2023-03-03 15:42:13 +08:00
|
|
|
|
using Aitex.Core.RT.Device;
|
|
|
|
|
using Aitex.Core.RT.Device.Unit;
|
|
|
|
|
using Aitex.Core.RT.Routine;
|
2023-04-13 15:35:13 +08:00
|
|
|
|
using SicModules.LLs.Routines.Base;
|
2023-03-03 15:42:13 +08:00
|
|
|
|
|
2023-04-13 15:35:13 +08:00
|
|
|
|
namespace SicModules.LLs.Routines
|
2023-03-03 15:42:13 +08:00
|
|
|
|
{
|
|
|
|
|
public class LoadLockTrayClawRoutine : LoadLockBaseRoutine
|
|
|
|
|
{
|
|
|
|
|
enum RoutineStep
|
|
|
|
|
{
|
|
|
|
|
ClawMove,
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
private IoClaw _llTrayClaw = null;
|
|
|
|
|
private bool _clamp;
|
|
|
|
|
|
|
|
|
|
public LoadLockTrayClawRoutine()
|
|
|
|
|
{
|
|
|
|
|
Name = "Lift Move";
|
|
|
|
|
_llTrayClaw = DEVICE.GetDevice<IoClaw>($"{Module}.LLTrayClaw");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public void Init(bool isClamp)
|
|
|
|
|
{
|
|
|
|
|
_clamp = isClamp;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
public override Result Start(params object[] objs)
|
|
|
|
|
{
|
|
|
|
|
Reset();
|
|
|
|
|
|
|
|
|
|
if (_clamp && _llTrayClaw.State == ClawStateEnum.Clamp)
|
|
|
|
|
{
|
|
|
|
|
return Result.DONE;
|
|
|
|
|
}
|
|
|
|
|
else if (!_clamp && _llTrayClaw.State == ClawStateEnum.Open)
|
|
|
|
|
{
|
|
|
|
|
return Result.DONE;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
Notify("Start");
|
|
|
|
|
return Result.RUN;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
public override Result Monitor()
|
|
|
|
|
{
|
|
|
|
|
try
|
|
|
|
|
{
|
|
|
|
|
//先动夹爪在动Lift
|
|
|
|
|
ClawMove((int)RoutineStep.ClawMove, _llTrayClaw, _clamp, 15);
|
|
|
|
|
}
|
|
|
|
|
catch (RoutineBreakException)
|
|
|
|
|
{
|
|
|
|
|
return Result.RUN;
|
|
|
|
|
}
|
|
|
|
|
catch (RoutineFaildException)
|
|
|
|
|
{
|
|
|
|
|
return Result.FAIL;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
Notify("Finished");
|
|
|
|
|
|
|
|
|
|
return Result.DONE;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public override void Abort()
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}
|