using System;
|
|
namespace SHARP_CLAS_UI
|
{
|
public class UnloaderReverseStage : ReverseStage
|
{
|
#region Enum
|
public enum StageSteps
|
{
|
S0000_WAIT,
|
|
S1000_PICK_AOI_STAGE_START,
|
S1100_VACUUM_ON,
|
S1110_AOI_STAGE_VACUUM_OFF,
|
S1120_DATA_SET,
|
|
S9000_SCRAP_START,
|
S9100_VACUUM_OFF,
|
S9110_DATA_SET,
|
S9999_STEP_END,
|
}
|
#endregion
|
|
#region Property
|
public bool IsPlaceEnable
|
{
|
get
|
{
|
if(IsWorkEnd && IsStayPosition && IsExist == false)
|
{
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
}
|
|
public bool IsPickEnable
|
{
|
get
|
{
|
if (IsExist && Step == UnloaderReverseStageSteps.S2230_PANEL_EXIST_CHECK)
|
{
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
}
|
|
public override Panel_Info Panel1
|
{
|
get
|
{
|
return Panel_Info_Manager.Instance.Get_Panel_Info(Panel_Info_Names.ULD_Reverse_Stage_1);
|
}
|
set
|
{
|
Panel_Info_Manager.Instance.Set_Panel_Info(Panel_Info_Names.ULD_Reverse_Stage_1, value);
|
}
|
}
|
|
public override Panel_Info Panel2
|
{
|
get
|
{
|
return Panel_Info_Manager.Instance.Get_Panel_Info(Panel_Info_Names.ULD_Reverse_Stage_2);
|
}
|
set
|
{
|
Panel_Info_Manager.Instance.Set_Panel_Info(Panel_Info_Names.ULD_Reverse_Stage_2, value);
|
}
|
}
|
|
public UnloaderReverseStageSteps Step
|
{
|
get
|
{
|
return _step;
|
}
|
|
set
|
{
|
_step = value;
|
}
|
}
|
|
public bool IsPositionZ1Up
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_Z_Up_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorZ1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionZ1Down
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_Z_Down_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorZ1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionR1Degree0
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_T_0_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorR1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionR1Degree180
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_T_180_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorR1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionZ2Up
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_Z_Up_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorZ2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionZ2Down
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_Z_Down_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorZ2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionR2Degree0
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_T_0_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorR2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public bool IsPositionR2Degree180
|
{
|
get
|
{
|
object value;
|
double get_position;
|
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_T_180_Position, out value);
|
get_position = double.Parse($"{value}");
|
|
return MotorR2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
|
}
|
}
|
|
public override bool IsWorkEnd
|
{
|
get
|
{
|
if (Step == UnloaderReverseStageSteps.S0000_WAIT)
|
{
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
}
|
|
public override bool IsStayPosition
|
{
|
get
|
{
|
if (IsPositionR1Degree180 && IsPositionR2Degree180 && IsPositionZ1Down && IsPositionZ2Down)
|
{
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
}
|
#endregion
|
|
#region Field
|
private UnloaderReverseStageSteps _step;
|
private UnloaderReverseStageSteps _oldStep;
|
private ReverseStageHomeSteps _homeStep;
|
|
public StageSteps _stage1Step;
|
public StageSteps _stage2Step;
|
|
public Time_Checker Tact_Move = new Time_Checker();
|
#endregion
|
|
#region Construct
|
public UnloaderReverseStage(Equipment equipment) : base(equipment, MotorAxis.ULD_Rotation_Unit_Z_1, MotorAxis.ULD_Rotation_Unit_R_1, MotorAxis.ULD_Rotation_Unit_Z_2, MotorAxis.ULD_Rotation_Unit_R_2, "UnloaderReverseStage")
|
{
|
Step = UnloaderReverseStageSteps.S0000_WAIT;
|
_oldStep = UnloaderReverseStageSteps.S0000_WAIT;
|
|
Stage1.Initialize(OutputData.ULD_Cell_Reverse_1_Vaccum_On_Sol_Valve, OutputData.ULD_Cell_Reverse_1_Blow_On_Sol_Valve, InputData.ULD_Cell_Reverse_1_Vaccum_On_Check, En_Alarm_List.AL_0840_ULD_REVERSE_1_VACUUM_ON_CHECK);
|
Stage2.Initialize(OutputData.ULD_Cell_Reverse_2_Vaccum_On_Sol_Valve, OutputData.ULD_Cell_Reverse_2_Blow_On_Sol_Valve, InputData.ULD_Cell_Reverse_2_Vaccum_On_Check, En_Alarm_List.AL_0841_ULD_REVERSE_2_VACUUM_ON_CHECK);
|
|
pauseDisableList.Add(UnloaderReverseStageSteps.S1205_Z_POSITION_CHECK);
|
pauseDisableList.Add(UnloaderReverseStageSteps.S1215_R_POSITION_CHECK);
|
pauseDisableList.Add(UnloaderReverseStageSteps.S1225_Z_POSITION_CHECK);
|
pauseDisableList.Add(UnloaderReverseStageSteps.S2205_Z_POSITION_CHECK);
|
pauseDisableList.Add(UnloaderReverseStageSteps.S2215_R_POSITION_CHECK);
|
pauseDisableList.Add(UnloaderReverseStageSteps.S2225_Z_POSITION_CHECK);
|
|
MotorR1.Check_Jog_Interlock = Jog_Interlock;
|
MotorR1.Check_Move_Interlock = Move_Interlock;
|
MotorZ1.Check_Jog_Interlock = Jog_Interlock;
|
MotorZ1.Check_Move_Interlock = Move_Interlock;
|
|
MotorR2.Check_Jog_Interlock = Jog_Interlock;
|
MotorR2.Check_Move_Interlock = Move_Interlock;
|
MotorZ2.Check_Jog_Interlock = Jog_Interlock;
|
MotorZ2.Check_Move_Interlock = Move_Interlock;
|
}
|
#endregion
|
|
#region Function
|
private bool Move_Interlock()
|
{
|
if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
|
{
|
return true;
|
}
|
|
return false;
|
}
|
|
private bool Jog_Interlock(bool positive)
|
{
|
if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
|
{
|
return true;
|
}
|
|
return false;
|
}
|
|
public void Init_Seq()
|
{
|
Step = UnloaderReverseStageSteps.S0000_WAIT;
|
_homeStep = ReverseStageHomeSteps.S0000_WAIT;
|
|
Tact_Move.Reset();
|
}
|
|
private void ExecuteAuto()
|
{
|
if(Step == UnloaderReverseStageSteps.S0000_WAIT)
|
{
|
if(IsExist)
|
{
|
Step = UnloaderReverseStageSteps.S2000_PANEL_UNLOAD_START;
|
}
|
else
|
{
|
if(equipment.Cur_Main_Recipe.tray_info.Uld_Reverse && equipment.unloader.Handler1.IsStayPosition && equipment.unloader.Handler1.IsExist == false && equipment.after.AoiStage.IsPickEnable)
|
{
|
Step =UnloaderReverseStageSteps.S1000_PICK_AOI_STAGE_START;
|
}
|
}
|
}
|
}
|
|
public override void MonitoringStatus()
|
{
|
if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
|
{
|
if (Stage1.IsWorkEnd && Stage1.VacuumSolOn && Stage1.IsVacuumSensor == false)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0840_ULD_REVERSE_1_VACUUM_ON_CHECK);
|
}
|
|
if (Stage2.IsWorkEnd && Stage2.VacuumSolOn && Stage2.IsVacuumSensor == false)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0841_ULD_REVERSE_2_VACUUM_ON_CHECK);
|
}
|
}
|
|
if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
|
{
|
if (MotorZ1.MotionComplete == false)
|
{
|
MotorZ1.Move_Stop();
|
}
|
|
if (MotorR1.MotionComplete == false)
|
{
|
MotorR1.Move_Stop();
|
}
|
|
if (MotorZ2.MotionComplete == false)
|
{
|
MotorZ2.Move_Stop();
|
}
|
|
if (MotorR2.MotionComplete == false)
|
{
|
MotorR2.Move_Stop();
|
}
|
}
|
}
|
|
public override void ExecuteStep()
|
{
|
if (_oldStep != Step)
|
{
|
sequenceChangedTime.Restart();
|
_oldStep = Step;
|
WriteSequenceLog(Step.ToString());
|
}
|
|
Stage1.ExecuteProcess();
|
Stage2.ExecuteProcess();
|
|
Seq_Stage1Step();
|
Seq_Stage2Step();
|
|
if (UnitMode == En_Equipment_Mode.Stop)
|
{
|
Init_Seq();
|
isHomeComplete = false;
|
return;
|
}
|
else if (UnitMode == En_Equipment_Mode.Pause)
|
{
|
sequenceChangedTime.Stop();
|
|
return;
|
}
|
else if (UnitMode == En_Equipment_Mode.Home)
|
{
|
if (IsHomeComplete == false)
|
{
|
ExecuteHome();
|
}
|
|
return;
|
}
|
|
if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
|
{
|
sequenceChangedTime.Start();
|
|
if (equipment.equip_mode == En_Equipment_Mode.Pause)
|
{
|
if (pauseDisableList.Contains(Step) == false)
|
{
|
UnitMode = En_Equipment_Mode.Pause;
|
return;
|
}
|
}
|
|
if (UnitMode == En_Equipment_Mode.Auto)
|
ExecuteAuto();
|
|
Seq_PickAoiStage();
|
Seq_Unload();
|
}
|
}
|
|
public void ExecuteHome()
|
{
|
switch (_homeStep)
|
{
|
case ReverseStageHomeSteps.S0000_WAIT:
|
{
|
_homeStep = ReverseStageHomeSteps.S1000_STATUS_CHECK;
|
break;
|
}
|
case ReverseStageHomeSteps.S1000_STATUS_CHECK:
|
{
|
if (MotorR1.ErrorStop || MotorZ1.ErrorStop || MotorR2.ErrorStop || MotorZ2.ErrorStop)
|
{
|
if (MotorR1.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0371_ULD_ROTATION_UNIT_R_1_ERROR_STOP);
|
}
|
if (MotorZ1.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0381_ULD_ROTATION_UNIT_Z_1_ERROR_STOP);
|
}
|
if (MotorR2.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0391_ULD_ROTATION_UNIT_R_2_ERROR_STOP);
|
}
|
if (MotorZ2.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0211_LD_ROTATION_UNIT_Z_2_ERROR_STOP);
|
}
|
}
|
else if (!MotorR1.PowerOn || !MotorZ1.PowerOn || !MotorR2.PowerOn || !MotorZ2.PowerOn)
|
{
|
if (MotorR1.PowerOn)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0370_ULD_ROTATION_UNIT_R_1_POWER_OFF);
|
}
|
if (MotorZ1.PowerOn)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0380_ULD_ROTATION_UNIT_Z_1_POWER_OFF);
|
}
|
if (MotorR2.PowerOn)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0390_ULD_ROTATION_UNIT_R_2_POWER_OFF);
|
}
|
if (MotorZ2.PowerOn)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0400_ULD_ROTATION_UNIT_Z_2_POWER_OFF);
|
}
|
}
|
else
|
{
|
if (equipment.unloader.Handler1.IsHomeComplete && equipment.after.Handler2.IsHomeComplete)
|
_homeStep = ReverseStageHomeSteps.S2000_Z_HOME_START;
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S2000_Z_HOME_START:
|
{
|
if (MotorZ1.Home())
|
{
|
if (MotorZ2.Home())
|
{
|
homeCheckedTime.Restart();
|
_homeStep = ReverseStageHomeSteps.S2100_Z_HOME_CHECK;
|
}
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S2100_Z_HOME_CHECK:
|
{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (!MotorZ1.IsHomed || !MotorZ2.IsHomed)
|
{
|
if (MotorZ1.Homing == false && MotorZ1.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0381_ULD_ROTATION_UNIT_Z_1_ERROR_STOP);
|
}
|
|
if (MotorZ2.Homing == false && MotorZ2.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0401_ULD_ROTATION_UNIT_Z_2_ERROR_STOP);
|
}
|
}
|
else
|
{
|
_homeStep = ReverseStageHomeSteps.S2200_R_HOME_START;
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S2200_R_HOME_START:
|
{
|
if (MotorR1.Home())
|
{
|
if (MotorR2.Home())
|
{
|
homeCheckedTime.Restart();
|
_homeStep = ReverseStageHomeSteps.S2300_R_HOME_CHECK;
|
}
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S2300_R_HOME_CHECK:
|
{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (!MotorR1.IsHomed || !MotorR2.IsHomed)
|
{
|
if (MotorR1.Homing == false && MotorR1.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0371_ULD_ROTATION_UNIT_R_1_ERROR_STOP);
|
}
|
|
if (MotorR2.Homing == false && MotorR2.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0391_ULD_ROTATION_UNIT_R_2_ERROR_STOP);
|
}
|
}
|
else
|
{
|
_homeStep = ReverseStageHomeSteps.S3000_R_MOVE_180_DEG;
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S3000_R_MOVE_180_DEG:
|
{
|
if (Move_R_1_Deg_180_Position())
|
{
|
if (Move_R_2_Deg_180_Position())
|
{
|
homeCheckedTime.Restart();
|
_homeStep = ReverseStageHomeSteps.S3100_R_POSITION_CHECK;
|
}
|
}
|
|
break;
|
}
|
case ReverseStageHomeSteps.S3100_R_POSITION_CHECK:
|
{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (MotorR1.ErrorStop || MotorR2.ErrorStop)
|
{
|
if (MotorR1.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0371_ULD_ROTATION_UNIT_R_1_ERROR_STOP);
|
}
|
if (MotorR2.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0401_ULD_ROTATION_UNIT_Z_2_ERROR_STOP);
|
}
|
}
|
else if (MotorR1.MotionComplete && MotorR2.MotionComplete)
|
{
|
if (IsPositionR1Degree180 && IsPositionR2Degree180)
|
{
|
_homeStep = ReverseStageHomeSteps.S3200_Z_MOVE_DOWN_POSITION;
|
}
|
else
|
{
|
if (!IsPositionR1Degree180)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD Reverse Home can't run.", "Reverse R 1 is not 180 deg.");
|
}
|
|
if (!IsPositionR2Degree180)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD Reverse Home can't run.", "Reverse R 2 is not 180 deg.");
|
}
|
}
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S3200_Z_MOVE_DOWN_POSITION:
|
{
|
if (Move_Z_1_Down_Position())
|
{
|
if (Move_Z_2_Down_Position())
|
{
|
homeCheckedTime.Restart();
|
_homeStep = ReverseStageHomeSteps.S3300_Z_POSITION_CHECK;
|
}
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S3300_Z_POSITION_CHECK:
|
{
|
if (homeCheckedTime.Seconds < 1) return;
|
|
if (MotorZ1.ErrorStop || MotorZ2.ErrorStop)
|
{
|
if (MotorZ1.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0381_ULD_ROTATION_UNIT_Z_1_ERROR_STOP);
|
}
|
if (MotorZ2.ErrorStop)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0211_LD_ROTATION_UNIT_Z_2_ERROR_STOP);
|
}
|
}
|
else if (MotorZ1.MotionComplete && MotorZ2.MotionComplete)
|
{
|
if (IsPositionZ1Down && IsPositionZ2Down)
|
{
|
_homeStep = ReverseStageHomeSteps.S9999_END;
|
}
|
else
|
{
|
if (!IsPositionZ1Down)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD Reverse Home can't run.", "Reverse Z 1 is not down position.");
|
}
|
|
if (!IsPositionZ2Down)
|
{
|
Interlock_Manager.Add_Interlock_Msg("ULD Reverse Home can't run.", "Reverse Z 2 is not down position.");
|
}
|
}
|
}
|
break;
|
}
|
case ReverseStageHomeSteps.S9999_END:
|
{
|
isHomeComplete = true;
|
_homeStep = ReverseStageHomeSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void Seq_PickAoiStage()
|
{
|
switch(Step)
|
{
|
case UnloaderReverseStageSteps.S1000_PICK_AOI_STAGE_START:
|
{
|
Tact_Move.Start();
|
Step = UnloaderReverseStageSteps.S1100_HANDLER_1_POSITION_CHECK;
|
break;
|
}
|
case UnloaderReverseStageSteps.S1100_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 = UnloaderReverseStageSteps.S1110_HANDLER_2_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1110_HANDLER_2_POSITION_CHECK:
|
{
|
double position = equipment.after.Handler2.Get_Position_Y_Stay();
|
|
if (position >= equipment.after.Handler2.MotorY.Position || equipment.after.Handler2.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
{
|
Step = UnloaderReverseStageSteps.S1200_MOVE_Z_UP_POSITION;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1200_MOVE_Z_UP_POSITION:
|
{
|
if(Move_Z_1_Up_Position() && Move_Z_2_Up_Position())
|
{
|
Step = UnloaderReverseStageSteps.S1205_Z_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1205_Z_POSITION_CHECK:
|
{
|
if (MotorZ1.MotionComplete && MotorZ2.MotionComplete)
|
{
|
if (IsPositionZ1Up && IsPositionZ2Up)
|
{
|
Step = UnloaderReverseStageSteps.S1210_MOVE_R_DEG_0;
|
}
|
else
|
{
|
Step = UnloaderReverseStageSteps.S1200_MOVE_Z_UP_POSITION;
|
}
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1210_MOVE_R_DEG_0:
|
{
|
if (Move_R_1_Deg_0_Position() && Move_R_2_Deg_0_Position())
|
{
|
Step = UnloaderReverseStageSteps.S1215_R_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1215_R_POSITION_CHECK:
|
{
|
if (MotorR1.MotionComplete && MotorR2.MotionComplete)
|
{
|
if (IsPositionR1Degree0 && IsPositionR2Degree0)
|
{
|
Step = UnloaderReverseStageSteps.S1220_MOVE_Z_DOWN;
|
}
|
else
|
{
|
Step = UnloaderReverseStageSteps.S1210_MOVE_R_DEG_0;
|
}
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1220_MOVE_Z_DOWN:
|
{
|
if (Move_Z_1_Down_Position() && Move_Z_2_Down_Position())
|
{
|
Step = UnloaderReverseStageSteps.S1225_Z_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1225_Z_POSITION_CHECK:
|
{
|
if (MotorZ1.MotionComplete && MotorZ2.MotionComplete)
|
{
|
if (IsPositionZ1Down && IsPositionZ2Down)
|
{
|
Step = UnloaderReverseStageSteps.S1300_PICK_START;
|
}
|
else
|
{
|
Step = UnloaderReverseStageSteps.S1220_MOVE_Z_DOWN;
|
}
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1300_PICK_START:
|
{
|
if(equipment.after.AoiStage.Stage1.IsExist)
|
{
|
_stage1Step = StageSteps.S1000_PICK_AOI_STAGE_START;
|
}
|
|
if (equipment.after.AoiStage.Stage2.IsExist)
|
{
|
_stage2Step = StageSteps.S1000_PICK_AOI_STAGE_START;
|
}
|
|
Step = UnloaderReverseStageSteps.S1310_PICK_WAIT;
|
break;
|
}
|
case UnloaderReverseStageSteps.S1310_PICK_WAIT:
|
{
|
if(_stage1Step == StageSteps.S0000_WAIT && _stage2Step == StageSteps.S0000_WAIT)
|
{
|
Step = UnloaderReverseStageSteps.S1999_PICK_AOI_STAGE_END;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S1999_PICK_AOI_STAGE_END:
|
{
|
Tact_Move.Stop();
|
Step = UnloaderReverseStageSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void Seq_Unload()
|
{
|
switch (Step)
|
{
|
case UnloaderReverseStageSteps.S2000_PANEL_UNLOAD_START:
|
{
|
Tact_Move.Start();
|
Step = UnloaderReverseStageSteps.S2100_STAY_POSITION_CHECK;
|
break;
|
}
|
case UnloaderReverseStageSteps.S2100_STAY_POSITION_CHECK:
|
{
|
if (IsStayPosition)
|
{
|
Step = UnloaderReverseStageSteps.S2230_PANEL_EXIST_CHECK;
|
}
|
else
|
{
|
equipment.after.AoiStage.Stage1.BlowSolOn = true;
|
equipment.after.AoiStage.Stage2.BlowSolOn = true;
|
Step = UnloaderReverseStageSteps.S2110_HANDLER_1_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2110_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 = UnloaderReverseStageSteps.S2120_HANDLER_2_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2120_HANDLER_2_POSITION_CHECK:
|
{
|
double position = equipment.after.Handler2.Get_Position_Y_Stay();
|
|
if (position >= equipment.after.Handler2.MotorY.Position || equipment.after.Handler2.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
{
|
Step = UnloaderReverseStageSteps.S2200_MOVE_Z_UP_POSITION;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2200_MOVE_Z_UP_POSITION:
|
{
|
if(sequenceChangedTime.Seconds < 0.5)
|
{
|
return;
|
}
|
|
if (Move_Z_1_Up_Position() && Move_Z_2_Up_Position())
|
{
|
Step = UnloaderReverseStageSteps.S2205_Z_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2205_Z_POSITION_CHECK:
|
{
|
if (MotorZ1.MotionComplete && MotorZ2.MotionComplete)
|
{
|
if (IsPositionZ1Up && IsPositionZ2Up)
|
{
|
Step = UnloaderReverseStageSteps.S2210_MOVE_R_DEG_180;
|
}
|
else
|
{
|
Step = UnloaderReverseStageSteps.S2200_MOVE_Z_UP_POSITION;
|
}
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2210_MOVE_R_DEG_180:
|
{
|
if (Move_R_1_Deg_180_Position() && Move_R_2_Deg_180_Position())
|
{
|
Step = UnloaderReverseStageSteps.S2215_R_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2215_R_POSITION_CHECK:
|
{
|
if (MotorR1.MotionComplete && MotorR2.MotionComplete)
|
{
|
if (IsPositionR1Degree180 && IsPositionR2Degree180)
|
{
|
Step = UnloaderReverseStageSteps.S2220_MOVE_Z_DOWN;
|
}
|
else
|
{
|
Step = UnloaderReverseStageSteps.S2210_MOVE_R_DEG_180;
|
}
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2220_MOVE_Z_DOWN:
|
{
|
if (Move_Z_1_Down_Position() && Move_Z_2_Down_Position())
|
{
|
Step = UnloaderReverseStageSteps.S2225_Z_POSITION_CHECK;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2225_Z_POSITION_CHECK:
|
{
|
if (MotorZ1.MotionComplete && MotorZ2.MotionComplete)
|
{
|
if (IsPositionZ1Down && IsPositionZ2Down)
|
{
|
equipment.after.AoiStage.Stage1.BlowSolOn = false;
|
equipment.after.AoiStage.Stage2.BlowSolOn = false;
|
Step = UnloaderReverseStageSteps.S2230_PANEL_EXIST_CHECK;
|
}
|
else
|
{
|
Step = UnloaderReverseStageSteps.S2220_MOVE_Z_DOWN;
|
}
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2230_PANEL_EXIST_CHECK:
|
{
|
if(Stage1.IsExist == false && Stage2.IsExist == false)
|
{
|
Step = UnloaderReverseStageSteps.S2999_PANEL_UNLOAD_END;
|
}
|
break;
|
}
|
case UnloaderReverseStageSteps.S2999_PANEL_UNLOAD_END:
|
{
|
Tact_Move.Stop();
|
Step = UnloaderReverseStageSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void Seq_Stage1Step()
|
{
|
switch(_stage1Step)
|
{
|
case StageSteps.S1000_PICK_AOI_STAGE_START:
|
{
|
_stage1Step = StageSteps.S1100_VACUUM_ON;
|
break;
|
}
|
case StageSteps.S1100_VACUUM_ON:
|
{
|
if (Stage1.IsWorkEnd)
|
{
|
if (Stage1.VacuumSolOn)
|
{
|
_stage1Step = StageSteps.S1110_AOI_STAGE_VACUUM_OFF;
|
}
|
else
|
{
|
Stage1.VacuumOn();
|
}
|
}
|
break;
|
}
|
case StageSteps.S1110_AOI_STAGE_VACUUM_OFF:
|
{
|
if (equipment.after.AoiStage.Stage1.IsWorkEnd)
|
{
|
if (equipment.after.AoiStage.Stage1.VacuumSolOn == false)
|
{
|
_stage1Step = StageSteps.S1120_DATA_SET;
|
}
|
else
|
{
|
equipment.after.AoiStage.Stage1.VacuumOff();
|
}
|
}
|
break;
|
}
|
case StageSteps.S1120_DATA_SET:
|
{
|
var info = equipment.after.AoiStage.Panel1;
|
info.Uld_Reverse = true;
|
Panel1 = info;
|
equipment.after.AoiStage.Panel1 = new Panel_Info();
|
|
_stage1Step = StageSteps.S9999_STEP_END;
|
break;
|
}
|
case StageSteps.S9000_SCRAP_START:
|
{
|
_stage1Step = StageSteps.S9100_VACUUM_OFF;
|
break;
|
}
|
case StageSteps.S9100_VACUUM_OFF:
|
{
|
if (Stage1.IsWorkEnd)
|
{
|
if (Stage1.VacuumSolOn == false)
|
{
|
_stage1Step = StageSteps.S9110_DATA_SET;
|
}
|
else
|
{
|
Stage1.VacuumOff();
|
}
|
}
|
break;
|
}
|
case StageSteps.S9110_DATA_SET:
|
{
|
Panel1 = new Panel_Info();
|
_stage1Step = StageSteps.S9999_STEP_END;
|
break;
|
}
|
case StageSteps.S9999_STEP_END:
|
{
|
_stage1Step = StageSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void Seq_Stage2Step()
|
{
|
switch (_stage2Step)
|
{
|
case StageSteps.S1000_PICK_AOI_STAGE_START:
|
{
|
_stage2Step = StageSteps.S1100_VACUUM_ON;
|
break;
|
}
|
case StageSteps.S1100_VACUUM_ON:
|
{
|
if (Stage2.IsWorkEnd)
|
{
|
if (Stage2.VacuumSolOn)
|
{
|
_stage2Step = StageSteps.S1110_AOI_STAGE_VACUUM_OFF;
|
}
|
else
|
{
|
Stage2.VacuumOn();
|
}
|
}
|
break;
|
}
|
case StageSteps.S1110_AOI_STAGE_VACUUM_OFF:
|
{
|
if (equipment.after.AoiStage.Stage2.IsWorkEnd)
|
{
|
if (equipment.after.AoiStage.Stage2.VacuumSolOn == false)
|
{
|
_stage2Step = StageSteps.S1120_DATA_SET;
|
}
|
else
|
{
|
equipment.after.AoiStage.Stage2.VacuumOff();
|
}
|
}
|
break;
|
}
|
case StageSteps.S1120_DATA_SET:
|
{
|
var info = equipment.after.AoiStage.Panel2;
|
info.Uld_Reverse = true;
|
Panel2 = info;
|
equipment.after.AoiStage.Panel2 = new Panel_Info();
|
|
_stage2Step = StageSteps.S9999_STEP_END;
|
break;
|
}
|
case StageSteps.S9000_SCRAP_START:
|
{
|
_stage2Step = StageSteps.S9100_VACUUM_OFF;
|
break;
|
}
|
case StageSteps.S9100_VACUUM_OFF:
|
{
|
if (Stage2.IsWorkEnd)
|
{
|
if (Stage2.VacuumSolOn == false)
|
{
|
_stage2Step = StageSteps.S9110_DATA_SET;
|
}
|
else
|
{
|
Stage2.VacuumOff();
|
}
|
}
|
break;
|
}
|
case StageSteps.S9110_DATA_SET:
|
{
|
Panel2 = new Panel_Info();
|
_stage2Step = StageSteps.S9999_STEP_END;
|
break;
|
}
|
case StageSteps.S9999_STEP_END:
|
{
|
_stage2Step = StageSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public bool Move_Z_1_Down_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_Z_Down_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_Z_Down_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorZ1.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Z_1_Up_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_Z_Up_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_Z_Up_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorZ1.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_R_1_Deg_0_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_T_0_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_T_0_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorR1.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_R_1_Deg_180_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_T_180_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_1_T_180_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorR1.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Z_2_Down_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_Z_Down_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_Z_Down_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorZ2.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_Z_2_Up_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_Z_Up_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_Z_Up_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorZ2.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_R_2_Deg_0_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_T_0_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_T_0_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorR2.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Move_R_2_Deg_180_Position()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_T_180_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Reverse_Unit_2_T_180_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorR2.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Picker_1_Scrap()
|
{
|
if (UnitMode == En_Equipment_Mode.Auto || equipment.Auto_Mode)
|
{
|
Interlock_Manager.Add_Interlock_Msg("Pre_Align_Stage_1 Scrap Can't Start", "Equipment mode is Auto.");
|
return false;
|
}
|
|
_stage1Step = StageSteps.S9000_SCRAP_START;
|
|
return true;
|
}
|
|
public bool Picker_2_Scrap()
|
{
|
if (UnitMode == En_Equipment_Mode.Auto || equipment.Auto_Mode)
|
{
|
Interlock_Manager.Add_Interlock_Msg("Pre_Align_Stage_2 Scrap Can't Start", "Equipment mode is Auto.");
|
return false;
|
}
|
|
_stage2Step = StageSteps.S9000_SCRAP_START;
|
|
return true;
|
}
|
#endregion
|
}
|
}
|
