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 LoaderLiftOut : Lift
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{
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#region Property
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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 == LiftOutSteps.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 LiftOutSteps 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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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 IsStayPosition
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{
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get
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{
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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Empty_Z_Wait_Position, out value);
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var position = double.Parse($"{value}");
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return MotorZ.Is_Inposition(position, equipment.Setting.Inposition_Offset);
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}
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}
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public override bool IsPanelEmpty
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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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public override bool IsPanelFull
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{
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get
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{
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return false;
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}
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}
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public override double TrayInPosition
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{
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get
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{
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if (equipment.Cur_Main_Recipe.tray_info == null)
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return 0;
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var position = UpPosition - (equipment.Cur_Main_Recipe.tray_info.LD_Tray_Empty_Tray_Pitch * equipment.LoaderOutTrayCount);
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position = double.Parse(position.ToString("F3"));
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return position;
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}
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}
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public override double TrayWaitPosition
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{
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get
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{
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if (equipment.Cur_Main_Recipe.tray_info == null)
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return 0;
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var position = UpPosition - (equipment.Cur_Main_Recipe.tray_info.LD_Tray_Empty_Tray_Pitch * (equipment.LoaderOutTrayCount + 1));
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position = double.Parse(position.ToString("F3"));
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return position;
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}
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}
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protected override double UpPosition
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{
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get
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{
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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Empty_Z_Process_Position, out value);
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var position = double.Parse($"{value}");
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return position;
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}
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}
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public override string TrayID
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{
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get
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{
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return _trayId;
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}
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set
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{
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_trayId = value;
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}
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}
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#endregion
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#region Field
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private LiftOutSteps _step;
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private LiftOutSteps _oldStep;
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private LiftHomeSteps _homeStep;
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private string _trayId;
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#endregion
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#region Construct
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public LoaderLiftOut(Equipment equipment) : base(equipment, MotorAxis.LD_Tray_Out_Lift, "LoaderLiftOut")
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{
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Step = LiftOutSteps.S0000_WAIT;
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_oldStep = LiftOutSteps.S0000_WAIT;
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Initialize(InputData.LD_Tray_Out_Lift_Up_1_1_Sensor, InputData.LD_Tray_Out_Lift_Up_1_2_Sensor, InputData.LD_Tray_Out_Lift_Up_2_1_Sensor, InputData.LD_Tray_Out_Lift_Up_2_2_Sensor);
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pauseDisableList.Add(LiftOutSteps.S1415_LIFT_PITCH_DOWN_CHECK);
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pauseDisableList.Add(LiftOutSteps.S1425_LIFT_PITCH_UP_CHECK);
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pauseDisableList.Add(LiftOutSteps.S1435_LIFT_PITCH_LAST_UP_CHECK);
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pauseDisableList.Add(LiftOutSteps.S2405_LIFT_DOWN_CHECK);
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AlignerTop.Initialize(OutputData.LD_Tray_Out_Align_Top_Sol_Valve, InputData.LD_Tray_Out_Align_Top_1_Fwd_Sensor, InputData.LD_Tray_Out_Align_Top_2_Fwd_Sensor, InputData.LD_Tray_Out_Align_Top_1_Bwd_Sensor, InputData.LD_Tray_Out_Align_Top_2_Bwd_Sensor, En_Alarm_List.AL_0607_LD_TRAY_OUT_ALIGN_TOP_1_FWD_SENSOR_CHECK, En_Alarm_List.AL_0608_LD_TRAY_OUT_ALIGN_TOP_2_FWD_SENSOR_CHECK, En_Alarm_List.AL_0609_LD_TRAY_OUT_ALIGN_TOP_1_BWD_SENSOR_CHECK, En_Alarm_List.AL_0610_LD_TRAY_OUT_ALIGN_TOP_2_BWD_SENSOR_CHECK);
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Clamper.Initialize(OutputData.LD_Tray_Out_Clamp_Sol_Valve, InputData.LD_Tray_Out_Clamp_1_Clamp_Sensor, InputData.LD_Tray_Out_Clamp_2_Clamp_Sensor, InputData.LD_Tray_Out_Clamp_1_Unclamp_Sensor, InputData.LD_Tray_Out_Clamp_2_Unclamp_Sensor, En_Alarm_List.AL_0611_LD_TRAY_OUT_CLAMP_1_SENSOR_CHECK, En_Alarm_List.AL_0612_LD_TRAY_OUT_CLAMP_2_SENSOR_CHECK, En_Alarm_List.AL_0613_LD_TRAY_OUT_UNCLAMP_1_SENSOR_CHECK, En_Alarm_List.AL_0614_LD_TRAY_OUT_UNCLAMP_2_SENSOR_CHECK);
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Stacker.Initialize(OutputData.LD_Tray_Out_Stacker_Sol_Valve, InputData.LD_Tray_Out_Stacker_1_Fwd_Sensor, InputData.LD_Tray_Out_Stacker_2_Fwd_Sensor, InputData.LD_Tray_Out_Stacker_3_Fwd_Sensor, InputData.LD_Tray_Out_Stacker_4_Fwd_Sensor, InputData.LD_Tray_Out_Stacker_1_Bwd_Sensor, InputData.LD_Tray_Out_Stacker_2_Bwd_Sensor, InputData.LD_Tray_Out_Stacker_3_Bwd_Sensor, InputData.LD_Tray_Out_Stacker_4_Bwd_Sensor, En_Alarm_List.AL_0615_LD_TRAY_OUT_STACKER_1_FWD_SENSOR_CHECK, En_Alarm_List.AL_0616_LD_TRAY_OUT_STACKER_2_FWD_SENSOR_CHECK, En_Alarm_List.AL_0617_LD_TRAY_OUT_STACKER_3_FWD_SENSOR_CHECK, En_Alarm_List.AL_0618_LD_TRAY_OUT_STACKER_4_FWD_SENSOR_CHECK, En_Alarm_List.AL_0619_LD_TRAY_OUT_STACKER_1_BWD_SENSOR_CHECK, En_Alarm_List.AL_0620_LD_TRAY_OUT_STACKER_2_BWD_SENSOR_CHECK, En_Alarm_List.AL_0621_LD_TRAY_OUT_STACKER_3_BWD_SENSOR_CHECK, En_Alarm_List.AL_0622_LD_TRAY_OUT_STACKER_4_BWD_SENSOR_CHECK);
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MotorZ.Check_Jog_Interlock = Jog_Interlock;
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MotorZ.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 < LiftOutSteps.S2000_TRAY_UNLOADING_START || LiftOutSteps.S2999_TRAY_UNLOADING_END < Step)
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Step = LiftOutSteps.S0000_WAIT;
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_homeStep = LiftHomeSteps.S0000_WAIT;
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}
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public void ExecuteAuto()
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{
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if (IsWorkEnd)
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{
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if(equipment.LoaderOutTrayCount >= equipment.Cur_Main_Recipe.tray_info.LD_Tray_Empty_Tray_Count)
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{
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if (IsStayPosition == false)
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{
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Step = LiftOutSteps.S2000_TRAY_UNLOADING_START;
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}
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}
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else
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{
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if(equipment.loader.ConveyorOut.IsWorkEnd)
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{
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if (equipment.loader.ConveyorOut.IsLiftInSensor == false && equipment.loader.ConveyorOut.IsLiftInCompleteSensor == false)
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{
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if (equipment.LoaderInTrayCount == 0)
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{
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Step = LiftOutSteps.S1000_LIFT_MOVE_START;
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}
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else
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{
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if(equipment.loader.TrayTransfer.IsWorkEnd)
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{
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Step = LiftOutSteps.S1000_LIFT_MOVE_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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}
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public override void MonitoringStatus()
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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 (MotorZ.MotionComplete == false)
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{
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MotorZ.Move_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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AlignerTop.ExecuteProcess();
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Clamper.ExecuteProcess();
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Stacker.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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}
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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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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 (UnitMode == En_Equipment_Mode.Auto)
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{
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ExecuteAuto();
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}
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LoadingTray();
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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 LiftHomeSteps.S0000_WAIT:
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{
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_homeStep = LiftHomeSteps.S1000_STATUS_CHECK;
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break;
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}
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case LiftHomeSteps.S1000_STATUS_CHECK:
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{
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if (MotorZ.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0131_LD_TRAT_OUT_LIFT_Z_ERROR_STOP);
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}
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else if (!MotorZ.PowerOn)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0130_LD_TRAT_OUT_LIFT_Z_POWER_OFF);
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}
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else
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{
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_homeStep = LiftHomeSteps.S1100_CONVEYOR_HOME_CHECK;
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}
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break;
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}
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case LiftHomeSteps.S1100_CONVEYOR_HOME_CHECK:
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{
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if (equipment.loader.ConveyorOut.IsHomeComplete)
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{
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_homeStep = LiftHomeSteps.S1110_CONVEYOR_LIFT_SENSOR_CHECK;
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}
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break;
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}
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case LiftHomeSteps.S1110_CONVEYOR_LIFT_SENSOR_CHECK:
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{
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if (equipment.loader.ConveyorOut.IsLiftInSensor || equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
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{
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if (equipment.loader.ConveyorOut.IsLiftInSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Home can't run.", "Conveyor in sensor detected.");
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}
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if (equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Home can't run.", "Conveyor in complete sensor detected.");
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}
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}
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else
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{
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_homeStep = LiftHomeSteps.S1200_MOTOR_Z_HOME;
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}
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break;
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}
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case LiftHomeSteps.S1200_MOTOR_Z_HOME:
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{
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if (MotorZ.Home())
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{
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homeCheckedTime.Restart();
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_homeStep = LiftHomeSteps.S1205_MOTOR_Z_HOME_CHECK;
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}
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break;
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}
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case LiftHomeSteps.S1205_MOTOR_Z_HOME_CHECK:
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{
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if (homeCheckedTime.Seconds < 1) return;
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if (!MotorZ.IsHomed)
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{
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if (MotorZ.Homing == false && MotorZ.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0131_LD_TRAT_OUT_LIFT_Z_ERROR_STOP);
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}
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}
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else
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{
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_homeStep = LiftHomeSteps.S1300_MOVE_STAY_POSITION;
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}
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break;
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}
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case LiftHomeSteps.S1300_MOVE_STAY_POSITION:
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{
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if (MoveStayPosition())
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{
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homeCheckedTime.Restart();
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_homeStep = LiftHomeSteps.S1305_POSITION_CHECK;
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}
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break;
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}
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case LiftHomeSteps.S1305_POSITION_CHECK:
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{
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if (homeCheckedTime.Seconds < 1) return;
|
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if (MotorZ.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0131_LD_TRAT_OUT_LIFT_Z_ERROR_STOP);
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}
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else if (MotorZ.MotionComplete)
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{
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if (IsStayPosition)
|
{
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_homeStep = LiftHomeSteps.S9999_END;
|
}
|
else
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Home can't run.", "Position is not wait.");
|
}
|
}
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break;
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}
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case LiftHomeSteps.S9999_END:
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{
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isHomeComplete = true;
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_homeStep = LiftHomeSteps.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 LoadingTray()
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{
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switch (Step)
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{
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case LiftOutSteps.S1000_LIFT_MOVE_START:
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{
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Step = LiftOutSteps.S1100_CONVEYOR_LIFT_SENSOR_CHECK;
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break;
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}
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case LiftOutSteps.S1100_CONVEYOR_LIFT_SENSOR_CHECK:
|
{
|
if (equipment.loader.ConveyorOut.IsLiftInSensor || equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
|
{
|
if (equipment.loader.ConveyorOut.IsLiftInSensor)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0592_LD_TRAY_OUT_CONVEYOR_LIFT_IN_SENSOR_CHECK);
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}
|
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if (equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0593_LD_TRAY_OUT_CONVEYOR_LIFT_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 = LiftOutSteps.S1110_TRAY_TRANSTER_POSITION_STAY_CHECK;
|
}
|
break;
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}
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case LiftOutSteps.S1110_TRAY_TRANSTER_POSITION_STAY_CHECK:
|
{
|
if (equipment.loader.TrayTransfer.IsStayPosition)
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{
|
Step = LiftOutSteps.S1200_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Loading can't run.", "LD Tray X is not empty position.");
|
}
|
break;
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}
|
case LiftOutSteps.S1200_ALIGN_TOP_BACKWARD:
|
{
|
if (AlignerTop.IsWorkEnd)
|
{
|
if (AlignerTop.IsBackward)
|
{
|
Step = LiftOutSteps.S1210_STACKER_BACKWARD;
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}
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else
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{
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AlignerTop.Backward();
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}
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}
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break;
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}
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case LiftOutSteps.S1210_STACKER_BACKWARD:
|
{
|
if (Stacker.IsWorkEnd)
|
{
|
if (Stacker.IsBackward)
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{
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Step = LiftOutSteps.S1220_UNCLAMP;
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}
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else
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{
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Stacker.Backward();
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}
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}
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break;
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}
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case LiftOutSteps.S1220_UNCLAMP:
|
{
|
if (Clamper.IsWorkEnd)
|
{
|
if (Clamper.IsUnclamp)
|
{
|
Step = LiftOutSteps.S1300_LIFT_MOVE;
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}
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else
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{
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Clamper.Unclamp();
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}
|
}
|
break;
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}
|
case LiftOutSteps.S1300_LIFT_MOVE:
|
{
|
if (MoveTrayInPosition(TrayWaitPosition))
|
{
|
Step = LiftOutSteps.S1305_LIFT_MOVE_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S1305_LIFT_MOVE_CHECK:
|
{
|
if (sequenceChangedTime.Seconds < 0.5) return;
|
|
if (IsLiftLimitSensor1 || IsLiftLimitSensor2)
|
{
|
if (MotorZ.Move_Stop())
|
{
|
if (IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0603_LD_TRAY_OUT_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0604_LD_TRAY_OUT_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
//Step = LiftOutSteps.S1440_TRAY_SCRAP_CHECK;
|
|
return;
|
}
|
}
|
else if (MotorZ.MotionComplete)
|
{
|
if (MotorZ.Is_Inposition(TrayWaitPosition, equipment.Setting.Inposition_Offset))
|
{
|
if(IsLiftInSensor1 || IsLiftInSensor2)
|
{
|
if (IsLiftInSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0605_LD_TRAY_OUT_LIFT_UP_2_1_SENSOR_CHECK);
|
}
|
|
if (IsLiftInSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0606_LD_TRAY_OUT_LIFT_UP_2_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = LiftOutSteps.S1310_ALIGN_TOP_FORWARD;
|
}
|
}
|
else
|
{
|
Interlock_Manager.Add_Interlock_Msg("LD Tray Empty Lift Loading can't run.", $"LD Tray Lift is not up position({TrayWaitPosition}).");
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1310_ALIGN_TOP_FORWARD:
|
{
|
if (AlignerTop.IsWorkEnd)
|
{
|
if (AlignerTop.IsForward)
|
{
|
Step = LiftOutSteps.S1320_CLAMP;
|
}
|
else
|
{
|
AlignerTop.Forward();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1320_CLAMP:
|
{
|
if (Clamper.IsWorkEnd)
|
{
|
if (Clamper.IsClamp)
|
{
|
Step = LiftOutSteps.S1400_TRAY_TRANSFER_PLACE_WAIT;
|
}
|
else
|
{
|
Clamper.Clamp();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1400_TRAY_TRANSFER_PLACE_WAIT:
|
{
|
if(equipment.LoaderOutTrayCount != _trayCount)
|
{
|
if (equipment.LoaderOutTrayCount == 1)
|
{
|
IsFirstTray = true;
|
}
|
|
_pitchPosition = 0;
|
|
if (IsLiftInSensor1 && IsLiftInSensor2)
|
{
|
Step = LiftOutSteps.S1410_LIFT_PITCH_DOWN;
|
}
|
else
|
{
|
Step = LiftOutSteps.S1420_LIFT_PITCH_UP;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1410_LIFT_PITCH_DOWN:
|
{
|
if (Math.Abs(_pitchPosition) > equipment.Setting.Tray_Alarm_Range)
|
{
|
_pitchPosition = 0;
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0951_LD_TRAY_EMPTY_PITCH_RANGE_ALARM);
|
|
//Step = LiftOutSteps.S1440_TRAY_SCRAP_CHECK;
|
}
|
else
|
{
|
_pitchPosition -= equipment.Setting.Tray_Move_Pitch;
|
|
MoveTrayInPosition(TrayInPosition + _pitchPosition);
|
Step = LiftOutSteps.S1415_LIFT_PITCH_DOWN_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S1415_LIFT_PITCH_DOWN_CHECK:
|
{
|
if (sequenceChangedTime.Seconds < 0.5) return;
|
|
if (MotorZ.MotionComplete)
|
{
|
if (MotorZ.Is_Inposition(TrayInPosition + _pitchPosition, equipment.Setting.Inposition_Offset))
|
{
|
if(IsLiftInSensor1 && IsLiftInSensor2)
|
{
|
Step = LiftOutSteps.S1410_LIFT_PITCH_DOWN;
|
}
|
else
|
{
|
Step = LiftOutSteps.S1420_LIFT_PITCH_UP;
|
}
|
}
|
else
|
{
|
Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Down can't run.", $"LD Tray Out Lift is not down position({TrayInPosition + _pitchPosition}).");
|
Step = LiftOutSteps.S1410_LIFT_PITCH_DOWN;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1420_LIFT_PITCH_UP:
|
{
|
if (Math.Abs(_pitchPosition) > equipment.Setting.Tray_Alarm_Range)
|
{
|
_pitchPosition = 0;
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0951_LD_TRAY_EMPTY_PITCH_RANGE_ALARM);
|
|
//Step = LiftOutSteps.S1440_TRAY_SCRAP_CHECK;
|
}
|
else
|
{
|
_pitchPosition += equipment.Setting.Tray_Move_Pitch;
|
|
MoveTrayInPosition(TrayInPosition + _pitchPosition);
|
Step = LiftOutSteps.S1425_LIFT_PITCH_UP_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S1425_LIFT_PITCH_UP_CHECK:
|
{
|
if (sequenceChangedTime.Seconds < 0.5) return;
|
|
if (IsLiftLimitSensor1 || IsLiftLimitSensor2)
|
{
|
if (MotorZ.Move_Stop())
|
{
|
_pitchPosition = 0;
|
|
if (IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0603_LD_TRAY_OUT_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0604_LD_TRAY_OUT_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
|
//Step = LiftOutSteps.S1440_TRAY_SCRAP_CHECK;
|
|
return;
|
}
|
}
|
|
if (MotorZ.MotionComplete)
|
{
|
if (MotorZ.Is_Inposition(TrayInPosition + _pitchPosition, equipment.Setting.Inposition_Offset))
|
{
|
if (IsLiftInSensor1 && IsLiftInSensor2)
|
{
|
Step = LiftOutSteps.S1430_LIFT_PITCH_LAST_UP;
|
}
|
else
|
{
|
Step = LiftOutSteps.S1420_LIFT_PITCH_UP;
|
}
|
}
|
else
|
{
|
Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Down can't run.", $"LD Tray Out Lift is not down position({TrayInPosition + _pitchPosition}).");
|
Step = LiftOutSteps.S1420_LIFT_PITCH_UP;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1430_LIFT_PITCH_LAST_UP:
|
{
|
_pitchPosition += equipment.Setting.LD_Empty_Tray_Move_Last_Pitch;
|
|
MoveTrayInPosition(TrayInPosition + _pitchPosition);
|
Step = LiftOutSteps.S1435_LIFT_PITCH_LAST_UP_CHECK;
|
break;
|
}
|
case LiftOutSteps.S1435_LIFT_PITCH_LAST_UP_CHECK:
|
{
|
if (sequenceChangedTime.Seconds < 0.5) return;
|
|
if (MotorZ.MotionComplete)
|
{
|
if (MotorZ.Is_Inposition(TrayInPosition + _pitchPosition, equipment.Setting.Inposition_Offset))
|
{
|
if (IsLiftInSensor1 && IsLiftInSensor2)
|
{
|
_trayCount = equipment.LoaderOutTrayCount;
|
Step = LiftOutSteps.S1500_CLAMP;
|
}
|
else
|
{
|
if (!IsLiftInSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0565_LD_TRAY_IN_LIFT_UP_2_1_SENSOR_CHECK);
|
}
|
|
if (!IsLiftInSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0566_LD_TRAY_IN_LIFT_UP_2_2_SENSOR_CHECK);
|
}
|
|
_pitchPosition = 0;
|
//Step = LiftOutSteps.S1440_TRAY_SCRAP_CHECK;
|
}
|
}
|
else
|
{
|
Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Down can't run.", $"LD Tray Out Lift is not down position({TrayInPosition + _pitchPosition}).");
|
Step = LiftOutSteps.S1430_LIFT_PITCH_LAST_UP;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1440_TRAY_SCRAP_CHECK:
|
{
|
Step = LiftOutSteps.S0000_WAIT;
|
break;
|
}
|
case LiftOutSteps.S1500_CLAMP:
|
{
|
if (Clamper.IsWorkEnd)
|
{
|
if (Clamper.IsClamp)
|
{
|
Step = LiftOutSteps.S1510_ALIGN_TOP_FORWARD;
|
}
|
else
|
{
|
Clamper.Clamp();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1510_ALIGN_TOP_FORWARD:
|
{
|
if (AlignerTop.IsWorkEnd)
|
{
|
if (AlignerTop.IsForward)
|
{
|
Step = LiftOutSteps.S1600_TRAY_PANEL_DATA_SET;
|
}
|
else
|
{
|
AlignerTop.Forward();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1600_TRAY_PANEL_DATA_SET:
|
{
|
Step = LiftOutSteps.S1605_TRAY_PANEL_DATA_SET_CHECK;
|
break;
|
}
|
case LiftOutSteps.S1605_TRAY_PANEL_DATA_SET_CHECK:
|
{
|
if (equipment.cim_mode == En_Cim_Mode.Online)
|
{
|
//if (IsFirstTray)
|
//{
|
// IsFirstTray = false;
|
// Step = LiftOutSteps.S1610_PORT_STATUS_CIM_SEND;
|
//}
|
//else
|
//{
|
// Step = LiftOutSteps.S1620_PANEL_IN_DATA_CIM_SEND;
|
//}
|
if (IsFirstTray)
|
{
|
IsFirstTray = false;
|
}
|
|
Step = LiftOutSteps.S1620_PANEL_IN_DATA_CIM_SEND;
|
}
|
else
|
{
|
if (IsFirstTray)
|
{
|
IsFirstTray = false;
|
}
|
|
Step = LiftOutSteps.S1999_LIFT_MOVE_END;
|
}
|
break;
|
}
|
case LiftOutSteps.S1610_PORT_STATUS_CIM_SEND:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S1999_LIFT_MOVE_END;
|
return;
|
}
|
|
if (equipment.cim_client.Send_Port_Status("E12345678", En_Port_ID.P02, En_Tray_Code.P, true, En_Port_Status.CMP, TrayID))
|
{
|
Step = LiftOutSteps.S1615_PORT_STATUS_CIM_SEND_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S1615_PORT_STATUS_CIM_SEND_CHECK:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S1999_LIFT_MOVE_END;
|
return;
|
}
|
|
if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PTSTR))
|
{
|
if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PTSTR))
|
{
|
Step = LiftOutSteps.S1620_PANEL_IN_DATA_CIM_SEND;
|
}
|
else
|
{
|
Step = LiftOutSteps.S1610_PORT_STATUS_CIM_SEND;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1620_PANEL_IN_DATA_CIM_SEND:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S1999_LIFT_MOVE_END;
|
return;
|
}
|
|
if (equipment.cim_client.Send_Panel_Tray_In("E123456", TrayID, "", "", En_Port_ID.P02))
|
{
|
Step = LiftOutSteps.S1625_PANEL_IN_DATA_CIM_SEND_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S1625_PANEL_IN_DATA_CIM_SEND_CHECK:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S1999_LIFT_MOVE_END;
|
return;
|
}
|
|
if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PTINR))
|
{
|
if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PTINR))
|
{
|
Step = LiftOutSteps.S1999_LIFT_MOVE_END;
|
}
|
else
|
{
|
Step = LiftOutSteps.S1620_PANEL_IN_DATA_CIM_SEND;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S1999_LIFT_MOVE_END:
|
{
|
Step = LiftOutSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void UnloadingTray()
|
{
|
switch (Step)
|
{
|
case LiftOutSteps.S2000_TRAY_UNLOADING_START:
|
{
|
if (equipment.cim_mode == En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2100_PANEL_REPORT_CIM_SEND;
|
}
|
else
|
{
|
Step = LiftOutSteps.S2200_UNCLAMP;
|
}
|
break;
|
}
|
case LiftOutSteps.S2100_PANEL_REPORT_CIM_SEND:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2200_UNCLAMP;
|
return;
|
}
|
|
if (equipment.cim_client.Send_Panel_Form_Report("E12345678", TrayID, En_Port_ID.P02))
|
{
|
Step = LiftOutSteps.S2105_PANEL_REPORT_CIM_SEND_WAIT;
|
}
|
break;
|
}
|
case LiftOutSteps.S2105_PANEL_REPORT_CIM_SEND_WAIT:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2200_UNCLAMP;
|
return;
|
}
|
|
if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PCMRT))
|
{
|
if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PCMRT))
|
{
|
Step = LiftOutSteps.S2110_PORT_STATUS_CIM_SEND;
|
}
|
else
|
{
|
Step = LiftOutSteps.S2100_PANEL_REPORT_CIM_SEND;
|
}
|
}
|
|
break;
|
}
|
case LiftOutSteps.S2110_PORT_STATUS_CIM_SEND:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2200_UNCLAMP;
|
return;
|
}
|
|
if (equipment.cim_client.Send_Port_Status("E12345678", En_Port_ID.P02, En_Tray_Code.P, true, En_Port_Status.CMP, TrayID))
|
{
|
Step = LiftOutSteps.S2115_PORT_STATUS_CIM_SEND_WAIT;
|
}
|
break;
|
}
|
case LiftOutSteps.S2115_PORT_STATUS_CIM_SEND_WAIT:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2200_UNCLAMP;
|
return;
|
}
|
|
if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PTSTR))
|
{
|
if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PTSTR))
|
{
|
Step = LiftOutSteps.S2200_UNCLAMP;
|
}
|
else
|
{
|
Step = LiftOutSteps.S2110_PORT_STATUS_CIM_SEND;
|
}
|
}
|
|
break;
|
}
|
case LiftOutSteps.S2200_UNCLAMP:
|
{
|
if (Clamper.IsWorkEnd)
|
{
|
if (Clamper.IsUnclamp)
|
{
|
Step = LiftOutSteps.S2210_STACKER_BACKWARD;
|
}
|
else
|
{
|
Clamper.Unclamp();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S2210_STACKER_BACKWARD:
|
{
|
if (Stacker.IsWorkEnd)
|
{
|
if (Stacker.IsBackward)
|
{
|
Step = LiftOutSteps.S2220_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Stacker.Backward();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S2220_ALIGN_TOP_BACKWARD:
|
{
|
if (AlignerTop.IsWorkEnd)
|
{
|
if (AlignerTop.IsBackward)
|
{
|
Step = LiftOutSteps.S2300_CONVEYOR_LIFT_SENSOR_CHECK;
|
}
|
else
|
{
|
AlignerTop.Backward();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S2300_CONVEYOR_LIFT_SENSOR_CHECK:
|
{
|
if (equipment.loader.ConveyorOut.IsLiftInSensor || equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
|
{
|
if(equipment.loader.ConveyorOut.IsLiftInSensor)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0592_LD_TRAY_OUT_CONVEYOR_LIFT_IN_SENSOR_CHECK);
|
}
|
|
if (equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0593_LD_TRAY_OUT_CONVEYOR_LIFT_IN_COMPLETE_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = LiftOutSteps.S2310_ALIGN_Y_FORWARD;
|
}
|
break;
|
}
|
case LiftOutSteps.S2310_ALIGN_Y_FORWARD:
|
{
|
if (equipment.loader.ConveyorOut.AlignerY.IsWorkEnd)
|
{
|
if(equipment.loader.ConveyorOut.AlignerY.IsForward)
|
{
|
Step = LiftOutSteps.S2320_ALIGN_X_BACKWARD;
|
}
|
else
|
{
|
equipment.loader.ConveyorOut.AlignerY.Forward();
|
}
|
}
|
|
break;
|
}
|
case LiftOutSteps.S2320_ALIGN_X_BACKWARD:
|
{
|
if (equipment.loader.ConveyorOut.AlignerX.IsWorkEnd)
|
{
|
if (equipment.loader.ConveyorOut.AlignerX.IsBackward)
|
{
|
Step = LiftOutSteps.S2400_LIFT_DOWN;
|
}
|
else
|
{
|
equipment.loader.ConveyorOut.AlignerX.Backward();
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S2400_LIFT_DOWN:
|
{
|
if (MoveStayPosition())
|
{
|
Step = LiftOutSteps.S2405_LIFT_DOWN_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S2405_LIFT_DOWN_CHECK:
|
{
|
if (sequenceChangedTime.Seconds < 0.5) return;
|
|
if (MotorZ.MotionComplete)
|
{
|
if (IsStayPosition)
|
{
|
if (equipment.loader.ConveyorOut.IsLiftInSensor || equipment.loader.ConveyorOut.IsLiftInCompleteSensor)
|
{
|
Step = LiftOutSteps.S2420_CONVEYOR_UNLOAD;
|
}
|
else
|
{
|
Step = LiftOutSteps.S2500_PORT_STATUS_CIM_SEND;
|
}
|
}
|
else
|
{
|
Interlock_Manager.Add_Interlock_Msg("LD Tray Out Lift Unloading can't run.", $"Lift is not wait position.");
|
Step = LiftOutSteps.S2400_LIFT_DOWN;
|
}
|
}
|
break;
|
}
|
case LiftOutSteps.S2420_CONVEYOR_UNLOAD:
|
{
|
equipment.loader.ConveyorOut.Unload();
|
Step = LiftOutSteps.S2425_CONVEYOR_UNLOAD_CHECK;
|
|
break;
|
}
|
case LiftOutSteps.S2425_CONVEYOR_UNLOAD_CHECK:
|
{
|
if (equipment.loader.ConveyorOut.IsWorkEnd)
|
{
|
_trayCount = 0;
|
if (equipment.cim_mode == En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2500_PORT_STATUS_CIM_SEND;
|
}
|
else
|
{
|
Step = LiftOutSteps.S2999_TRAY_UNLOADING_END;
|
}
|
}
|
|
break;
|
}
|
case LiftOutSteps.S2500_PORT_STATUS_CIM_SEND:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2999_TRAY_UNLOADING_END;
|
return;
|
}
|
|
if (equipment.cim_client.Send_Port_Status("E12345678", En_Port_ID.P02, En_Tray_Code.P, true, En_Port_Status.EMP))
|
{
|
Step = LiftOutSteps.S2505_PORT_STATUS_CIM_SEND_CHECK;
|
}
|
break;
|
}
|
case LiftOutSteps.S2505_PORT_STATUS_CIM_SEND_CHECK:
|
{
|
if (equipment.cim_mode != En_Cim_Mode.Online)
|
{
|
Step = LiftOutSteps.S2999_TRAY_UNLOADING_END;
|
return;
|
}
|
|
if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PTSTR))
|
{
|
if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PTSTR))
|
{
|
Step = LiftOutSteps.S2999_TRAY_UNLOADING_END;
|
}
|
else
|
{
|
Step = LiftOutSteps.S2500_PORT_STATUS_CIM_SEND;
|
}
|
}
|
|
break;
|
}
|
case LiftOutSteps.S2999_TRAY_UNLOADING_END:
|
{
|
equipment.LoaderOutTrayCount = 0;
|
Step = LiftOutSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public bool MoveStayPosition()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Empty_Z_Wait_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Empty_Z_Wait_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorZ.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool MoveTrayInPosition(double position)
|
{
|
object value;
|
double velocity;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Empty_Z_Process_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorZ.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Unload()
|
{
|
if (equipment.loader.TrayTransfer.IsWorkEnd || Step == LiftOutSteps.S1400_TRAY_TRANSFER_PLACE_WAIT)
|
{
|
Step = LiftOutSteps.S2000_TRAY_UNLOADING_START;
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
#endregion
|
}
|
}
|
