74 lines
1.6 KiB
C#
74 lines
1.6 KiB
C#
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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using SicModules.UnLoads.Routines.Base;
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namespace SicModules.UnLoads.Routines
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{
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public class UnLoadClawRoutine : UnLoadBaseRoutine
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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 int _clawMoveTimeOut = 30;
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public UnLoadClawRoutine()
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{
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Name = "UnLoad Claw";
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}
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public void Init(bool isClaw)
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{
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_llCalw = isClaw;
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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 ((_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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_clawMoveTimeOut = SC.GetValue<int>("UnLoad.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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//先动夹爪在动Lift
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ClawMove((int)RoutineStep.ClawMove, WaferClaw, _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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} |