97 lines
2.7 KiB
C#
97 lines
2.7 KiB
C#
using Aitex.Core.RT.Log;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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using MECF.Framework.Common.Equipment;
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using SicModules.LLs.Routines.Base;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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namespace SicModules.LLs.Routines
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{
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/// <summary>
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/// Tray盘在Load腔中，根据感应器找上料角度
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/// </summary>
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public class LoadLockTrayLoadAngleRoutine : LoadLockBaseRoutine
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{
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private enum RoutineStep
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{
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TimeDelay1,
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TrayClamp,
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TrayUnClamp,
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ResetRotationServo,
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RotationServoOn,
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MoveTrayHome,
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WaitMoveDone,
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TimeDelay2,
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}
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private int _homeTimeout;
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private LoadLockTrayClawRoutine _trayClamp = new LoadLockTrayClawRoutine();
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private LoadLockTrayClawRoutine _trayUnClamp = new LoadLockTrayClawRoutine();
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public LoadLockTrayLoadAngleRoutine(ModuleName module)
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{
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Module = module.ToString();
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Name = "Tray Load Angle";
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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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_trayClamp.Init(true);
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_trayUnClamp.Init(false);
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_homeTimeout = SC.GetValue<int>("LoadLock.HomeTimeout");
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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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if (SC.GetValue<bool>($"System.IsSimulatorMode"))
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{
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return Result.DONE;
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}
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//对中
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ExecuteRoutine((int)RoutineStep.TrayClamp, _trayClamp); //夹爪关闭
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TimeDelay((int)RoutineStep.TimeDelay1, 1);//延迟1s
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ExecuteRoutine((int)RoutineStep.TrayUnClamp, _trayUnClamp); //夹爪打开
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//伺服 开启TrayHome信号
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ResetRotationServo((int)RoutineStep.ResetRotationServo, 3);
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RotationServoOn((int)RoutineStep.RotationServoOn, 3);
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MoveTrayHome((int)RoutineStep.MoveTrayHome, _homeTimeout);
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TimeDelay((int)RoutineStep.TimeDelay2, 3);
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//等待感应器定位Tray盘对位
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WaitLoadRotationDone((int)RoutineStep.WaitMoveDone, _homeTimeout);
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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 ex)
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{
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LOG.Error(ex.ToString());
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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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}
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} |