using System;
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using System.Collections.Generic;
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namespace SHARP_CLAS_UI
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{
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public class LoaderConveyorOut : Conveyor
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{
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#region Enum
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#endregion
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#region Property
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public ConveyorOutSteps Step
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{
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get
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{
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return _step;
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}
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private set
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{
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_step = value;
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}
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}
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public override bool IsWorkEnd
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{
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get
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{
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if(Step == ConveyorOutSteps.S0000_WAIT)
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{
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return true;
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}
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else
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{
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return false;
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}
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}
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}
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public override bool IsStayPosition
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{
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get
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{
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return true;
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}
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}
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#endregion
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#region Field
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private ConveyorOutSteps _step;
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private ConveyorOutSteps _oldStep;
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private ConveyorHomeStep _homeStep;
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#endregion
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#region Construct
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public LoaderConveyorOut(Equipment equipment) : base(equipment, MotorAxis.LD_Tray_Out_Port, "LoaderConveyorOut")
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{
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Initialize(InputData.LD_Tray_Out_Conveyor_In_Sensor, InputData.LD_Tray_Out_Conveyor_In_Complete_Sensor, InputData.LD_Tray_Out_Conveyor_Lift_in_Sensor, InputData.LD_Tray_Out_Conveyor_Lift_in_Complete_Sensor);
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pauseDisableList.Add(ConveyorOutSteps.S1310_CONVEYOR_COMPLETE_SENSOR_CHECK);
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pauseDisableList.Add(ConveyorOutSteps.S1320_CONVEYOR_IN_SENSOR_CHECK);
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pauseDisableList.Add(ConveyorOutSteps.S1400_CONVEYOR_STOP);
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pauseDisableList.Add(ConveyorOutSteps.S1410_CONVEYOR_STOP_CHECK);
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AlignerX.Initialize(OutputData.LD_Tray_Out_Align_X_Sol_Valve, InputData.LD_Tray_Out_Align_X_1_Fwd_Sensor, InputData.LD_Tray_Out_Align_X_2_Fwd_Sensor, InputData.LD_Tray_Out_Align_X_1_Bwd_Sensor, InputData.LD_Tray_Out_Align_X_2_Bwd_Sensor,
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En_Alarm_List.AL_0594_LD_TRAY_OUT_ALIGN_X_1_FWD_SENSOR_CHECK, En_Alarm_List.AL_0595_LD_TRAY_OUT_ALIGN_X_2_FWD_SENSOR_CHECK, En_Alarm_List.AL_0596_LD_TRAY_OUT_ALIGN_X_1_BWD_SENSOR_CHECK, En_Alarm_List.AL_0597_LD_TRAY_OUT_ALIGN_X_2_BWD_SENSOR_CHECK);
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AlignerY.Initialize(OutputData.LD_Tray_Out_Align_Y_Sol_Valve, InputData.LD_Tray_Out_Align_Y_1_Fwd_Sensor, InputData.LD_Tray_Out_Align_Y_2_Fwd_Sensor, InputData.LD_Tray_Out_Align_Y_1_Bwd_Sensor, InputData.LD_Tray_Out_Align_Y_2_Bwd_Sensor,
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En_Alarm_List.AL_0598_LD_TRAY_OUT_ALIGN_Y_1_FWD_SENSOR_CHECK, En_Alarm_List.AL_0559_LD_TRAY_IN_ALIGN_Y_2_FWD_SENSOR_CHECK, En_Alarm_List.AL_0600_LD_TRAY_OUT_ALIGN_Y_1_BWD_SENSOR_CHECK, En_Alarm_List.AL_0601_LD_TRAY_OUT_ALIGN_Y_2_BWD_SENSOR_CHECK);
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MotorX.Check_Jog_Interlock = Jog_Interlock;
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MotorX.Check_Move_Interlock = Move_Interlock;
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}
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#endregion
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#region Function
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private bool Move_Interlock()
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{
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if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
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{
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return true;
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}
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return false;
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}
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private bool Jog_Interlock(bool positive)
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{
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if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
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{
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return true;
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}
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return false;
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}
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public void Init_Seq()
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{
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if (Step < ConveyorOutSteps.S1000_TRAY_UNLOADING_START || ConveyorOutSteps.S1999_TRAY_UNLOADING_END < Step)
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Step = ConveyorOutSteps.S0000_WAIT;
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_homeStep = ConveyorHomeStep.S0000_WAIT;
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}
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private void ExecuteStepAuto()
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{
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if(IsWorkEnd)
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{
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if(equipment.Cur_Main_Recipe.tray_info.LD_Tray_Empty_Tray_Count <= equipment.LoaderOutTrayCount)
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{
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if(equipment.loader.LiftOut.IsStayPosition)
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{
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if(IsLiftInSensor && IsLiftInCompleteSensor)
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{
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if(!IsConveyorInCompleteSensor && !IsConveyorInSensor)
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{
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Step = ConveyorOutSteps.S1000_TRAY_UNLOADING_START;
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}
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}
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}
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}
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}
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}
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public override void MonitoringStatus()
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{
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if (ConveyorOutSteps.S0000_WAIT <= Step && Step < ConveyorOutSteps.S1300_CONVEYOR_MOVE_OUT)
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{
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if (MotorX.MotionComplete == false)
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Stop();
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}
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else
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{
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if (Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0052_LD_LIGHT_CURTAIN_ALARM))
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{
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if (MotorX.MotionComplete == false)
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{
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if(Alarm_Manager.Instance.Occured_List.Exists(x => x.Code == En_Alarm_List.AL_0052_LD_LIGHT_CURTAIN_ALARM))
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{
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equipment.Write_Exception_Log($"LD Conveyor Empty Light Curtain!, conveyor sensor : {IsConveyorInSensor}, conveyor in sensor : {IsConveyorInCompleteSensor}");
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}
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Stop();
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}
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}
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}
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if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
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{
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if (MotorX.MotionComplete == false)
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{
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Stop();
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}
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}
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}
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public override void ExecuteStep()
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{
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if (_oldStep != Step)
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{
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sequenceChangedTime.Restart();
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_oldStep = Step;
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WriteSequenceLog(Step.ToString());
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}
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AlignerX.ExecuteProcess();
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AlignerY.ExecuteProcess();
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//상시 Run.
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if (UnitMode != En_Equipment_Mode.Home)
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{
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UnloadingTray();
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AgvUnloading();
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}
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if (UnitMode == En_Equipment_Mode.Stop)
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{
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Init_Seq();
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isHomeComplete = false;
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return;
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}
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else if (UnitMode == En_Equipment_Mode.Pause)
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{
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sequenceChangedTime.Stop();
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return;
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}
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else if (UnitMode == En_Equipment_Mode.Home)
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{
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if (!IsHomeComplete)
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{
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ExecuteHome();
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}
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return;
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}
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else if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
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{
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sequenceChangedTime.Start();
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if (equipment.equip_mode == En_Equipment_Mode.Pause)
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{
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if (pauseDisableList.Contains(Step) == false)
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{
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UnitMode = En_Equipment_Mode.Pause;
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return;
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}
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}
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if (equipment.equip_mode == En_Equipment_Mode.Pause)
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{
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if (pauseDisableList.Contains(Step) == false)
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{
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UnitMode = En_Equipment_Mode.Pause;
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}
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}
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if (UnitMode == En_Equipment_Mode.Auto)
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{
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ExecuteStepAuto();
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}
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}
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}
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private void Test()
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{
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if (UnitMode == En_Equipment_Mode.Stop)
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{
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// 장비 Stop시 즉시 전체 스탑 진행.
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UnitMode = En_Equipment_Mode.Stop;
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}
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// 장비상태 home or (장비상태 pause and 유닛 Home) 일시 진행.
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else if ((equipment.equip_mode == En_Equipment_Mode.Pause || equipment.equip_mode == En_Equipment_Mode.Home) && UnitMode == En_Equipment_Mode.Home)
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{
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// 장비 Home시 유닛 홈 진행 완료 확인 후 홈 진행.
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if (!IsHomeComplete)
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{
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}
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}
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else if (UnitMode == En_Equipment_Mode.Pause)
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{
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// 유닛 Puase 일 때 동작.
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}
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else if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual
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|| UnitMode == En_Equipment_Mode.Pause)
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{
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if(UnitMode == En_Equipment_Mode.Auto)
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{
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ExecuteStepAuto();
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}
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else if (UnitMode == En_Equipment_Mode.Pause)
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{
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UnitMode = En_Equipment_Mode.Pause;
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}
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}
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}
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public void ExecuteHome()
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{
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switch (_homeStep)
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{
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case ConveyorHomeStep.S0000_WAIT:
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{
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_homeStep = ConveyorHomeStep.S1000_STATUS_CHECK;
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break;
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}
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case ConveyorHomeStep.S1000_STATUS_CHECK:
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{
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if (MotorX.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0111_LD_TRAY_OUT_PORT_ERROR_STOP);
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}
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else if (MotorX.PowerOn == false)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0110_LD_TRAY_OUT_PORT_POWER_OFF);
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}
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else
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{
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_homeStep = ConveyorHomeStep.S1100_CONVEYOR_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorHomeStep.S1100_CONVEYOR_SENSOR_CHECK:
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{
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if (IsConveyorInSensor || IsConveyorInCompleteSensor)
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{
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if (IsConveyorInSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Conveyor Out Home can't run.", "Conveyor in sensor is detected.");
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}
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if (IsConveyorInCompleteSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Conveyor Out Home can't run.", "Conveyor in complete sensor is detected.");
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}
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}
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else
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{
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_homeStep = ConveyorHomeStep.S1200_LIFT_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorHomeStep.S1200_LIFT_SENSOR_CHECK:
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{
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if (IsLiftInSensor || IsLiftInCompleteSensor)
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{
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if (IsLiftInSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Conveyor Out Home can't run.", "Lift in sensor is detected.");
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}
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if (IsLiftInCompleteSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Conveyor Out Home can't run.", "Lift in complete sensor is detected.");
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}
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}
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else
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{
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_homeStep = ConveyorHomeStep.S2000_POSITION_CLEAR;
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}
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break;
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}
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case ConveyorHomeStep.S2000_POSITION_CLEAR:
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{
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if (MotorX.Position_Clear())
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{
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_homeStep = ConveyorHomeStep.S9999_END;
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}
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break;
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}
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case ConveyorHomeStep.S9999_END:
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{
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isHomeComplete = true;
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_homeStep = ConveyorHomeStep.S0000_WAIT;
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break;
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}
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}
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}
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public void UnloadingTray()
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{
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switch(Step)
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{
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case ConveyorOutSteps.S1000_TRAY_UNLOADING_START:
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{
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Step = ConveyorOutSteps.S1100_LIFT_POSITION_STAY_CHECK;
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break;
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}
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case ConveyorOutSteps.S1100_LIFT_POSITION_STAY_CHECK:
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{
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if(equipment.loader.LiftOut.IsStayPosition)
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{
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Step = ConveyorOutSteps.S1110_CONVEYOR_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorOutSteps.S1110_CONVEYOR_SENSOR_CHECK:
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{
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if(IsConveyorInCompleteSensor || IsConveyorInSensor)
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{
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if (IsConveyorInSensor)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0590_LD_TRAY_OUT_CONVEYOR_IN_SENSOR_CHECK);
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}
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if (IsConveyorInCompleteSensor)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0591_LD_TRAY_OUT_CONVEYOR_IN_COMPLETE_SENSOR_CHECK);
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}
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}
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else
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{
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Step = ConveyorOutSteps.S1120_LIFT_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorOutSteps.S1120_LIFT_SENSOR_CHECK:
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{
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if(IsLiftInCompleteSensor || IsLiftInSensor)
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{
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Step = ConveyorOutSteps.S1200_ALIGN_X_FWD;
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}
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else
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{
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Step = ConveyorOutSteps.S1400_CONVEYOR_STOP;
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}
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break;
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}
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case ConveyorOutSteps.S1200_ALIGN_X_FWD:
|
{
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if (AlignerX.IsWorkEnd)
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{
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if (AlignerX.IsForward)
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{
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Step = ConveyorOutSteps.S1220_ALIGN_Y_BWD;
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}
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else
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{
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AlignerX.Forward();
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}
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}
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break;
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}
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case ConveyorOutSteps.S1220_ALIGN_Y_BWD:
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{
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if (AlignerY.IsWorkEnd)
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{
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if (AlignerY.IsBackward)
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{
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Step = ConveyorOutSteps.S1240_WAIT_TIME;
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}
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else
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{
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AlignerY.Backward();
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}
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}
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break;
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}
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case ConveyorOutSteps.S1240_WAIT_TIME:
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{
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if (sequenceChangedTime.Seconds > 2)
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{
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Step = ConveyorOutSteps.S1250_ALIGN_Y_FWD;
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}
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break;
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}
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case ConveyorOutSteps.S1250_ALIGN_Y_FWD:
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{
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if (AlignerY.IsWorkEnd)
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{
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if (AlignerY.IsForward)
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{
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Step = ConveyorOutSteps.S1270_ALIGN_X_BWD;
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}
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else
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{
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AlignerY.Forward();
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}
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}
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break;
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}
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case ConveyorOutSteps.S1270_ALIGN_X_BWD:
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{
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if (AlignerX.IsWorkEnd)
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{
|
if (AlignerX.IsBackward)
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{
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Step = ConveyorOutSteps.S1300_CONVEYOR_MOVE_OUT;
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}
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else
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{
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AlignerX.Backward();
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}
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}
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break;
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}
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case ConveyorOutSteps.S1300_CONVEYOR_MOVE_OUT:
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{
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if (JogPositive())
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{
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Step = ConveyorOutSteps.S1310_CONVEYOR_COMPLETE_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorOutSteps.S1310_CONVEYOR_COMPLETE_SENSOR_CHECK:
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{
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if (MotorX.MotionComplete)
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{
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if (!(Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0052_LD_LIGHT_CURTAIN_ALARM)))
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{
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JogPositive();
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}
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}
|
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if (IsConveyorInCompleteSensor || IsConveyorInSensor)
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{
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Step = ConveyorOutSteps.S1320_CONVEYOR_IN_SENSOR_CHECK;
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}
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else if (sequenceChangedTime.Seconds > equipment.Setting.Conveyor_Timeout)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0871_LD_TRAY_OUT_CONVEYOR_TIMEOUT);
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Step = ConveyorOutSteps.S1400_CONVEYOR_STOP;
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}
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break;
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}
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case ConveyorOutSteps.S1320_CONVEYOR_IN_SENSOR_CHECK:
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{
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if (MotorX.MotionComplete)
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{
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if (!(Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0052_LD_LIGHT_CURTAIN_ALARM)))
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JogPositive();
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}
|
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if (IsConveyorInSensor || (IsConveyorInCompleteSensor == false && IsConveyorInSensor == false && IsLiftInSensor == false && IsLiftInCompleteSensor == false))
|
{
|
Step = ConveyorOutSteps.S1400_CONVEYOR_STOP;
|
}
|
else if (sequenceChangedTime.Seconds > equipment.Setting.Conveyor_Timeout)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0871_LD_TRAY_OUT_CONVEYOR_TIMEOUT);
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Step = ConveyorOutSteps.S1400_CONVEYOR_STOP;
|
}
|
|
break;
|
}
|
case ConveyorOutSteps.S1400_CONVEYOR_STOP:
|
{
|
if (Stop())
|
{
|
Step = ConveyorOutSteps.S1410_CONVEYOR_STOP_CHECK;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S1410_CONVEYOR_STOP_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
Step = ConveyorOutSteps.S1999_TRAY_UNLOADING_END;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S1400_CONVEYOR_STOP;
|
}
|
|
break;
|
}
|
case ConveyorOutSteps.S1999_TRAY_UNLOADING_END:
|
{
|
equipment.LoaderOutTrayCount = 0;
|
|
if (equipment.Mode.Agv_Skip)
|
{
|
equipment.Set_Load_Tray_Buzzer(true);
|
Step = ConveyorOutSteps.S0000_WAIT;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2000_AGV_UNLOADING_START;
|
}
|
|
break;
|
}
|
}
|
}
|
|
private void AgvUnloading()
|
{
|
switch (Step)
|
{
|
case ConveyorOutSteps.S2000_AGV_UNLOADING_START:
|
{
|
Step = ConveyorOutSteps.S2100_EQP_UNLOAD_ENABLE_ON;
|
break;
|
}
|
case ConveyorOutSteps.S2100_EQP_UNLOAD_ENABLE_ON:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Request_For_Transfer_LD_ULD, true);
|
Step = ConveyorOutSteps.S2110_EQP_UNLOAD_ENABLE_ON_CHECK;
|
break;
|
}
|
case ConveyorOutSteps.S2110_EQP_UNLOAD_ENABLE_ON_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_LD_Out_Request_For_Transfer_LD_ULD))
|
{
|
Step = ConveyorOutSteps.S2120_AGV_UNLOAD_STATUS_ON_CHECK;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2100_EQP_UNLOAD_ENABLE_ON;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2120_AGV_UNLOAD_STATUS_ON_CHECK:
|
{
|
if (equipment.Mode.Agv_Skip)
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Request_For_Transfer_LD_ULD, false);
|
Step = ConveyorOutSteps.S0000_WAIT;
|
}
|
else
|
{
|
if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_LD_Out_Moving_Load_Status))
|
{
|
Step = ConveyorOutSteps.S2130_EQP_UNLOAD_STATUS_ON;
|
}
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2130_EQP_UNLOAD_STATUS_ON:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Moving_Load_Status, true);
|
Step = ConveyorOutSteps.S0000_WAIT;
|
break;
|
}
|
case ConveyorOutSteps.S2140_EQP_UNLOAD_STATUS_ON_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_LD_Out_Moving_Load_Status))
|
{
|
Step = ConveyorOutSteps.S2150_AGV_UNLOAD_ENABLE_CONVEYOR_RUN_ON_CHECK;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2130_EQP_UNLOAD_STATUS_ON;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2150_AGV_UNLOAD_ENABLE_CONVEYOR_RUN_ON_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_LD_Out_Request_For_Transfer_LD_ULD)
|
&& equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_LD_Out_Conveyor_In_Operation))
|
{
|
Step = ConveyorOutSteps.S2200_EQP_CONVEYOR_RUN_ON;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2200_EQP_CONVEYOR_RUN_ON:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Conveyor_In_Operation, true);
|
Step = ConveyorOutSteps.S2210_EQP_CONVEYOR_RUN_ON_CHECK;
|
break;
|
}
|
case ConveyorOutSteps.S2210_EQP_CONVEYOR_RUN_ON_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_LD_Out_Conveyor_In_Operation))
|
{
|
Step = ConveyorOutSteps.S2220_EQP_UNLOAD_ENABLE_OFF;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2200_EQP_CONVEYOR_RUN_ON;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2220_EQP_UNLOAD_ENABLE_OFF:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Request_For_Transfer_LD_ULD, false);
|
Step = ConveyorOutSteps.S2230_EQP_UNLOAD_ENABLE_OFF_CHECK;
|
break;
|
}
|
case ConveyorOutSteps.S2230_EQP_UNLOAD_ENABLE_OFF_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_LD_Out_Request_For_Transfer_LD_ULD) == false)
|
{
|
Step = ConveyorOutSteps.S2240_CONVEYOR_RUN;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2220_EQP_UNLOAD_ENABLE_OFF;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2240_CONVEYOR_RUN:
|
{
|
JogPositive();
|
Step = ConveyorOutSteps.S2300_AGV_CONVEYOR_RUN_UNLOAD_STATUS_UNLOAD_ENABLE_OFF_CHECK;
|
break;
|
}
|
case ConveyorOutSteps.S2300_AGV_CONVEYOR_RUN_UNLOAD_STATUS_UNLOAD_ENABLE_OFF_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_LD_Out_Moving_Load_Status) == false
|
&& equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_LD_Out_Request_For_Transfer_LD_ULD) == false
|
&& equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_LD_Out_Conveyor_In_Operation) == false)
|
{
|
Step = ConveyorOutSteps.S2310_CONVEYOR_STOP_CHECK;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2310_CONVEYOR_STOP_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
Step = ConveyorOutSteps.S2320_EQP_CONVEYOR_RUN_OFF;
|
}
|
else
|
{
|
Stop();
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2320_EQP_CONVEYOR_RUN_OFF:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Conveyor_In_Operation, false);
|
Step = ConveyorOutSteps.S2330_EQP_CONVEYOR_RUN_OFF_CHECK;
|
break;
|
}
|
case ConveyorOutSteps.S2330_EQP_CONVEYOR_RUN_OFF_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_LD_Out_Conveyor_In_Operation) == false)
|
{
|
Step = ConveyorOutSteps.S2340_EQP_UNLOAD_STATUS_OFF;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2320_EQP_CONVEYOR_RUN_OFF;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2340_EQP_UNLOAD_STATUS_OFF:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_LD_Out_Moving_Load_Status, false);
|
Step = ConveyorOutSteps.S2350_EQP_UNLOAD_STATUS_OFF_CHECK;
|
break;
|
}
|
case ConveyorOutSteps.S2350_EQP_UNLOAD_STATUS_OFF_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_LD_Out_Moving_Load_Status) == false)
|
{
|
Step = ConveyorOutSteps.S2999_AGV_UNLOADING_END;
|
}
|
else
|
{
|
Step = ConveyorOutSteps.S2340_EQP_UNLOAD_STATUS_OFF;
|
}
|
break;
|
}
|
case ConveyorOutSteps.S2999_AGV_UNLOADING_END:
|
{
|
Step = ConveyorOutSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void Unload()
|
{
|
Step = ConveyorOutSteps.S1000_TRAY_UNLOADING_START;
|
}
|
#endregion
|
}
|
}
|
