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更新dll，修改TM机械手取放相关动画

This commit is contained in:
Han Qiang Qiang 2024-07-01 14:26:11 +08:00
parent acbeb15279
commit 501ba0f9ad
19 changed files with 127 additions and 108 deletions
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4
Modules/Mainframe/Config/PM/PM1/interlockPM1.xml
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@ -1340,10 +1340,10 @@
<Action do="PM1.DO_GasBoxVentBypass(V25)" value="true" tip="" tip.zh-CN="" tip.en-US="DO-50">
<Limit di="PM1.DI_GasBoxVentPumpFB(V72)" value="false" tip="" tip.zh-CN="" tip.en-US="DI-205" ignoreReverse="true"/>
</Action>
<Action do="PM1.DO_GasBoxVentBypass(V25)" value="false" tip="" tip.zh-CN="" tip.en-US="DO-50">
<!--<Action do="PM1.DO_GasBoxVentBypass(V25)" value="false" tip="" tip.zh-CN="" tip.en-US="DO-50">
<Limit do="PM1.DO_ProcessRunning" value="true" tip="" tip.zh-CN="" tip.en-US="DO-174" ignoreReverse="true"/>
<Limit di="PM1.DI_GasBoxVentPumpFB(V72)" value="true" tip="" tip.zh-CN="" tip.en-US="DI-205" ignoreReverse="true"/>
</Action>
</Action>-->
<Action do="PM1.DO_MOVac(V73)" value="true" tip="" tip.zh-CN="" tip.en-US="DO-46">
<Limit di="PM1.DI_ChamLidClosed" value="true" tip="" tip.zh-CN="" tip.en-US="DI-0"/>

23
Modules/Mainframe/TMs/Routines/Base/TMBaseRoutine.cs
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@ -7,6 +7,7 @@ using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
@ -1409,12 +1410,24 @@ namespace SicModules.TMs.Routines.Base
}
}
protected void RobotMoveSingleStepAndWait(int id, RobotBaseDevice robot, ModuleName source, int slot, RobotArmEnum hand, int timeout,bool isPlace, bool isGoIn)
/// <summary>
/// 机械手单步移动指令，组合成Pick或PLace动作，
/// </summary>
/// <param name="id"></param>
/// <param name="robot">机械手对象</param>
/// <param name="source">目标模块</param>
/// <param name="slot">工位号</param>
/// <param name="hand">手臂类型</param>
/// <param name="action">标识机械手取放动作</param>
/// <param name="isMoving">机械手是否缩回</param>
/// <param name="isGoIn">机械手是否伸进去</param>
/// <param name="timeout">超时时间</param>
protected void RobotMoveSingleStepAndWait(int id, RobotBaseDevice robot, ModuleName source, int slot, RobotArmEnum hand, RobotAction action, bool isMoving, bool isGoIn, int timeout)
{
Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
{
Notify($"Goto {source} {slot + 1} use {(hand == RobotArmEnum.Blade1 ? "Blade1" : "Blade2")}");
List<object> para = new List<object>() { hand, source, slot, isPlace, isGoIn };
Notify($"{action} {source} {slot + 1} use {(hand == RobotArmEnum.Blade1 ? "Blade1" : "Blade2")}");
List<object> para = new List<object>() { hand, source, slot, action, isMoving, isGoIn };
if (!robot.MoveSingleStep(para.ToArray()))
{
robot.IsBusy = false;
@ -1434,7 +1447,7 @@ namespace SicModules.TMs.Routines.Base
{
if (ret.Item2 == Result.FAIL)
{
Stop($"Goto failed, error {robot.ErrorCode}");
Stop($"{action} failed, error {robot.ErrorCode}");
throw (new RoutineFaildException());
}
else if (ret.Item2 == Result.TIMEOUT) //timeout
@ -2031,6 +2044,7 @@ namespace SicModules.TMs.Routines.Base
{
Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
{
Notify($"Wait servo load angle run");
if (_sicServo != null)
{
_sicServo.LoadAngleRun(speed);
@ -2095,6 +2109,7 @@ namespace SicModules.TMs.Routines.Base
{
Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
{
Notify($"Wait servo unload angle run");
if (_sicServo != null)
{
_sicServo.UnloadAngleRun(speed);

5
Modules/Mainframe/TMs/Routines/TMRobotPickRoutine.cs
View File

@ -4,6 +4,7 @@ using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
@ -300,13 +301,13 @@ namespace SicModules.TMs.Routines
//要求从原点位转到Load位置,抵消
WaitSicServoLoadAngleRun((int)RoutineStep.SicServoLoadAngleRun, _sicServoLoadAngle, 90);
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmLowAndWait, RobotDevice, _target, _targetSlot, _blade, 60, false, true);//先进去，停在高位
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmLowAndWait, RobotDevice, _target, _targetSlot, _blade, RobotAction.Picking, false,true,60);//先进去，停在高位
TimeDelay((int)RoutineStep.TimeDelay3, 3);
//等磁流体开始旋转，释放Tray盘
WaitSicServoUnloadAngleRun((int)RoutineStep.SicServoUnloadAngleRun, _sicServoUnloadAngle, 90);//开始旋转，释放Tray盘
TimeDelay((int)RoutineStep.TimeDelay4, 3);
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmHighAndWait, RobotDevice, _target, _targetSlot, _blade, 60, false, false);//从高位退出去
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmHighAndWait, RobotDevice, _target, _targetSlot, _blade, RobotAction.Picking, true,false,60);//从高位退出去
}

10
Modules/Mainframe/TMs/Routines/TMRobotPlaceRoutine.cs
View File

@ -4,6 +4,7 @@ using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
@ -282,22 +283,17 @@ namespace SicModules.TMs.Routines
WaitCheckServoParkHomePosition((int)RoutineStep.WaitCheckServoHome, _serveHomeMaxDeviation, 90);
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmLowAndWait, RobotDevice, _target, _targetSlot, _blade, _placeTimeout,true,true);//先进去，停在高位
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmLowAndWait, RobotDevice, _target, _targetSlot, _blade, RobotAction.Placing,false, true,60);//先进去，停在高位
TimeDelay((int)RoutineStep.TimeDelay4, 3);
WaitSicServoLoadAngleRun((int)RoutineStep.WaitSicServoLoadAngleRun, _sicServoLoadAngleRun, 90);//机械手到高位，磁流体旋转锁紧Tray盘
TimeDelay((int)RoutineStep.TimeDelay5, 3);
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmHighAndWait, RobotDevice, _target, _targetSlot, _blade, _placeTimeout, true, false);//从高位出去
//测试用
//SetServoActualSpeed((int)RoutineStep.SetServoActualSpeed, 5, 90);
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmHighAndWait, RobotDevice, _target, _targetSlot, _blade, RobotAction.Placing, true,false,60);//从高位出去
}
else//别的模块保持机械手逻辑不变
{
//RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmLowAndWait, RobotDevice, _target, _targetSlot, _blade, _placeTimeout, true, true);//先进去，停在高位
//RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmHighAndWait, RobotDevice, _target, _targetSlot, _blade, _placeTimeout, true, false);//从高位出去
Place((int)RoutineStep.Place, RobotDevice, _target, _targetSlot, _blade, _placeTimeout);
}

44
Modules/Mainframe/gitversion.json
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@ -2,34 +2,34 @@
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44
SicRT/gitversion.json
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44
SicSimulator/gitversion.json
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13
SicUI/Models/Maintenances/TM/TMView.xaml
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@ -3500,7 +3500,7 @@
FontFamily="Arial"
FontSize="12"
Foreground="{DynamicResource FG_Black}"
Text="Robot Wafer"
Text="Robot Tray"
TextWrapping="Wrap" />
</Border>
@ -3556,14 +3556,23 @@
<TextBlock
VerticalAlignment="Center"
Margin="0,0,5,0"
lex:ResxLocalizationProvider.DefaultDictionary="lang_terms"
FontFamily="Arial"
FontSize="12"
Foreground="{DynamicResource FG_Black}"
Text="{Binding RobotHaveWafer}"
Text="Tray"
TextAlignment="Center"
TextWrapping="Wrap" />
<deviceControl:AITSensor
HorizontalAlignment="Center"
VerticalAlignment="Center"
CustomColorOff="Gray"
CustomColorOn="Lime"
IsCustomRender="True"
LightOnValue="{Binding IsTmRobotHaveWafer}" />
</StackPanel>
</Border>

4
SicUI/Models/Maintenances/TM/TMViewModel.cs
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@ -645,9 +645,7 @@ namespace SicUI.Client.Models.Platform.TM
#region TM Robot
[Subscription("TMRobot.IsHaveWafer")]
public bool IsHaveWafer { get; set; }
public string RobotHaveWafer => IsHaveWafer ? "ON" : "OFF";
public bool IsTmRobotHaveWafer { get; set; }
public void TMRobot_Home()
{

44
SicUI/gitversion.json
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