
|
||
lock (_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCD", (slotindex+1).ToString()));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "BC"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WCP"));
|
||
_lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this,compaundcmdNO.ToString()));
|
||
}
|
||
Blade1Target = tempmodule;
|
||
Blade2Target = tempmodule;
|
||
|
||
|
||
|
||
CmdTarget = tempmodule;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
string reason = "";
|
||
if (param != null)
|
||
{
|
||
foreach (var strpara in param)
|
||
reason += strpara.ToString();
|
||
}
|
||
LOG.Write(ex);
|
||
OnError($"{Name} Pick command valid:" + reason);
|
||
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
protected override bool fMonitorPlace(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("PlaceTimeout");
|
||
return true;
|
||
}
|
||
if ( _lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
if (CurrentCompoundCommandStatus == JelCommandStatus.InError)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "GER"));
|
||
OnError("Compaund Comand execution failed");
|
||
}
|
||
|
||
RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
|
||
ModuleName sourcemodule;
|
||
if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
|
||
int Sourceslotindex;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;
|
||
if (arm == RobotArmEnum.Lower)
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
|
||
if (arm == RobotArmEnum.Upper)
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
|
||
if (arm == RobotArmEnum.Both)
|
||
{
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
|
||
}
|
||
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
|
||
|
||
|
||
CmdTarget = ModuleName.System;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
IsBusy = false;
|
||
return true;
|
||
|
||
|
||
|
||
|
||
}
|
||
return false;
|
||
}
|
||
protected override bool fMonitorPick(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
|
||
{
|
||
HandlerError("PickTimeout");
|
||
return true;
|
||
}
|
||
if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
|
||
{
|
||
if (CurrentCompoundCommandStatus == JelCommandStatus.InError)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "GER"));
|
||
OnError("Compaund Comand execution failed");
|
||
}
|
||
|
||
RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
|
||
ModuleName sourcemodule;
|
||
if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
|
||
int SourceslotIndex;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out SourceslotIndex)) return false;
|
||
if (arm == RobotArmEnum.Lower)
|
||
WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
|
||
if (arm == RobotArmEnum.Upper)
|
||
WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
|
||
if(arm == RobotArmEnum.Both)
|
||
{
|
||
WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
|
||
WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
|
||
}
|
||
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
|
||
|
||
|
||
CmdTarget = ModuleName.System;
|
||
MoveInfo = new RobotMoveInfo()
|
||
{
|
||
Action = RobotAction.Moving,
|
||
ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
|
||
BladeTarget = BuildBladeTarget(),
|
||
};
|
||
IsBusy = false;
|
||
return true;
|
||
|
||
|
||
|
||
}
|
||
return false;
|
||
}
|
||
|
||
protected override bool fResetToReady(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
|
||
|
||
protected override bool fError(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartExtendForPick(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartExtendForPlace(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartRetractFromPick(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartRetractFromPlace(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
public override RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm)
|
||
{
|
||
if (arm == RobotArmEnum.Lower)
|
||
return IsLeftArmPressureSensorON? RobotArmWaferStateEnum.Present: RobotArmWaferStateEnum.Absent;
|
||
if (arm == RobotArmEnum.Upper)
|
||
return IsRightArmPressureSensorON ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent; ;
|
||
return RobotArmWaferStateEnum.ArmInvalid;
|
||
}
|
||
|
||
public bool ReadStatus()
|
||
{
|
||
lock(_locker)
|
||
{
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "1"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "CS", "2"));
|
||
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "G"));
|
||
|
||
}
|
||
return true;
|
||
}
|
||
|
||
public void HandlerError(string errorMsg)
|
||
{
|
||
_lstMonitorHandler.Clear();
|
||
OnError(errorMsg);
|
||
}
|
||
private string BuildBladeTarget()
|
||
{
|
||
return (CmdRobotArm == RobotArmEnum.Upper ? "ArmB" : "ArmA") + "." + CmdTarget;
|
||
}
|
||
}
|
||
public enum JelAxisStatus
|
||
{
|
||
NormalEnd,
|
||
InOperation,
|
||
SensorError,
|
||
SensorErrorOrStoppedByAlarm = 4,
|
||
CommandError = 8,
|
||
}
|
||
public enum JelCommandStatus
|
||
{
|
||
None,
|
||
NormalEnd,
|
||
InExecution,
|
||
InPause,
|
||
InError,
|
||
}
|
||
|
||
public struct JelParameterData
|
||
{
|
||
public string Value;
|
||
public string MinValue;
|
||
public string MaxValue;
|
||
}
|
||
public enum JelRobotArm
|
||
{
|
||
Left =0,
|
||
Right,
|
||
Dual,
|
||
}
|
||
|
||
}
|