91 lines
2.4 KiB
C#
91 lines
2.4 KiB
C#
using Aitex.Core.RT.Device.Unit;
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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 System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace Mainframe.LLs
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{
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public class LoadSeparateRoutine : LoadLockBaseRoutine
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{
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/*
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* 1、Load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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*
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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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LoadRotationHome,
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WaitMoveDone,
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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 int _loadRatationMoveTimeout = 30;
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public LoadSeparateRoutine(ModuleName module)
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{
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Name = "Separate";
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Module = module.ToString();
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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>("LoadLock.LiftMoveTimeOut");
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_clawMoveTimeOut = SC.GetValue<int>("LoadLock.ClawMoveTimeOut");
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_loadRatationMoveTimeout = SC.GetValue<int>("LoadLock.LoadRotation.RotationTimeOut");
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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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////LoadRotation先回原点位置
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//MoveHomePos((int)RoutineStep.LoadRotationHome);
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//TimeDelay((int)RoutineStep.TimeDelay1, 1);
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//WaitLoadRotationDone((int)RoutineStep.WaitMoveDone, _loadRatationMoveTimeout);
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LiftMove((int)RoutineStep.LiftUp, true, _liftMoveTimeOut);
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ClawMove((int)RoutineStep.ClawOpen, WaferClaw, false, _clawMoveTimeOut);
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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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}
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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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