86 lines
2.3 KiB
C#
86 lines
2.3 KiB
C#
using Aitex.Core.RT.Event;
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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.RT.EquipmentLibrary.HardwareUnits.UnLoad;
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using SicModules.UnLoads.Routines.Base;
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using System;
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namespace SicModules.UnLoads.Routines
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{
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public class UnLoadSeparateRoutine : UnLoadBaseRoutine
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{
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/*
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* 1、Unload伺服到传盘压力
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2、夹爪打开
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3、顶升晶圆
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4、夹爪闭合
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5、顶升缩回
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6、打开闸板阀
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7、Robot开始取托盘到TM
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8、关闭闸板阀
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*
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*/
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enum RoutineStep
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{
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ClawOpen,
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LiftUp,
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Clawing,
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LiftDown,
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TimeDelay1,
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CheckSensor
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}
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private int _clawMoveTimeOut = 30;
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private int _liftMoveTimeOut = 30;
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private string message = "UnLoad wafer presence sensor check error";
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private string SeparationLog;
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public UnLoadSeparateRoutine()
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{
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Name = "Separate";
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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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_liftMoveTimeOut = SC.GetValue<int>("UnLoad.LiftMoveTimeOut");
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_clawMoveTimeOut = SC.GetValue<int>("UnLoad.ClawMoveTimeOut");
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SeparationLog = SC.GetStringValue("UnLoad.SeparationLog");
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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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ClawMove((int)RoutineStep.ClawOpen, WaferClaw, false, _clawMoveTimeOut);
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LiftMove((int)RoutineStep.LiftUp, true, _liftMoveTimeOut);
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ClawMove((int)RoutineStep.Clawing, WaferClaw, true, _clawMoveTimeOut);
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LiftMove((int)RoutineStep.LiftDown, false, _liftMoveTimeOut);
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//根据感应检查分离结果
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CheckSensor((int)RoutineStep.CheckSensor, _unLoadWaferPresence, SeparationLog);
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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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}
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