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 LoaderTrayTransfer : TrayTransfer
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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 == TrayTransferSteps.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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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Tr_X_Empty_Position, out value);
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var position = double.Parse($"{value}");
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return MotorX.Is_Inposition(position, equipment.Setting.Inposition_Offset);
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}
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}
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public bool IsLiftInPosition
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{
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get
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{
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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Tr_X_In_Position, out value);
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var position = double.Parse($"{value}");
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return MotorX.Is_Inposition(position, equipment.Setting.Inposition_Offset);
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}
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}
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public TrayTransferSteps 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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#endregion
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#region Field
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private TrayTransferSteps _step;
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private TrayTransferSteps _oldStep;
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private TrayTransferHomeSteps _homeStep;
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private SequenceTimer _tactTime = new SequenceTimer();
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private string _coverTrayId;
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#endregion
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#region Construct
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public LoaderTrayTransfer(Equipment equipment) : base(equipment, MotorAxis.LD_Tray_TR_X, "LoaderTrayTransfer")
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{
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Step = TrayTransferSteps.S0000_WAIT;
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_oldStep = TrayTransferSteps.S0000_WAIT;
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Picker.Initialize(OutputData.LD_Tray_TR_Down, InputData.LD_Tray_Transfer_Up_Sensor, InputData.LD_Tray_Transfer_Down_Sensor, En_Alarm_List.AL_0630_LD_TRAY_TR_UP_SENSOR_CHECK, En_Alarm_List.AL_0631_LD_TRAY_TR_DOWN_SENSOR_CHECK,
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OutputData.LD_Tray_Transfer_Vaccum_On_Sol_Valve, OutputData.LD_Tray_Transfer_Blow_On_Sol_Valve, InputData.LD_Tray_Transfer_Vaccum_On_Check, En_Alarm_List.AL_0632_LD_TRAY_TR_VACUUM_ON_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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MotorX.Check_Home_Interlock = Home_Interlock;
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pauseDisableList.Add(TrayTransferSteps.S1205_MOVE_STAY_POSITION_CHECK);
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pauseDisableList.Add(TrayTransferSteps.S2205_MOVE_PICK_POSITION_CHECK);
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pauseDisableList.Add(TrayTransferSteps.S3205_MOVE_PLACE_POSITION_CHECK);
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_tactTime.Reset();
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}
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#endregion
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#region Function
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private bool Home_Interlock()
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{
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if (Picker.IsDownSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray Tr", "Picker is Down, Can't Move.");
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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 Move_Interlock()
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{
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if (Picker.IsDownSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray Tr", "Picker is Down, Can't Move.");
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return true;
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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 (Picker.IsDownSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray Tr", "Picker is Down, Can't Move.");
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return true;
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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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Step = TrayTransferSteps.S0000_WAIT;
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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_tactTime.Reset();
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}
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public void ExecuteAuto()
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{
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if(Step == TrayTransferSteps.S0000_WAIT)
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{
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if (IsStayPosition == false)
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{
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Step = TrayTransferSteps.S1000_MOVE_STAY_POSITION_START;
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}
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else
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{
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if (Picker.IsVacuumSensor)
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{
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if (equipment.loader.LiftOut.Step == LiftOutSteps.S1400_TRAY_TRANSFER_PLACE_WAIT)
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{
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Step = TrayTransferSteps.S3000_PLACE_TRAY_START;
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}
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}
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else
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{
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if (equipment.LoaderInTrayCount > 0)
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{
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if(equipment.loader.LiftIn.IsWorkEnd)
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{
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if (equipment.loader.LiftIn.MotorZ.Is_Inposition(equipment.loader.LiftIn.TrayInPosition, equipment.Setting.Inposition_Offset + equipment.Setting.Tray_Alarm_Range))
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{
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if (equipment.loader.LiftIn.IsFirstTray || equipment.loader.LiftIn.IsPanelEmpty)
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{
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Step = TrayTransferSteps.S2000_PICK_TRAY_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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}
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public override void MonitoringStatus()
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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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if (IsWorkEnd)
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{
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if (Picker.VacuumSolOn)
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{
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if (Picker.IsVacuumSensor == false)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0632_LD_TRAY_TR_VACUUM_ON_CHECK);
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}
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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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MotorX.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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Picker.ExecuteProcess();
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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 == false)
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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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MoveStay();
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PickTray();
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PlaceTray();
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}
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}
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private void ExecuteHome()
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{
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switch(_homeStep)
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{
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case TrayTransferHomeSteps.S0000_WAIT:
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{
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_homeStep = TrayTransferHomeSteps.S1000_STATUS_CHECK;
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break;
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}
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case TrayTransferHomeSteps.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_0141_LD_TRAY_TR_X_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_0140_LD_TRAY_TR_X_POWER_OFF);
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}
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else if(Picker.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray TR Home can't run.", "Picker is Down.");
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}
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else
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{
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_homeStep = TrayTransferHomeSteps.S1100_LIFT_LIMIT_SENSOR_CHECK;
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}
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break;
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}
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case TrayTransferHomeSteps.S1100_LIFT_LIMIT_SENSOR_CHECK:
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{
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if(equipment.loader.LiftIn.IsLiftLimitSensor1 || equipment.loader.LiftIn.IsLiftLimitSensor2 || equipment.loader.LiftOut.IsLiftLimitSensor1 || equipment.loader.LiftOut.IsLiftLimitSensor2)
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{
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if (equipment.loader.LiftIn.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0563_LD_TRAY_IN_LIFT_UP_1_1_SENSOR_CHECK);
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}
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if (equipment.loader.LiftIn.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0564_LD_TRAY_IN_LIFT_UP_1_2_SENSOR_CHECK);
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}
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if (equipment.loader.LiftOut.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0603_LD_TRAY_OUT_LIFT_UP_1_1_SENSOR_CHECK);
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}
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if (equipment.loader.LiftOut.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0604_LD_TRAY_OUT_LIFT_UP_1_2_SENSOR_CHECK);
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}
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}
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else
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{
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_homeStep = TrayTransferHomeSteps.S2000_X_HOME_START;
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}
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break;
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}
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case TrayTransferHomeSteps.S2000_X_HOME_START:
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{
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if(MotorX.Home())
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{
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homeCheckedTime.Restart();
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_homeStep = TrayTransferHomeSteps.S2100_X_HOME_CHECK;
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}
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break;
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}
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case TrayTransferHomeSteps.S2100_X_HOME_CHECK:
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{
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if (homeCheckedTime.Seconds < 1) return;
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if (!MotorX.IsHomed)
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{
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if (MotorX.Homing == false && MotorX.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0141_LD_TRAY_TR_X_ERROR_STOP);
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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}
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}
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else
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{
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_homeStep = TrayTransferHomeSteps.S3000_MOVE_STAY_POSITION;
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}
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break;
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}
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case TrayTransferHomeSteps.S3000_MOVE_STAY_POSITION:
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{
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if(MoveLiftOutPosition())
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{
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homeCheckedTime.Restart();
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_homeStep = TrayTransferHomeSteps.S3100_POSITION_CHECK;
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}
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break;
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}
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case TrayTransferHomeSteps.S3100_POSITION_CHECK:
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{
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if (homeCheckedTime.Seconds < 1) return;
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if (MotorX.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0141_LD_TRAY_TR_X_ERROR_STOP);
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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}
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else if(MotorX.MotionComplete)
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{
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if(IsStayPosition)
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{
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_homeStep = TrayTransferHomeSteps.S9999_END;
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}
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else
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{
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Interlock_Manager.Add_Interlock_Msg("LD Tray TR Home can't run.", "Position is not empty.");
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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}
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}
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break;
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}
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case TrayTransferHomeSteps.S9999_END:
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{
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isHomeComplete = true;
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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break;
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}
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}
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}
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private void MoveStay()
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{
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switch (Step)
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{
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case TrayTransferSteps.S1000_MOVE_STAY_POSITION_START:
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{
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Step = TrayTransferSteps.S1100_PICKER_UP;
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break;
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}
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case TrayTransferSteps.S1100_PICKER_UP:
|
{
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if (Picker.IsWorkEnd)
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{
|
if (Picker.IsUp)
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{
|
Step = TrayTransferSteps.S1110_LIFT_LIMIT_SENSOR_CHECK;
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}
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else
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{
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Picker.Up();
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}
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}
|
break;
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}
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case TrayTransferSteps.S1110_LIFT_LIMIT_SENSOR_CHECK:
|
{
|
if (equipment.loader.LiftOut.IsLiftLimitSensor1 || equipment.loader.LiftOut.IsLiftLimitSensor2)
|
{
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if (equipment.loader.LiftOut.IsLiftLimitSensor1)
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{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0603_LD_TRAY_OUT_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
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if (equipment.loader.LiftOut.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0604_LD_TRAY_OUT_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = TrayTransferSteps.S1200_MOVE_STAY_POSITION;
|
}
|
break;
|
}
|
case TrayTransferSteps.S1200_MOVE_STAY_POSITION:
|
{
|
if (MoveLiftOutPosition())
|
{
|
Step = TrayTransferSteps.S1205_MOVE_STAY_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S1205_MOVE_STAY_POSITION_CHECK:
|
{
|
if(MotorX.MotionComplete)
|
{
|
if (IsStayPosition)
|
{
|
Step = TrayTransferSteps.S1999_MOVE_STAY_POSITION_END;
|
}
|
else
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{
|
Step = TrayTransferSteps.S1200_MOVE_STAY_POSITION;
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S1999_MOVE_STAY_POSITION_END:
|
{
|
Step = TrayTransferSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void PickTray()
|
{
|
switch(Step)
|
{
|
case TrayTransferSteps.S2000_PICK_TRAY_START:
|
{
|
_tactTime.Restart();
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Step = TrayTransferSteps.S2100_PICKER_UP;
|
break;
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}
|
case TrayTransferSteps.S2100_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S2110_LIFT_LIMIT_SENSOR_CHECK;
|
}
|
else
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{
|
Picker.Up();
|
}
|
}
|
break;
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}
|
case TrayTransferSteps.S2110_LIFT_LIMIT_SENSOR_CHECK:
|
{
|
if (equipment.loader.LiftIn.IsLiftLimitSensor1 || equipment.loader.LiftIn.IsLiftLimitSensor2)
|
{
|
if (equipment.loader.LiftIn.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0563_LD_TRAY_IN_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.loader.LiftIn.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0564_LD_TRAY_IN_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = TrayTransferSteps.S2120_HANDLER_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S2120_HANDLER_POSITION_CHECK:
|
{
|
if (equipment.loader.Handler1.IsMotorXStayPosition && equipment.loader.Handler1.IsMotorYStayPosition)
|
{
|
Step = TrayTransferSteps.S2130_LIFT_IN_SENSOR_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S2130_LIFT_IN_SENSOR_CHECK:
|
{
|
if (equipment.loader.LiftIn.IsLiftInSensor1 && equipment.loader.LiftIn.IsLiftInSensor2)
|
{
|
Step = TrayTransferSteps.S2200_MOVE_PICK_POSITION;
|
}
|
else
|
{
|
if (equipment.loader.LiftIn.IsLiftInSensor1 == false)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0565_LD_TRAY_IN_LIFT_UP_2_1_SENSOR_CHECK);
|
}
|
|
if (equipment.loader.LiftIn.IsLiftInSensor2 == false)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0566_LD_TRAY_IN_LIFT_UP_2_2_SENSOR_CHECK);
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2200_MOVE_PICK_POSITION:
|
{
|
if(MoveLiftInPosition())
|
{
|
Step = TrayTransferSteps.S2205_MOVE_PICK_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S2205_MOVE_PICK_POSITION_CHECK:
|
{
|
if(MotorX.MotionComplete)
|
{
|
if (IsLiftInPosition)
|
{
|
Step = TrayTransferSteps.S2300_PICKER_DOWN;
|
}
|
else
|
{
|
Step = TrayTransferSteps.S2200_MOVE_PICK_POSITION;
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2300_PICKER_DOWN:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsDown)
|
{
|
Step = TrayTransferSteps.S2310_VACUUM_ON;
|
}
|
else
|
{
|
Picker.Down();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2310_VACUUM_ON:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsVacuumSensor)
|
{
|
Step = TrayTransferSteps.S2320_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Picker.VacuumOn();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2320_ALIGN_TOP_BACKWARD:
|
{
|
if (equipment.loader.LiftIn.AlignerTop.IsWorkEnd)
|
{
|
if (equipment.loader.LiftIn.AlignerTop.IsBackward)
|
{
|
Step = TrayTransferSteps.S2330_STACKER_BACKWARD;
|
}
|
else
|
{
|
equipment.loader.LiftIn.AlignerTop.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2330_STACKER_BACKWARD:
|
{
|
if (equipment.loader.LiftIn.Stacker.IsWorkEnd)
|
{
|
if (equipment.loader.LiftIn.Stacker.IsBackward)
|
{
|
Step = TrayTransferSteps.S2340_UNCLAMP;
|
}
|
else
|
{
|
equipment.loader.LiftIn.Stacker.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2340_UNCLAMP:
|
{
|
if (equipment.loader.LiftIn.Clamper.IsWorkEnd)
|
{
|
if (equipment.loader.LiftIn.Clamper.IsUnclamp)
|
{
|
Step = TrayTransferSteps.S2350_PICKER_UP;
|
}
|
else
|
{
|
equipment.loader.LiftIn.Clamper.Unclamp();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2350_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S2360_VACUUM_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2360_VACUUM_CHECK:
|
{
|
if(Picker.IsVacuumSensor)
|
{
|
Step = TrayTransferSteps.S2370_TRAY_COUNT_SET;
|
}
|
else
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0632_LD_TRAY_TR_VACUUM_ON_CHECK);
|
}
|
break;
|
}
|
case TrayTransferSteps.S2370_TRAY_COUNT_SET:
|
{
|
if(equipment.loader.LiftIn.IsFirstTray)
|
{
|
equipment.loader.LiftIn.IsFirstTray = false;
|
}
|
|
equipment.LoaderInTrayCount = equipment.LoaderInTrayCount - 1;
|
_coverTrayId = equipment.loader.LiftIn.TrayID;
|
|
Step = TrayTransferSteps.S2999_PICK_TRAY_END;
|
break;
|
}
|
case TrayTransferSteps.S2999_PICK_TRAY_END:
|
{
|
_tactTime.Stop();
|
Step = TrayTransferSteps.S1000_MOVE_STAY_POSITION_START;
|
break;
|
}
|
}
|
}
|
|
private void PlaceTray()
|
{
|
switch (Step)
|
{
|
case TrayTransferSteps.S3000_PLACE_TRAY_START:
|
{
|
_tactTime.Restart();
|
Step = TrayTransferSteps.S3100_PICKER_UP;
|
break;
|
}
|
case TrayTransferSteps.S3100_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S3110_LIFT_LIMIT_SENSOR_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3110_LIFT_LIMIT_SENSOR_CHECK:
|
{
|
if (equipment.loader.LiftOut.IsLiftLimitSensor1 || equipment.loader.LiftOut.IsLiftLimitSensor2)
|
{
|
if (equipment.loader.LiftOut.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0603_LD_TRAY_OUT_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.loader.LiftOut.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0604_LD_TRAY_OUT_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = TrayTransferSteps.S3120_HANDLER_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S3120_HANDLER_POSITION_CHECK:
|
{
|
//굳이 ..? 220523
|
//double position = equipment.loader.Handler1.Get_Position_Y_Stay();
|
|
//if (position <= equipment.loader.Handler1.MotorY.Position || equipment.loader.Handler1.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
//{
|
// Step = TrayTransferSteps.S3200_MOVE_PLACE_POSITION;
|
//}
|
Step = TrayTransferSteps.S3200_MOVE_PLACE_POSITION;
|
break;
|
}
|
case TrayTransferSteps.S3200_MOVE_PLACE_POSITION:
|
{
|
if (MoveLiftOutPosition())
|
{
|
Step = TrayTransferSteps.S3205_MOVE_PLACE_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S3205_MOVE_PLACE_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (IsStayPosition)
|
{
|
Step = TrayTransferSteps.s3300_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Step = TrayTransferSteps.S3200_MOVE_PLACE_POSITION;
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.s3300_ALIGN_TOP_BACKWARD:
|
{
|
if (equipment.loader.LiftOut.AlignerTop.IsWorkEnd)
|
{
|
if (equipment.loader.LiftOut.AlignerTop.IsBackward)
|
{
|
Step = TrayTransferSteps.s3310_STACKER_BACKWARD;
|
}
|
else
|
{
|
equipment.loader.LiftOut.AlignerTop.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.s3310_STACKER_BACKWARD:
|
{
|
if (equipment.loader.LiftOut.Stacker.IsWorkEnd)
|
{
|
if (equipment.loader.LiftOut.Stacker.IsBackward)
|
{
|
Step = TrayTransferSteps.s3320_UNCLAMP;
|
}
|
else
|
{
|
equipment.loader.LiftOut.Stacker.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.s3320_UNCLAMP:
|
{
|
if (equipment.loader.LiftOut.Clamper.IsWorkEnd)
|
{
|
if (equipment.loader.LiftOut.Clamper.IsUnclamp)
|
{
|
Step = TrayTransferSteps.S3330_PICKER_DOWN;
|
}
|
else
|
{
|
equipment.loader.LiftOut.Clamper.Unclamp();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3330_PICKER_DOWN:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsDown)
|
{
|
Step = TrayTransferSteps.S3340_VACUUM_OFF;
|
}
|
else
|
{
|
Picker.Down();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3340_VACUUM_OFF:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.VacuumSolOn == false)
|
{
|
Step = TrayTransferSteps.S3350_PICKER_UP;
|
}
|
else
|
{
|
Picker.VacuumOff();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3350_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S3360_VACUUM_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3360_VACUUM_CHECK:
|
{
|
if (Picker.IsVacuumSensor == false)
|
{
|
Step = TrayTransferSteps.S3370_TRAY_COUNT_SET;
|
}
|
else
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0632_LD_TRAY_TR_VACUUM_ON_CHECK);
|
}
|
break;
|
}
|
case TrayTransferSteps.S3370_TRAY_COUNT_SET:
|
{
|
equipment.LoaderOutTrayCount = equipment.LoaderOutTrayCount + 1;
|
equipment.loader.LiftOut.TrayID = _coverTrayId;
|
Step = TrayTransferSteps.S3999_PLACE_TRAY_END;
|
break;
|
}
|
case TrayTransferSteps.S3999_PLACE_TRAY_END:
|
{
|
_tactTime.Stop();
|
Step = TrayTransferSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public bool MoveLiftInPosition()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Tr_X_In_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Tr_X_In_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool MoveLiftOutPosition()
|
{
|
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Tr_X_Empty_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.LD_Tray_Tr_X_Empty_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
#endregion
|
}
|
}
|
