using System;
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namespace SHARP_CLAS_UI
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{
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public class UnloaderHandler2 : Handler
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{
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#region Enum
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private enum PickerSteps
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{
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S0000_WAIT,
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S1000_PICK_ABLATION_STAGE_1_START,
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S1100_PICKER_DOWN,
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S1110_VACUUM_ON,
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S1120_ABLATION_STAGE_1_VACUUM_OFF,
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S1130_ABLATION_STAGE_1_BLOW_ON,
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S1140_PICKER_UP,
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S1150_ABLATION_STAGE_1_BLOW_OFF,
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S1160_DATA_SET,
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S2000_PICK_ABLATION_STAGE_2_START,
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S2100_PICKER_DOWN,
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S2110_VACUUM_ON,
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S2120_ABLATION_STAGE_2_VACUUM_OFF,
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S2130_ABLATION_STAGE_2_BLOW_ON,
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S2140_PICKER_UP,
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S2150_ABLATION_STAGE_2_BLOW_OFF,
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S2160_DATA_SET,
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S3000_PLACE_AOI_STAGE_START,
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S3100_PICKER_DOWN,
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S3110_AOI_STAGE_VACUUM_ON,
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S3120_VACUUM_OFF,
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S1330_DATA_SET,
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S9000_SCRAP_START,
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S9100_VACUUM_OFF,
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S9110_DATA_SET,
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S9200_PICKER_UP,
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S9999_STEP_END,
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}
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#endregion
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#region Property
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public override Panel_Info Panel1
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{
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get
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{
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return Panel_Info_Manager.Instance.Get_Panel_Info(Panel_Info_Names.ULD_Handler_2_1);
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}
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set
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{
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Panel_Info_Manager.Instance.Set_Panel_Info(Panel_Info_Names.ULD_Handler_2_1, value);
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}
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}
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public override Panel_Info Panel2
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{
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get
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{
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return Panel_Info_Manager.Instance.Get_Panel_Info(Panel_Info_Names.ULD_Handler_2_2);
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}
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set
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{
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Panel_Info_Manager.Instance.Set_Panel_Info(Panel_Info_Names.ULD_Handler_2_2, 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 == UnloaderHandler2Steps.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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if (IsMotorXStayPosition && IsMotorYStayPosition)
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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 bool IsMotorXStayPosition
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{
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get
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{
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object value;
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double get_position;
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equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Stay_Position, out value);
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get_position = double.Parse($"{value}");
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return MotorX.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
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}
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}
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public bool IsMotorYStayPosition
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{
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get
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{
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object value;
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double get_position;
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equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Stay_Position, out value);
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get_position = double.Parse($"{value}");
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return MotorY.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
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}
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}
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public UnloaderHandler2Steps 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 UnloaderHandler2Steps _step;
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private UnloaderHandler2Steps _oldStep;
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private HandlerHomeSteps _homeStep;
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private PickerSteps _picker1Step;
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private PickerSteps _picker2Step;
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public Time_Checker Tact_Move = new Time_Checker();
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#endregion
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#region Construct
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public UnloaderHandler2(Equipment equipment) : base(equipment, MotorAxis.ULD_Handler_2_X, MotorAxis.ULD_Handler_2_Y, "UnloaderHandler2")
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{
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Step = UnloaderHandler2Steps.S0000_WAIT;
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_oldStep = UnloaderHandler2Steps.S0000_WAIT;
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Picker1.Initialize(OutputData.ULD_Handler_2_1_Down, InputData.ULD_Handler_Picker_2_1_Up_Sensor, InputData.ULD_Handler_Picker_2_1_Down_Sensor, En_Alarm_List.AL_0832_ULD_HANDLER_2_1_UP_SENSOR_CHECK, En_Alarm_List.AL_0833_ULD_HANDLER_2_1_DOWN_SENSOR_CHECK,
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OutputData.ULD_Cell_Handler_2_1_Vaccum_On_Sol_Valve, OutputData.ULD_Cell_Handler_2_1_Blow_On_Sol_Valve, InputData.ULD_Cell_Handler_2_1_Vaccum_On_Check, En_Alarm_List.AL_0830_ULD_HANDLER_2_1_VACUUM_ON_CHECK);
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Picker2.Initialize(OutputData.ULD_Handler_2_2_Down, InputData.ULD_Handler_Picker_2_2_Up_Sensor, InputData.ULD_Handler_Picker_2_2_Down_Sensor, En_Alarm_List.AL_0834_ULD_HANDLER_2_2_UP_SENSOR_CHECK, En_Alarm_List.AL_0835_ULD_HANDLER_2_2_DOWN_SENSOR_CHECK,
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OutputData.ULD_Cell_Handler_2_2_Vaccum_On_Sol_Valve, OutputData.ULD_Cell_Handler_2_2_Blow_On_Sol_Valve, InputData.ULD_Cell_Handler_2_2_Vaccum_On_Check, En_Alarm_List.AL_0831_ULD_HANDLER_2_2_VACUUM_ON_CHECK);
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pauseDisableList.Add(UnloaderHandler2Steps.S1205_POSITION_CHECK);
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pauseDisableList.Add(UnloaderHandler2Steps.S2215_POSITION_CHECK);
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pauseDisableList.Add(UnloaderHandler2Steps.S3220_POSITION_CHECK);
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pauseDisableList.Add(UnloaderHandler2Steps.S4220_POSITION_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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MotorY.Check_Jog_Interlock = Jog_Interlock;
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MotorY.Check_Move_Interlock = Move_Interlock;
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MotorY.Check_Home_Interlock = Home_Interlock;
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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 (Picker1.IsUp == false || Picker2.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Picker Down", "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 (Picker1.IsUp == false || Picker2.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Picker Down", "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 (Picker1.IsUp == false || Picker2.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Picker Down", "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 = UnloaderHandler2Steps.S0000_WAIT;
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_homeStep = HandlerHomeSteps.S0000_WAIT;
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Tact_Move.Reset();
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}
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private void ExecuteAuto()
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{
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if(Step == UnloaderHandler2Steps.S0000_WAIT)
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{
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if (equipment.process.ablation.Is_Power_Measure) return;
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if(IsExist)
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{
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if (equipment.after.AoiStage.IsPlaceEnable && equipment.after.ReverseStage.IsPlaceEnable)
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{
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double position = equipment.unloader.Handler1.Get_Position_Y_Stay();
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if (position >= equipment.unloader.Handler1.MotorY.Position || equipment.unloader.Handler1.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
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{
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Step = UnloaderHandler2Steps.S4000_PLACE_AOI_STAGE_START;
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}
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else
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{
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if (IsStayPosition == false)
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{
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Step = UnloaderHandler2Steps.S1000_MOVE_STAY_POSITION_START;
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}
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}
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}
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else
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{
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if (IsStayPosition == false)
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{
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Step = UnloaderHandler2Steps.S1000_MOVE_STAY_POSITION_START;
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}
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}
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}
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else
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{
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if (equipment.process.ablation_stage_1.IsPickEnable)
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{
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Step = UnloaderHandler2Steps.S2100_ABLATION_STAGE_1_POSITION_CHECK;
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}
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else if (equipment.process.ablation_stage_2.IsPickEnable)
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{
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Step = UnloaderHandler2Steps.S3100_ABLATION_STAGE_2_POSITION_CHECK;
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}
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else
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{
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if (IsStayPosition == false)
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{
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Step = UnloaderHandler2Steps.S1000_MOVE_STAY_POSITION_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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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 (Picker1.IsWorkEnd)
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{
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if (Picker1.VacuumSolOn && Picker1.IsVacuumSensor == false)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0830_ULD_HANDLER_2_1_VACUUM_ON_CHECK);
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}
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}
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if (Picker2.IsWorkEnd)
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{
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if (Picker2.VacuumSolOn && Picker2.IsVacuumSensor == false)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0831_ULD_HANDLER_2_2_VACUUM_ON_CHECK);
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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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if (MotorY.MotionComplete == false)
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{
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MotorY.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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Picker1.ExecuteProcess();
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Picker2.ExecuteProcess();
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Seq_Picker1Step();
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Seq_Picker2Step();
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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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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 (UnitMode == En_Equipment_Mode.Auto)
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ExecuteAuto();
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Seq_MoveStayPosition();
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Seq_PickAblation1();
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Seq_PickAblation2();
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Seq_PlaceAoiStage();
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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 HandlerHomeSteps.S0000_WAIT:
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{
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_homeStep = HandlerHomeSteps.S1000_STATUS_CHECK;
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break;
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}
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case HandlerHomeSteps.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_0421_ULD_HANDLER_2_X_ERROR_STOP);
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}
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else if (MotorY.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0441_ULD_HANDLER_2_Y_ERROR_STOP);
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}
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else if (!MotorX.PowerOn)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0420_ULD_HANDLER_2_X_POWER_OFF);
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}
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else if (!MotorY.PowerOn)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0440_ULD_HANDLER_2_Y_POWER_OFF);
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}
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else if (Picker1.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Home can't run.", "ULD Handler Picker 2-1 Up.");
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}
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else if (Picker2.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Home can't run.", "ULD Handler Picker 2-2 Up.");
|
}
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else
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{
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_homeStep = HandlerHomeSteps.S1100_TRAY_TRANSFER_HOME_CHECK;
|
}
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break;
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}
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case HandlerHomeSteps.S1100_TRAY_TRANSFER_HOME_CHECK:
|
{
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_homeStep = HandlerHomeSteps.S1200_TRAY_TRANSFER_POSITION_CHECK;
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break;
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}
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case HandlerHomeSteps.S1200_TRAY_TRANSFER_POSITION_CHECK:
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{
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_homeStep = HandlerHomeSteps.S1300_MOTOR_Y_HOME;
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break;
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}
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case HandlerHomeSteps.S1300_MOTOR_Y_HOME:
|
{
|
if (MotorY.Home())
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{
|
homeCheckedTime.Restart();
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_homeStep = HandlerHomeSteps.S1305_MOTOR_Y_HOME_CHECK;
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}
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break;
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}
|
case HandlerHomeSteps.S1305_MOTOR_Y_HOME_CHECK:
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{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (!MotorY.IsHomed)
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{
|
if (MotorY.Homing == false && MotorY.ErrorStop)
|
{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0441_ULD_HANDLER_2_Y_ERROR_STOP);
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}
|
}
|
else
|
{
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_homeStep = HandlerHomeSteps.S1310_MOTOR_X_HOME;
|
}
|
break;
|
}
|
case HandlerHomeSteps.S1310_MOTOR_X_HOME:
|
{
|
if (MotorX.Home())
|
{
|
homeCheckedTime.Restart();
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_homeStep = HandlerHomeSteps.S1315_MOTOR_X_HOME_CHECK;
|
}
|
break;
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}
|
case HandlerHomeSteps.S1315_MOTOR_X_HOME_CHECK:
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{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (!MotorX.IsHomed)
|
{
|
if (MotorX.Homing == false && MotorX.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0421_ULD_HANDLER_2_X_ERROR_STOP);
|
}
|
}
|
else
|
{
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_homeStep = HandlerHomeSteps.S1400_MOVE_STAY_POSITION;
|
}
|
break;
|
}
|
case HandlerHomeSteps.S1400_MOVE_STAY_POSITION:
|
{
|
if (Move_X_Stay_Position())
|
{
|
if (Move_Y_Stay_Position())
|
{
|
homeCheckedTime.Restart();
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_homeStep = HandlerHomeSteps.S1405_POSITION_CHECK;
|
}
|
}
|
break;
|
}
|
case HandlerHomeSteps.S1405_POSITION_CHECK:
|
{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (MotorX.ErrorStop || MotorY.ErrorStop)
|
{
|
if (MotorX.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0421_ULD_HANDLER_2_X_ERROR_STOP);
|
}
|
|
if (MotorY.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0441_ULD_HANDLER_2_Y_ERROR_STOP);
|
}
|
}
|
else if (MotorX.MotionComplete && MotorY.MotionComplete)
|
{
|
if (IsMotorXStayPosition && IsMotorYStayPosition)
|
{
|
_homeStep = HandlerHomeSteps.S1999_END;
|
}
|
else
|
{
|
if (!IsMotorXStayPosition)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Home can't run.", "X Position is not stay.");
|
}
|
|
if (!IsMotorYStayPosition)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD Handler 2 Home can't run.", "Y Position is not stay.");
|
}
|
}
|
}
|
break;
|
}
|
case HandlerHomeSteps.S1999_END:
|
{
|
isHomeComplete = true;
|
_homeStep = HandlerHomeSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void Seq_MoveStayPosition()
|
{
|
switch(Step)
|
{
|
case UnloaderHandler2Steps.S1000_MOVE_STAY_POSITION_START:
|
{
|
Step = UnloaderHandler2Steps.S1100_PICKER_UP;
|
break;
|
}
|
case UnloaderHandler2Steps.S1100_PICKER_UP:
|
{
|
if (Picker1.IsWorkEnd && Picker2.IsWorkEnd)
|
{
|
if (Picker1.IsUp && Picker2.IsUp)
|
{
|
Step = UnloaderHandler2Steps.S1200_MOVE_STAY_POSITION;
|
}
|
else
|
{
|
if (Picker1.IsUp == false)
|
{
|
Picker1.Up();
|
}
|
|
if (Picker2.IsUp == false)
|
{
|
Picker2.Up();
|
}
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S1200_MOVE_STAY_POSITION:
|
{
|
if (Move_X_Stay_Position() && Move_Y_Stay_Position())
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Stay Position [Start]");
|
Step = UnloaderHandler2Steps.S1205_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S1205_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete && MotorY.MotionComplete)
|
{
|
if (IsMotorXStayPosition && IsMotorYStayPosition)
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Stay Position [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Stay Position [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S1999_MOVE_STAY_POSITION_END;
|
}
|
else
|
{
|
Step = UnloaderHandler2Steps.S1200_MOVE_STAY_POSITION;
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S1999_MOVE_STAY_POSITION_END:
|
{
|
Step = UnloaderHandler2Steps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void Seq_PickAblation1()
|
{
|
switch(Step)
|
{
|
case UnloaderHandler2Steps.S2000_PICK_ABLATION_STAGE_1_START:
|
{
|
Step = UnloaderHandler2Steps.S2100_ABLATION_STAGE_1_POSITION_CHECK;
|
break;
|
}
|
case UnloaderHandler2Steps.S2100_ABLATION_STAGE_1_POSITION_CHECK:
|
{
|
if(equipment.process.ablation_stage_1.IsUnloadPosition)
|
{
|
Step = UnloaderHandler2Steps.S2200_PICKER_UP;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S2200_PICKER_UP:
|
{
|
if (Picker1.IsWorkEnd && Picker2.IsWorkEnd)
|
{
|
if (Picker1.IsUp && Picker2.IsUp)
|
{
|
Step = UnloaderHandler2Steps.S2210_MOVE_ABLATION_STAGE_1;
|
}
|
else
|
{
|
if (Picker1.IsUp == false)
|
{
|
Picker1.Up();
|
}
|
|
if (Picker2.IsUp == false)
|
{
|
Picker2.Up();
|
}
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S2210_MOVE_ABLATION_STAGE_1:
|
{
|
if(Move_X_Ablation_Stage_1_Position() && Move_Y_Ablation_Stage_1_Position())
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 1 Position [Start]");
|
Step = UnloaderHandler2Steps.S2215_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S2215_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete && MotorY.MotionComplete)
|
{
|
if (Get_Is_Position_X_Ablation_1() && Get_Is_Position_Y_Ablation_1())
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 1 Position [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 1 Position [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S2220_PLACE_START;
|
}
|
else
|
{
|
Step = UnloaderHandler2Steps.S2210_MOVE_ABLATION_STAGE_1;
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S2220_PLACE_START:
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 1 Pick [Start]");
|
|
if (equipment.process.ablation_stage_1.Stage1.IsExist)
|
{
|
_picker1Step = PickerSteps.S1000_PICK_ABLATION_STAGE_1_START;
|
}
|
|
if (equipment.process.ablation_stage_1.Stage2.IsExist)
|
{
|
_picker2Step = PickerSteps.S1000_PICK_ABLATION_STAGE_1_START;
|
}
|
|
Step = UnloaderHandler2Steps.S2225_PLACE_WAIT;
|
|
break;
|
}
|
case UnloaderHandler2Steps.S2225_PLACE_WAIT:
|
{
|
if(_picker1Step == PickerSteps.S0000_WAIT && _picker2Step == PickerSteps.S0000_WAIT)
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 1 Pick [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 1 Pick [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S2999_PICK_ABLATION_STAGE_1_END;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S2999_PICK_ABLATION_STAGE_1_END:
|
{
|
Step = UnloaderHandler2Steps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void Seq_PickAblation2()
|
{
|
switch (Step)
|
{
|
case UnloaderHandler2Steps.S3000_PICK_ABLATION_STAGE_2_START:
|
{
|
Step = UnloaderHandler2Steps.S3100_ABLATION_STAGE_2_POSITION_CHECK;
|
break;
|
}
|
case UnloaderHandler2Steps.S3100_ABLATION_STAGE_2_POSITION_CHECK:
|
{
|
if (equipment.process.ablation_stage_2.IsUnloadPosition)
|
{
|
Step = UnloaderHandler2Steps.S3230_PICKER_UP;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S3230_PICKER_UP:
|
{
|
if (Picker1.IsWorkEnd && Picker2.IsWorkEnd)
|
{
|
if (Picker1.IsUp && Picker2.IsUp)
|
{
|
Step = UnloaderHandler2Steps.S3200_MOVE_ABLATION_STAGE_2;
|
}
|
else
|
{
|
if (Picker1.IsUp == false)
|
{
|
Picker1.Up();
|
}
|
|
if (Picker2.IsUp == false)
|
{
|
Picker2.Up();
|
}
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S3200_MOVE_ABLATION_STAGE_2:
|
{
|
if (Move_X_Ablation_Stage_2_Position() && Move_Y_Ablation_Stage_2_Position())
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 2 Position [Start]");
|
Step = UnloaderHandler2Steps.S3220_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S3220_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete && MotorY.MotionComplete)
|
{
|
if (Get_Is_Position_X_Ablation_2() && Get_Is_Position_Y_Ablation_2())
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 2 Position [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 2 Position [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S3300_PLACE_START;
|
}
|
else
|
{
|
Step = UnloaderHandler2Steps.S3200_MOVE_ABLATION_STAGE_2;
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S3300_PLACE_START:
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 2 Pick [Start]");
|
|
if (equipment.process.ablation_stage_2.Stage1.IsExist)
|
{
|
_picker1Step = PickerSteps.S2000_PICK_ABLATION_STAGE_2_START;
|
}
|
|
if (equipment.process.ablation_stage_2.Stage2.IsExist)
|
{
|
_picker2Step = PickerSteps.S2000_PICK_ABLATION_STAGE_2_START;
|
}
|
|
Step = UnloaderHandler2Steps.S3310_PLACE_WAIT;
|
|
break;
|
}
|
case UnloaderHandler2Steps.S3310_PLACE_WAIT:
|
{
|
if (_picker1Step == PickerSteps.S0000_WAIT && _picker2Step == PickerSteps.S0000_WAIT)
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 2 Pick [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, Ablation 2 Pick [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S3999_PICK_ABLATION_STAGE_2_END;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S3999_PICK_ABLATION_STAGE_2_END:
|
{
|
Step = UnloaderHandler2Steps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void Seq_PlaceAoiStage()
|
{
|
switch(Step)
|
{
|
case UnloaderHandler2Steps.S4000_PLACE_AOI_STAGE_START:
|
{
|
Step = UnloaderHandler2Steps.S4100_ULD_HANDLER_1_POSITION_CHECK;
|
break;
|
}
|
case UnloaderHandler2Steps.S4100_ULD_HANDLER_1_POSITION_CHECK:
|
{
|
double position = equipment.unloader.Handler1.Get_Position_Y_Stay();
|
|
if (position >= equipment.unloader.Handler1.MotorY.Position || equipment.unloader.Handler1.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
{
|
Step = UnloaderHandler2Steps.S4110_ULD_REVERSE_STAGE_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S4110_ULD_REVERSE_STAGE_POSITION_CHECK:
|
{
|
if (equipment.after.ReverseStage.IsStayPosition)
|
{
|
Step = UnloaderHandler2Steps.S4220_PICKER_UP;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S4220_PICKER_UP:
|
{
|
if (Picker1.IsWorkEnd && Picker2.IsWorkEnd)
|
{
|
if (Picker1.IsUp && Picker2.IsUp)
|
{
|
Step = UnloaderHandler2Steps.S4200_MOVE_AOI_STAGE;
|
}
|
else
|
{
|
if (Picker1.IsUp == false)
|
{
|
Picker1.Up();
|
}
|
|
if (Picker2.IsUp == false)
|
{
|
Picker2.Up();
|
}
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S4200_MOVE_AOI_STAGE:
|
{
|
if (Move_X_AOI_Position() && Move_Y_AOI_Position())
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, AOI Stage Position [Start]");
|
Step = UnloaderHandler2Steps.S4220_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S4220_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete && MotorY.MotionComplete)
|
{
|
if (Get_Is_Position_X_AOI() && Get_Is_Position_Y_AOI())
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, AOI Stage Position [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, AOI Stage Position [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S4300_PLACE_START;
|
}
|
else
|
{
|
Step = UnloaderHandler2Steps.S4200_MOVE_AOI_STAGE;
|
}
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S4300_PLACE_START:
|
{
|
Tact_Move.Start();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, AOI Stage Place [Start]");
|
|
if (Picker1.IsExist)
|
{
|
_picker1Step = PickerSteps.S3000_PLACE_AOI_STAGE_START;
|
}
|
|
if (Picker2.IsExist)
|
{
|
_picker2Step = PickerSteps.S3000_PLACE_AOI_STAGE_START;
|
}
|
|
Step = UnloaderHandler2Steps.S4310_PLACE_WAIT;
|
|
break;
|
}
|
case UnloaderHandler2Steps.S4310_PLACE_WAIT:
|
{
|
if (_picker1Step == PickerSteps.S0000_WAIT && _picker2Step == PickerSteps.S0000_WAIT)
|
{
|
Tact_Move.Stop();
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, AOI Stage Place [End]");
|
equipment.Write_Tact_Time_Log($"ULD Handler 2, AOI Stage Place [Tact : {Tact_Move.Seconds} (sec)]");
|
|
Step = UnloaderHandler2Steps.S4999_PLACE_AOI_STAGE_END;
|
}
|
break;
|
}
|
case UnloaderHandler2Steps.S4999_PLACE_AOI_STAGE_END:
|
{
|
Step = UnloaderHandler2Steps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void Seq_Picker1Step()
|
{
|
switch(_picker1Step)
|
{
|
case PickerSteps.S1000_PICK_ABLATION_STAGE_1_START:
|
{
|
_picker1Step = PickerSteps.S1100_PICKER_DOWN;
|
break;
|
}
|
case PickerSteps.S1100_PICKER_DOWN:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.IsDown)
|
{
|
_picker1Step = PickerSteps.S1110_VACUUM_ON;
|
}
|
else
|
{
|
Picker1.Down();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1110_VACUUM_ON:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.VacuumSolOn)
|
{
|
_picker1Step = PickerSteps.S1120_ABLATION_STAGE_1_VACUUM_OFF;
|
}
|
else
|
{
|
Picker1.VacuumOn();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1120_ABLATION_STAGE_1_VACUUM_OFF:
|
{
|
if (equipment.process.ablation_stage_1.Stage1.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_1.Stage1.VacuumSol1On == false && equipment.process.ablation_stage_1.Stage1.VacuumSol2On == false)
|
{
|
_picker1Step = PickerSteps.S1130_ABLATION_STAGE_1_BLOW_ON;
|
}
|
else
|
{
|
equipment.process.ablation_stage_1.Stage1.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1130_ABLATION_STAGE_1_BLOW_ON:
|
{
|
if (equipment.process.ablation_stage_1.Stage1.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_1.Stage1.BlowSol1On == true && equipment.process.ablation_stage_1.Stage1.BlowSol1On == true)
|
{
|
picker1Timer.Restart();
|
_picker1Step = PickerSteps.S1140_PICKER_UP;
|
}
|
else
|
{
|
equipment.process.ablation_stage_1.Stage1.BlowSol1On = true;
|
equipment.process.ablation_stage_1.Stage1.BlowSol2On = true;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1140_PICKER_UP:
|
{
|
if (picker1Timer.Seconds < pickerUpWaitTime)
|
{
|
return;
|
}
|
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.IsUp)
|
{
|
_picker1Step = PickerSteps.S1150_ABLATION_STAGE_1_BLOW_OFF;
|
}
|
else
|
{
|
Picker1.Up();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1150_ABLATION_STAGE_1_BLOW_OFF:
|
{
|
if (equipment.process.ablation_stage_1.Stage1.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_1.Stage1.BlowSol1On == false && equipment.process.ablation_stage_1.Stage1.BlowSol2On == false)
|
{
|
_picker1Step = PickerSteps.S1160_DATA_SET;
|
}
|
else
|
{
|
equipment.process.ablation_stage_1.Stage1.BlowSol1On = false;
|
equipment.process.ablation_stage_1.Stage1.BlowSol2On = false;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1160_DATA_SET:
|
{
|
Panel1 = equipment.process.ablation_stage_1.Panel1;
|
equipment.process.ablation_stage_1.Panel1 = new Panel_Info();
|
_picker1Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S2000_PICK_ABLATION_STAGE_2_START:
|
{
|
_picker1Step = PickerSteps.S2100_PICKER_DOWN;
|
break;
|
}
|
case PickerSteps.S2100_PICKER_DOWN:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.IsDown)
|
{
|
_picker1Step = PickerSteps.S2110_VACUUM_ON;
|
}
|
else
|
{
|
Picker1.Down();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2110_VACUUM_ON:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.VacuumSolOn)
|
{
|
_picker1Step = PickerSteps.S2120_ABLATION_STAGE_2_VACUUM_OFF;
|
}
|
else
|
{
|
Picker1.VacuumOn();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2120_ABLATION_STAGE_2_VACUUM_OFF:
|
{
|
if (equipment.process.ablation_stage_2.Stage1.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_2.Stage1.IsVacuum1Sensor == false && equipment.process.ablation_stage_2.Stage1.IsVacuum2Sensor == false)
|
{
|
_picker1Step = PickerSteps.S2130_ABLATION_STAGE_2_BLOW_ON;
|
}
|
else
|
{
|
equipment.process.ablation_stage_2.Stage1.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2130_ABLATION_STAGE_2_BLOW_ON:
|
{
|
if (equipment.process.ablation_stage_2.Stage1.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_2.Stage1.BlowSol1On == true && equipment.process.ablation_stage_2.Stage1.BlowSol2On == true)
|
{
|
picker1Timer.Restart();
|
_picker1Step = PickerSteps.S2140_PICKER_UP;
|
}
|
else
|
{
|
equipment.process.ablation_stage_2.Stage1.BlowSol1On = true;
|
equipment.process.ablation_stage_2.Stage1.BlowSol2On = true;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2140_PICKER_UP:
|
{
|
if (picker1Timer.Seconds < pickerUpWaitTime)
|
{
|
return;
|
}
|
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.IsUp)
|
{
|
_picker1Step = PickerSteps.S2150_ABLATION_STAGE_2_BLOW_OFF;
|
}
|
else
|
{
|
Picker1.Up();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2150_ABLATION_STAGE_2_BLOW_OFF:
|
{
|
if (equipment.process.ablation_stage_2.Stage1.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_2.Stage1.BlowSol1On == false && equipment.process.ablation_stage_2.Stage1.BlowSol2On == false)
|
{
|
_picker1Step = PickerSteps.S2160_DATA_SET;
|
}
|
else
|
{
|
equipment.process.ablation_stage_2.Stage1.BlowSol1On = false;
|
equipment.process.ablation_stage_2.Stage1.BlowSol2On = false;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2160_DATA_SET:
|
{
|
Panel1 = equipment.process.ablation_stage_2.Panel1;
|
equipment.process.ablation_stage_2.Panel1 = new Panel_Info();
|
_picker1Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S3000_PLACE_AOI_STAGE_START:
|
{
|
_picker1Step = PickerSteps.S3100_PICKER_DOWN;
|
break;
|
}
|
case PickerSteps.S3100_PICKER_DOWN:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.IsDown)
|
{
|
_picker1Step = PickerSteps.S3110_AOI_STAGE_VACUUM_ON;
|
}
|
else
|
{
|
Picker1.Down();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S3110_AOI_STAGE_VACUUM_ON:
|
{
|
if (equipment.after.AoiStage.Stage1.IsWorkEnd)
|
{
|
if (equipment.after.AoiStage.Stage1.VacuumSolOn)
|
{
|
_picker1Step = PickerSteps.S3120_VACUUM_OFF;
|
}
|
else
|
{
|
equipment.after.AoiStage.Stage1.VacuumOn();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S3120_VACUUM_OFF:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.VacuumSolOn == false)
|
{
|
_picker1Step = PickerSteps.S1330_DATA_SET;
|
}
|
else
|
{
|
Picker1.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1330_DATA_SET:
|
{
|
equipment.after.AoiStage.Panel1 = Panel1;
|
Panel1 = new Panel_Info();
|
_picker1Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S9000_SCRAP_START:
|
{
|
_picker1Step = PickerSteps.S9100_VACUUM_OFF;
|
break;
|
}
|
case PickerSteps.S9100_VACUUM_OFF:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.VacuumSolOn == false)
|
{
|
_picker1Step = PickerSteps.S9110_DATA_SET;
|
}
|
else
|
{
|
Picker1.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S9110_DATA_SET:
|
{
|
Panel1 = new Panel_Info();
|
_picker1Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S9200_PICKER_UP:
|
{
|
if (Picker1.IsWorkEnd)
|
{
|
if (Picker1.IsUp)
|
{
|
_picker1Step = PickerSteps.S9999_STEP_END;
|
}
|
else
|
{
|
Picker1.Up();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S9999_STEP_END:
|
{
|
_picker1Step = PickerSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
private void Seq_Picker2Step()
|
{
|
switch (_picker2Step)
|
{
|
case PickerSteps.S1000_PICK_ABLATION_STAGE_1_START:
|
{
|
_picker2Step = PickerSteps.S1100_PICKER_DOWN;
|
break;
|
}
|
case PickerSteps.S1100_PICKER_DOWN:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.IsDown)
|
{
|
_picker2Step = PickerSteps.S1110_VACUUM_ON;
|
}
|
else
|
{
|
Picker2.Down();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1110_VACUUM_ON:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.VacuumSolOn)
|
{
|
_picker2Step = PickerSteps.S1120_ABLATION_STAGE_1_VACUUM_OFF;
|
}
|
else
|
{
|
Picker2.VacuumOn();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1120_ABLATION_STAGE_1_VACUUM_OFF:
|
{
|
if (equipment.process.ablation_stage_1.Stage2.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_1.Stage2.VacuumSol1On == false && equipment.process.ablation_stage_1.Stage2.VacuumSol2On == false)
|
{
|
picker2Timer.Restart();
|
_picker2Step = PickerSteps.S1130_ABLATION_STAGE_1_BLOW_ON;
|
}
|
else
|
{
|
equipment.process.ablation_stage_1.Stage2.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1130_ABLATION_STAGE_1_BLOW_ON:
|
{
|
if (picker2Timer.Seconds < pickerUpWaitTime)
|
{
|
return;
|
}
|
|
if (equipment.process.ablation_stage_1.Stage2.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_1.Stage2.BlowSol1On == true && equipment.process.ablation_stage_1.Stage2.BlowSol2On == true)
|
{
|
picker2Timer.Restart();
|
_picker2Step = PickerSteps.S1140_PICKER_UP;
|
}
|
else
|
{
|
equipment.process.ablation_stage_1.Stage2.BlowSol1On = true;
|
equipment.process.ablation_stage_1.Stage2.BlowSol2On = true;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1140_PICKER_UP:
|
{
|
if (picker2Timer.Seconds < pickerUpWaitTime)
|
{
|
return;
|
}
|
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.IsUp)
|
{
|
_picker2Step = PickerSteps.S1150_ABLATION_STAGE_1_BLOW_OFF;
|
}
|
else
|
{
|
Picker2.Up();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1150_ABLATION_STAGE_1_BLOW_OFF:
|
{
|
if (equipment.process.ablation_stage_1.Stage2.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_1.Stage2.BlowSol1On == false && equipment.process.ablation_stage_1.Stage2.BlowSol2On == false)
|
{
|
_picker2Step = PickerSteps.S1160_DATA_SET;
|
}
|
else
|
{
|
equipment.process.ablation_stage_1.Stage2.BlowSol1On = false;
|
equipment.process.ablation_stage_1.Stage2.BlowSol2On = false;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1160_DATA_SET:
|
{
|
Panel2 = equipment.process.ablation_stage_1.Panel2;
|
equipment.process.ablation_stage_1.Panel2 = new Panel_Info();
|
_picker2Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S2000_PICK_ABLATION_STAGE_2_START:
|
{
|
_picker2Step = PickerSteps.S2100_PICKER_DOWN;
|
break;
|
}
|
case PickerSteps.S2100_PICKER_DOWN:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.IsDown)
|
{
|
_picker2Step = PickerSteps.S2110_VACUUM_ON;
|
}
|
else
|
{
|
Picker2.Down();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2110_VACUUM_ON:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.VacuumSolOn)
|
{
|
_picker2Step = PickerSteps.S2120_ABLATION_STAGE_2_VACUUM_OFF;
|
}
|
else
|
{
|
Picker2.VacuumOn();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2120_ABLATION_STAGE_2_VACUUM_OFF:
|
{
|
if (equipment.process.ablation_stage_2.Stage2.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_2.Stage2.VacuumSol1On == false && equipment.process.ablation_stage_2.Stage2.VacuumSol2On == false)
|
{
|
_picker2Step = PickerSteps.S2130_ABLATION_STAGE_2_BLOW_ON;
|
}
|
else
|
{
|
equipment.process.ablation_stage_2.Stage2.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2130_ABLATION_STAGE_2_BLOW_ON:
|
{
|
if (equipment.process.ablation_stage_2.Stage2.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_2.Stage2.BlowSol1On == true && equipment.process.ablation_stage_2.Stage2.BlowSol2On == true)
|
{
|
picker2Timer.Restart();
|
_picker2Step = PickerSteps.S2140_PICKER_UP;
|
}
|
else
|
{
|
equipment.process.ablation_stage_2.Stage2.BlowSol1On = true;
|
equipment.process.ablation_stage_2.Stage2.BlowSol2On = true;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2140_PICKER_UP:
|
{
|
if (picker2Timer.Seconds < pickerUpWaitTime)
|
{
|
return;
|
}
|
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.IsUp)
|
{
|
_picker2Step = PickerSteps.S2150_ABLATION_STAGE_2_BLOW_OFF;
|
}
|
else
|
{
|
Picker2.Up();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2150_ABLATION_STAGE_2_BLOW_OFF:
|
{
|
if (equipment.process.ablation_stage_2.Stage2.IsWorkEnd)
|
{
|
if (equipment.process.ablation_stage_2.Stage2.BlowSol1On == false && equipment.process.ablation_stage_2.Stage2.BlowSol2On == false)
|
{
|
_picker2Step = PickerSteps.S2160_DATA_SET;
|
}
|
else
|
{
|
equipment.process.ablation_stage_2.Stage2.BlowSol1On = false;
|
equipment.process.ablation_stage_2.Stage2.BlowSol2On = false;
|
}
|
}
|
break;
|
}
|
case PickerSteps.S2160_DATA_SET:
|
{
|
Panel2 = equipment.process.ablation_stage_2.Panel2;
|
equipment.process.ablation_stage_2.Panel2 = new Panel_Info();
|
_picker2Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S3000_PLACE_AOI_STAGE_START:
|
{
|
_picker2Step = PickerSteps.S3100_PICKER_DOWN;
|
break;
|
}
|
case PickerSteps.S3100_PICKER_DOWN:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.IsDown)
|
{
|
_picker2Step = PickerSteps.S3110_AOI_STAGE_VACUUM_ON;
|
}
|
else
|
{
|
Picker2.Down();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S3110_AOI_STAGE_VACUUM_ON:
|
{
|
if (equipment.after.AoiStage.Stage2.IsWorkEnd)
|
{
|
if (equipment.after.AoiStage.Stage2.VacuumSolOn)
|
{
|
_picker2Step = PickerSteps.S3120_VACUUM_OFF;
|
}
|
else
|
{
|
equipment.after.AoiStage.Stage2.VacuumOn();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S3120_VACUUM_OFF:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.VacuumSolOn == false)
|
{
|
_picker2Step = PickerSteps.S1330_DATA_SET;
|
}
|
else
|
{
|
Picker2.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S1330_DATA_SET:
|
{
|
equipment.after.AoiStage.Panel2 = Panel2;
|
Panel2 = new Panel_Info();
|
_picker2Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S9000_SCRAP_START:
|
{
|
_picker2Step = PickerSteps.S9100_VACUUM_OFF;
|
break;
|
}
|
case PickerSteps.S9100_VACUUM_OFF:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.VacuumSolOn == false)
|
{
|
_picker2Step = PickerSteps.S9110_DATA_SET;
|
}
|
else
|
{
|
Picker2.VacuumOff();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S9110_DATA_SET:
|
{
|
Panel2 = new Panel_Info();
|
_picker2Step = PickerSteps.S9200_PICKER_UP;
|
break;
|
}
|
case PickerSteps.S9200_PICKER_UP:
|
{
|
if (Picker2.IsWorkEnd)
|
{
|
if (Picker2.IsUp)
|
{
|
_picker2Step = PickerSteps.S9999_STEP_END;
|
}
|
else
|
{
|
Picker2.Up();
|
}
|
}
|
break;
|
}
|
case PickerSteps.S9999_STEP_END:
|
{
|
_picker2Step = PickerSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public bool Get_Is_Position_X_AOI()
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_AOI_Stage_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorX.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
|
public bool Get_Is_Position_Y_AOI()
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_AOI_Stage_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorY.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
|
public bool Get_Is_Position_X_Ablation_1()
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Ablation_Stage_1_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorX.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
|
public bool Get_Is_Position_Y_Ablation_1()
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Ablation_Stage_1_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorY.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
|
public bool Get_Is_Position_X_Ablation_2()
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Ablation_Stage_2_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorX.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
|
public bool Get_Is_Position_Y_Ablation_2()
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Ablation_Stage_2_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorY.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
|
public double Get_Position_Y_Stay()
|
{
|
object value;
|
double get_position;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Stay_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return get_position;
|
}
|
|
public bool Move_X_Stay_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Stay_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Stay_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Y_Stay_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Stay_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Stay_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorY.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_X_AOI_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_AOI_Stage_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_AOI_Stage_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Y_AOI_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_AOI_Stage_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_AOI_Stage_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorY.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_X_Ablation_Stage_1_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Ablation_Stage_1_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Ablation_Stage_1_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Y_Ablation_Stage_1_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Ablation_Stage_1_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Ablation_Stage_1_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorY.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_X_Ablation_Stage_2_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Ablation_Stage_2_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_X_Ablation_Stage_2_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Y_Ablation_Stage_2_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Ablation_Stage_2_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Handler_2_Y_Ablation_Stage_2_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorY.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Picker_1_Scrap()
|
{
|
if (UnitMode == En_Equipment_Mode.Auto || equipment.Auto_Mode)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD_Handler_2_1 Scrap Can't Start", "Equipment mode is Auto.");
|
return false;
|
}
|
|
_picker1Step = PickerSteps.S9000_SCRAP_START;
|
|
return true;
|
}
|
|
public bool Picker_2_Scrap()
|
{
|
if (UnitMode == En_Equipment_Mode.Auto || equipment.Auto_Mode)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD_Handler_2_2 Scrap Can't Start", "Equipment mode is Auto.");
|
return false;
|
}
|
|
_picker2Step = PickerSteps.S9000_SCRAP_START;
|
|
return true;
|
}
|
#endregion
|
}
|
}
|
