1663 lines
71 KiB
C#
1663 lines
71 KiB
C#
|
using System;
|
|||
|
using System.Collections.Generic;
|
|||
|
using System.IO.Ports;
|
|||
|
using System.Linq;
|
|||
|
using System.Text;
|
|||
|
using Aitex.Core.Common.DeviceData;
|
|||
|
using Aitex.Core.RT.Device;
|
|||
|
using Aitex.Core.RT.Device.Unit;
|
|||
|
using Aitex.Core.RT.Event;
|
|||
|
using Aitex.Core.RT.Log;
|
|||
|
using Aitex.Core.RT.OperationCenter;
|
|||
|
using Aitex.Core.RT.SCCore;
|
|||
|
using Aitex.Core.Util;
|
|||
|
using MECF.Framework.Common.Communications;
|
|||
|
using MECF.Framework.Common.Device.Bases;
|
|||
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
|
|||
|
using Newtonsoft.Json;
|
|||
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
|
|||
|
using MECF.Framework.Common.Equipment;
|
|||
|
using MECF.Framework.Common.SubstrateTrackings;
|
|||
|
using System.Threading;
|
|||
|
using Aitex.Core.Common;
|
|||
|
using Aitex.Core.RT.DataCenter;
|
|||
|
using System.Text.RegularExpressions;
|
|||
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
|
|||
|
using MECF.Framework.Common.CommonData;
|
|||
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
|
|||
|
|
|||
|
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
|
|||
|
{
|
|||
|
public class JelRobot : RobotBaseDevice, IConnection
|
|||
|
{
|
|||
|
private int _bodyNumber;
|
|||
|
private string _robotModel; //T-00902H
|
|||
|
public int BodyNumber { get => _bodyNumber; }
|
|||
|
private string _address = "";
|
|||
|
public string Address { get => _address; }
|
|||
|
private bool isSimulatorMode;
|
|||
|
private string _scRoot;
|
|||
|
private PeriodicJob _thread;
|
|||
|
private JelRobotConnection _connection;
|
|||
|
private R_TRIG _trigError = new R_TRIG();
|
|||
|
|
|||
|
private R_TRIG _trigCommunicationError = new R_TRIG();
|
|||
|
private R_TRIG _trigRetryConnect = new R_TRIG();
|
|||
|
private R_TRIG _trigActionDone = new R_TRIG();
|
|||
|
//private LinkedList<HandlerBase> _lstMoveHandler = new LinkedList<HandlerBase>();
|
|||
|
private LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
|
|||
|
private DateTime _dtActionStart;
|
|||
|
private object _locker = new object();
|
|||
|
|
|||
|
private bool _enableLog;
|
|||
|
|
|||
|
public string PortName;
|
|||
|
public bool IsConnected { get; }
|
|||
|
public bool Connect()
|
|||
|
|
|||
|
{
|
|||
|
return true;
|
|||
|
}
|
|||
|
|
|||
|
public bool Disconnect()
|
|||
|
{
|
|||
|
return true;
|
|||
|
}
|
|||
|
public JelRobot(string module, string name, string scRoot, string portName,string robotModel = "") : base(module, name)
|
|||
|
{
|
|||
|
_robotModel = robotModel;
|
|||
|
isSimulatorMode = SC.ContainsItem("System.IsSimulatorMode") ? SC.GetValue<bool>("System.IsSimulatorMode") : false;
|
|||
|
_scRoot = scRoot;
|
|||
|
PortName = portName;
|
|||
|
|
|||
|
|
|||
|
//base.Initialize();
|
|||
|
ResetPropertiesAndResponses();
|
|||
|
RegisterSpecialData();
|
|||
|
|
|||
|
_enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
|
|||
|
_bodyNumber = SC.GetValue<int>($"{_scRoot}.{Name}.BodyNumber");
|
|||
|
PortName = SC.GetStringValue($"{_scRoot}.{Name}.PortName");
|
|||
|
|
|||
|
_connection = new JelRobotConnection(PortName);
|
|||
|
_connection.EnableLog(_enableLog);
|
|||
|
|
|||
|
if (_connection.Connect())
|
|||
|
{
|
|||
|
|
|||
|
EV.PostInfoLog(Module, $"{Module}.{Name} connected");
|
|||
|
}
|
|||
|
_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
|
|||
|
}
|
|||
|
|
|||
|
#region Properties
|
|||
|
public JelAxisStatus RightarmAndThetaarmStatus { get; private set; }
|
|||
|
public JelAxisStatus LeftarmAndZaxisStatus { get; private set; }
|
|||
|
public float RightArmPostion { get; private set; }
|
|||
|
public float ThetaAxisPostion { get; private set; }
|
|||
|
public float LeftArmPostion { get; private set; }
|
|||
|
public float ZAxisPostion { get; private set; }
|
|||
|
public Int32[] AData { get; private set; } = new Int32[1000];
|
|||
|
public JelParameterData[] RobotParameters { get; private set; } = new JelParameterData[2000];
|
|||
|
public string ReadBankNumber { get; private set; } = "";
|
|||
|
public int ReadCassetNumber { get; private set; }
|
|||
|
public int ReadSlotNumber { get; private set; }
|
|||
|
public bool IsRightArmPressureSensorON { get; private set; }
|
|||
|
public bool IsLeftArmPressureSensorON { get; private set; }
|
|||
|
public bool IsEchoBack { get; private set; }
|
|||
|
public JelCommandStatus CurrentCompoundCommandStatus { get; private set; }
|
|||
|
|
|||
|
public string StopPostionOfCompoundCommand { get; private set; }
|
|||
|
public string[] MainRoutines { get; private set; } = new string[320];
|
|||
|
public string[] SubRoutines { get; private set; } = new string[16];
|
|||
|
|
|||
|
public string CurrentReadRoutine { get; private set; }
|
|||
|
|
|||
|
public int HighSpeed { get; private set; }
|
|||
|
public int LowSpeed { get; private set; }
|
|||
|
public int DomainOfAccDec { get; private set; }
|
|||
|
public int AccDecSpeed { get; private set; }
|
|||
|
public int MagnificationOfFrequency { get; private set; }
|
|||
|
public int PulsePostionOfManualSlowDown { get; private set; }
|
|||
|
public int CurrentReadSpeedData
|
|||
|
{
|
|||
|
get;set;
|
|||
|
}
|
|||
|
public Int32 CurrentReadAData { get; private set; }
|
|||
|
public Int32 ReadPosRightArmPostion { get; private set; }
|
|||
|
public Int32 ReadPosThetaAxisPostion { get; private set; }
|
|||
|
public Int32 ReadPosLeftArmPostion { get; private set; }
|
|||
|
public Int32 ReadPosZAxisPostion { get; private set; }
|
|||
|
|
|||
|
public float ReadParameterMin { get; private set; }
|
|||
|
public float ReadParameterMax { get; private set; }
|
|||
|
public float ReadParameterValue { get; private set; }
|
|||
|
|
|||
|
//Mapping Data
|
|||
|
public float MappingFirstSlotPosition { get; private set; }
|
|||
|
public float MappingTopSlotPostion { get; private set; }
|
|||
|
public int MappingSlotsNumber { get; private set; }
|
|||
|
public float MappingMinDetectWidth { get; private set; }
|
|||
|
public float MappingMaxDetectWidth { get; private set; }
|
|||
|
public float MappingGateWidth { get; private set; }
|
|||
|
public float MappingStopPostion { get; private set; }
|
|||
|
public float MappingSpeed { get; private set; }
|
|||
|
public bool IsMappingSensorON { get; private set; }
|
|||
|
public string MappingWaferResult { get; private set; } = string.Empty;
|
|||
|
public string MappingWidthResult { get; private set; } = string.Empty;
|
|||
|
|
|||
|
#endregion
|
|||
|
|
|||
|
#region ParseHandler
|
|||
|
public void ParseData(string command,string parameter,string data)
|
|||
|
{
|
|||
|
try
|
|||
|
{
|
|||
|
string datavalue = data.Replace($"${BodyNumber}", "").Replace("\r", "");
|
|||
|
if (command == "SPA")
|
|||
|
{
|
|||
|
CurrentReadSpeedData = Convert.ToInt32(datavalue);
|
|||
|
}
|
|||
|
|
|||
|
|
|||
|
if (command == "") ParseRobotStatus(datavalue); // Read Robot Status
|
|||
|
if (command == "6" || command == "6M") ParseRobotPostion(parameter, datavalue); //Read Postion Data
|
|||
|
if (command == "A") // Read A data
|
|||
|
{
|
|||
|
int _index;
|
|||
|
if (!int.TryParse(parameter.Replace("D", ""), out _index)) return;
|
|||
|
AData[_index] = Convert.ToInt32(datavalue);
|
|||
|
CurrentReadAData = Convert.ToInt32(datavalue);
|
|||
|
}
|
|||
|
if (command == "BC")
|
|||
|
{
|
|||
|
ReadBankNumber = datavalue;
|
|||
|
}
|
|||
|
if (command == "WCP")
|
|||
|
{
|
|||
|
string[] strvalues = datavalue.Split(',');
|
|||
|
ReadCassetNumber = Convert.ToInt32(strvalues[0]);
|
|||
|
ReadSlotNumber = Convert.ToInt32(strvalues[1]);
|
|||
|
}
|
|||
|
if (command == "CS")
|
|||
|
{
|
|||
|
if (parameter == "1")
|
|||
|
IsRightArmPressureSensorON = datavalue == "1";
|
|||
|
if (parameter == "2")
|
|||
|
IsLeftArmPressureSensorON = datavalue == "1";
|
|||
|
}
|
|||
|
if (command == "DTD")
|
|||
|
{
|
|||
|
int _index;
|
|||
|
if (!int.TryParse(parameter, out _index)) return;
|
|||
|
string[] paradata = datavalue.Split(',');
|
|||
|
//if (paradata.Length < 3) return;
|
|||
|
RobotParameters[_index].Value = paradata[0];
|
|||
|
RobotParameters[_index].MinValue = paradata[1];
|
|||
|
RobotParameters[_index].MaxValue = paradata[2];
|
|||
|
}
|
|||
|
if (command == "EE")
|
|||
|
{
|
|||
|
IsEchoBack = datavalue == "E";
|
|||
|
}
|
|||
|
if (command == "G")
|
|||
|
{
|
|||
|
if (datavalue == "0") CurrentCompoundCommandStatus = JelCommandStatus.NormalEnd;
|
|||
|
if (datavalue == "1") CurrentCompoundCommandStatus = JelCommandStatus.InExecution;
|
|||
|
if (datavalue == "P") CurrentCompoundCommandStatus = JelCommandStatus.InPause;
|
|||
|
if (datavalue == "E") CurrentCompoundCommandStatus = JelCommandStatus.InError;
|
|||
|
}
|
|||
|
if (command == "GER")
|
|||
|
{
|
|||
|
LOG.Write("Compaund command stop postion:" + datavalue);
|
|||
|
}
|
|||
|
if (command == "IR")
|
|||
|
{
|
|||
|
int _index;
|
|||
|
if (!int.TryParse(parameter, out _index)) return;
|
|||
|
if (_index < 0 || _index > 319) return;
|
|||
|
MainRoutines[_index] = datavalue;
|
|||
|
CurrentReadRoutine = datavalue;
|
|||
|
}
|
|||
|
if (command == "IRS")
|
|||
|
{
|
|||
|
int _index = Convert.ToInt32(parameter, 16);
|
|||
|
if (_index < 0 || _index > 15) return;
|
|||
|
SubRoutines[_index] = datavalue;
|
|||
|
CurrentReadRoutine = datavalue;
|
|||
|
}
|
|||
|
if (command == "O")
|
|||
|
{
|
|||
|
//CurrentReadSpeedData = Convert.ToInt32(datavalue);
|
|||
|
if (parameter == "H")
|
|||
|
HighSpeed = Convert.ToInt32(datavalue);
|
|||
|
if (parameter == "L")
|
|||
|
LowSpeed = Convert.ToInt32(datavalue);
|
|||
|
if (parameter == "S")
|
|||
|
DomainOfAccDec = Convert.ToInt32(datavalue);
|
|||
|
if (parameter == "G")
|
|||
|
AccDecSpeed = Convert.ToInt32(datavalue);
|
|||
|
if (parameter == "X")
|
|||
|
MagnificationOfFrequency = Convert.ToInt32(datavalue);
|
|||
|
if (parameter == "D")
|
|||
|
PulsePostionOfManualSlowDown = Convert.ToInt32(datavalue);
|
|||
|
}
|
|||
|
if (command == "PSD")
|
|||
|
{
|
|||
|
string[] stradata = datavalue.Split(',');
|
|||
|
ReadPosRightArmPostion = Convert.ToInt32(stradata[0].ToString());
|
|||
|
ReadPosThetaAxisPostion = Convert.ToInt32(stradata[1].ToString());
|
|||
|
ReadPosLeftArmPostion = Convert.ToInt32(stradata[2].ToString());
|
|||
|
ReadPosZAxisPostion = Convert.ToInt32(stradata[3].ToString());
|
|||
|
}
|
|||
|
if (command == "DTD")
|
|||
|
{
|
|||
|
string[] stradata = datavalue.Split(',');
|
|||
|
ReadParameterValue = Convert.ToSingle(stradata[0].ToString());
|
|||
|
ReadParameterMin = Convert.ToSingle(stradata[1].ToString());
|
|||
|
ReadParameterMax = Convert.ToSingle(stradata[2].ToString());
|
|||
|
}
|
|||
|
if (command == "WLO") // Obtaining the postion data of mapping 1st slot detected
|
|||
|
MappingFirstSlotPosition = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WHI")
|
|||
|
MappingTopSlotPostion = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WFC")
|
|||
|
MappingSlotsNumber = Convert.ToInt32(datavalue);
|
|||
|
if(command == "WWN")
|
|||
|
MappingMinDetectWidth = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WWM")
|
|||
|
MappingMaxDetectWidth = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WWG")
|
|||
|
MappingGateWidth = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WEND")
|
|||
|
MappingStopPostion = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WSP")
|
|||
|
MappingSpeed = Convert.ToSingle(datavalue);
|
|||
|
if(command == "WFK")
|
|||
|
{
|
|||
|
MappingWaferResult = datavalue;
|
|||
|
NotifySlotMapResult(CurrentInteractModule, datavalue.Replace(",", "").Replace("E", "?"));
|
|||
|
}
|
|||
|
if (command == "WFW")
|
|||
|
MappingWidthResult = datavalue;
|
|||
|
|
|||
|
|
|||
|
}
|
|||
|
catch(Exception ex)
|
|||
|
{
|
|||
|
LOG.Write($"Parse {command}.{parameter??parameter} data {data} error:" + ex.ToString());
|
|||
|
OnError($"Parse data error:{command}.{parameter ?? parameter} data {data}");
|
|||
|
}
|
|||
|
|
|||
|
}
|
|||
|
private void ParseRobotStatus(string data)
|
|||
|
{
|
|||
|
if (data.Length < 2) return;
|
|||
|
RightarmAndThetaarmStatus = (JelAxisStatus)Convert.ToInt16(data.ToArray()[0].ToString());
|
|||
|
LeftarmAndZaxisStatus = (JelAxisStatus)Convert.ToInt16(data.ToArray()[1].ToString());
|
|||
|
}
|
|||
|
private void ParseRobotPostion(string axis,string data)
|
|||
|
{
|
|||
|
float _floatvalue;
|
|||
|
if (!float.TryParse(data, out _floatvalue)) return;
|
|||
|
if (axis == "1")
|
|||
|
{
|
|||
|
RightArmPostion = _floatvalue;
|
|||
|
PositionAxis1 = _floatvalue;
|
|||
|
}
|
|||
|
if (axis == "2")
|
|||
|
{
|
|||
|
ThetaAxisPostion = _floatvalue;
|
|||
|
PositionAxis2 = _floatvalue;
|
|||
|
}
|
|||
|
if (axis == "3")
|
|||
|
{
|
|||
|
LeftArmPostion = _floatvalue;
|
|||
|
PositionAxis3 = _floatvalue;
|
|||
|
}
|
|||
|
if (axis == "4")
|
|||
|
{
|
|||
|
ZAxisPostion = _floatvalue;
|
|||
|
PositionAxis4 = _floatvalue;
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
#endregion
|
|||
|
|
|||
|
private bool OnTimer()
|
|||
|
{
|
|||
|
try
|
|||
|
{
|
|||
|
if (!_connection.IsConnected || _connection.IsCommunicationError)
|
|||
|
{
|
|||
|
lock (_locker)
|
|||
|
{
|
|||
|
_lstMonitorHandler.Clear();
|
|||
|
}
|
|||
|
|
|||
|
_trigRetryConnect.CLK = !_connection.IsConnected;
|
|||
|
if (_trigRetryConnect.Q)
|
|||
|
{
|
|||
|
_connection.SetPortAddress(SC.GetStringValue($"{_scRoot}.{Name}.PortName"));
|
|||
|
if (!_connection.Connect())
|
|||
|
{
|
|||
|
EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
|
|||
|
}
|
|||
|
else
|
|||
|
{
|
|||
|
}
|
|||
|
}
|
|||
|
return true;
|
|||
|
}
|
|||
|
|
|||
|
HandlerBase handler = null;
|
|||
|
DateTime dtstart = DateTime.Now;
|
|||
|
|
|||
|
lock (_locker)
|
|||
|
{
|
|||
|
if (_lstMonitorHandler.Count > 0)
|
|||
|
{
|
|||
|
if (!_connection.IsBusy)
|
|||
|
{
|
|||
|
handler = _lstMonitorHandler.First.Value;
|
|||
|
_connection.Execute(handler);
|
|||
|
_lstMonitorHandler.RemoveFirst();
|
|||
|
}
|
|||
|
else
|
|||
|
{
|
|||
|
_connection.MonitorTimeout();
|
|||
|
|
|||
|
_trigCommunicationError.CLK = _connection.IsCommunicationError;
|
|||
|
if (_trigCommunicationError.Q)
|
|||
|
{
|
|||
|
_lstMonitorHandler.Clear();
|
|||
|
OnError($"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
}
|
|||
|
|
|||
|
|
|||
|
}
|
|||
|
|
|||
|
}
|
|||
|
catch (Exception ex)
|
|||
|
{
|
|||
|
LOG.Write(ex);
|
|||
|
}
|
|||
|
|
|||
|
return true;
|
|||
|
}
|
|||
|
|
|||
|
private void RegisterSpecialData()
|
|||
|
{
|
|||
|
DATA.Subscribe($"{Module}.{Name}.CurrentReadRoutine", () => CurrentReadRoutine);
|
|||
|
DATA.Subscribe($"{Module}.{Name}.CurrentReadSpeedData", () => CurrentReadSpeedData);
|
|||
|
DATA.Subscribe($"{Module}.{Name}.CurrentReadAData", () => CurrentReadAData);
|
|||
|
DATA.Subscribe($"{Module}.{Name}.IsLeftArmPressureSensorON", () => IsLeftArmPressureSensorON);
|
|||
|
DATA.Subscribe($"{Module}.{Name}.IsRightArmPressureSensorON", () => IsRightArmPressureSensorON);
|
|||
|
DATA.Subscribe($"{Module}.{Name}.LeftarmAndZaxisStatus", () => LeftarmAndZaxisStatus.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.RightarmAndThetaarmStatus", () => RightarmAndThetaarmStatus.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.CurrentCompoundCommandStatus", () => CurrentCompoundCommandStatus.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadCassetNumber", () => ReadCassetNumber.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadSlotNumber", () => ReadSlotNumber.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadBankNumber", () => ReadBankNumber.ToString());
|
|||
|
|
|||
|
|
|||
|
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadPosLeftArmPostion", () => ReadPosLeftArmPostion);
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadPosRightArmPostion", () => ReadPosRightArmPostion.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadPosZAxisPostion", () => ReadPosZAxisPostion.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadPosThetaAxisPostion", () => ReadPosThetaAxisPostion.ToString());
|
|||
|
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadParameterMax", () => ReadParameterMax.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadParameterMin", () => ReadParameterMin.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.ReadParameterValue", () => ReadParameterValue.ToString());
|
|||
|
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingFirstSlotPosition", () => MappingFirstSlotPosition.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingGateWidth", () => MappingGateWidth.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingMaxDetectWidth", () => MappingMaxDetectWidth.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingMinDetectWidth", () => MappingMinDetectWidth.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingSlotsNumber", () => MappingSlotsNumber.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingSpeed", () => MappingSpeed.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingStopPostion", () => MappingStopPostion.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingTopSlotPostion", () => MappingTopSlotPostion.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.IsMappingSensorON", () => IsMappingSensorON.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingWaferResult", () => MappingWaferResult.ToString());
|
|||
|
DATA.Subscribe($"{Module}.{Name}.MappingWidthResult", () => MappingWidthResult.ToString());
|
|||
|
|
|||
|
|
|||
|
|
|||
|
|
|||
|
}
|
|||
|
|
|||
|
private void ResetPropertiesAndResponses()
|
|||
|
{
|
|||
|
|
|||
|
}
|
|||
|
protected override bool fReset(object[] param)
|
|||
|
{
|
|||
|
_dtActionStart = DateTime.Now;
|
|||
|
_trigError.RST = true;
|
|||
|
|
|||
|
_connection.SetCommunicationError(false, "");
|
|||
|
_trigCommunicationError.RST = true;
|
|||
|
|
|||
|
_enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
|
|||
|
_connection.EnableLog(_enableLog);
|
|||
|
|
|||
|
_trigRetryConnect.RST = true;
|
|||
|
|
|||
|
_lstMonitorHandler.Clear();
|
|||
|
_connection.ForceClear();
|
|||
|
|
|||
|
lock (_locker)
|
|||
|
{
|
|||
|
_lstMonitorHandler.AddLast(new JelRobotRawCommandHandler(this, $"${BodyNumber}RD\r"));
|
|||
|
_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
|
|||
|
}
|
|||
|
return true;
|
|||
|
}
|
|||
|
|
|||
|
|
|||
|
|
|||
|
protected override bool fMonitorReset(object[] param)
|
|||
|
{
|
|||
|
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,
|
|||
|
}
|
|||
|
|
|||
|
}
|