using DIT.SharedMemory;
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using MMCE_Test;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using static MMCE_Test.NMCSDKLib;
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namespace SHARP_CLAS_UI
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{
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#region enum
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#endregion
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public class Sharp_Board_Control : IDisposable
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{
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#region Property
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public Dictionary<InputAxis, DI> Inputs { get; private set; }
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public Dictionary<OutputAxis, DO> Outputs { get; private set; }
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public Dictionary<AnalogAxis, Analog> Analogs { get; private set; }
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public Dictionary<MotorAxis, Axis> Motors { get; private set; }
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public ushort BoardID { get; private set; }
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public bool BoardInit { get; private set; }
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public EcMstMode BoardMode { get; private set; }
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#endregion
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#region Field
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ushort[] DOMap;
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ushort[] DIMap;
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ushort[] AnalogMap;
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ushort[] AxisMap;
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Thread Board_Data_Update_Th;
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Thread DI_Data_Update_Th;
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Thread DO_Data_Update_Th;
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Thread Axis_Data_Update_Th;
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Thread Addr_Data_update_Th;
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Thread Interlock_Th;
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Equipment _equip;
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public IO_Manager IO_manager;
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bool IsDisposed;
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#endregion
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public Sharp_Board_Control(Equipment _equip)
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{
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this._equip = _equip;
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IsDisposed = false;
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Sharp_Board_Control_Start();
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}
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private void Sharp_Board_Control_Start()
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{
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BoardID = 0;
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Inputs = new Dictionary<InputAxis, DI>();
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Outputs = new Dictionary<OutputAxis, DO>();
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Analogs = new Dictionary<AnalogAxis, Analog>();
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Motors = new Dictionary<MotorAxis, Axis>();
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Init_Alias();
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Init_Thread();
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IO_manager = new IO_Manager();
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}
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public void Dispose()
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{
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IsDisposed = true;
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Board_Data_Update_Th.Abort();
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DI_Data_Update_Th.Abort();
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DO_Data_Update_Th.Abort();
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Axis_Data_Update_Th.Abort();
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Addr_Data_update_Th.Abort();
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Interlock_Th.Abort();
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}
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private void Init_Alias()
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{
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//Inputs
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foreach (ushort i in Enum.GetValues(typeof(InputAxis)))
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{
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Inputs.Add((InputAxis)i, new DI(BoardID, i, 32));
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}
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//Outputs
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foreach (ushort i in Enum.GetValues(typeof(OutputAxis)))
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{
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Outputs.Add((OutputAxis)i, new DO(BoardID, i, 32));
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}
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foreach(ushort i in Enum.GetValues(typeof(AnalogAxis)))
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{
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Analogs.Add((AnalogAxis)i, new Analog(BoardID, i));
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}
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//Motors
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foreach(ushort i in Enum.GetValues(typeof(MotorAxis)))
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{
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Motors.Add((MotorAxis)i, new Axis(this, BoardID, i));
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}
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}
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private void Init_Thread()
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{
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Board_Data_Update_Th = new Thread(Board_Data_Update_Th_Set);
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DI_Data_Update_Th = new Thread(DI_Data_Update_Th_Set);
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DO_Data_Update_Th = new Thread(DO_Data_Update_Th_Set);
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Axis_Data_Update_Th = new Thread(Axis_Data_Update_Th_Set);
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Addr_Data_update_Th = new Thread(Addr_Data_update_Th_Set);
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Interlock_Th = new Thread(Interlock_Th_Set);
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Board_Data_Update_Th.Start();
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DI_Data_Update_Th.Start();
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DO_Data_Update_Th.Start();
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Axis_Data_Update_Th.Start();
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Addr_Data_update_Th.Start();
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Interlock_Th.Start();
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}
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private void Board_Data_Update_Th_Set()
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{
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while (!IsDisposed)
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{
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Thread.Sleep(50);
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Board_Data_Update();
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}
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}
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private void DI_Data_Update_Th_Set()
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{
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while (!IsDisposed)
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{
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Thread.Sleep(50);
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DI_Data_Update();
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}
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}
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private void DO_Data_Update_Th_Set()
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{
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while (!IsDisposed)
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{
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Thread.Sleep(50);
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DO_Data_Update();
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}
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}
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private void Axis_Data_Update_Th_Set()
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{
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while (!IsDisposed)
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{
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Thread.Sleep(50);
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Axis_Data_Update();
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Addr_Data_update();
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}
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}
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private void Addr_Data_update_Th_Set()
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{
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while (!IsDisposed)
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{
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Thread.Sleep(50);
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Analog_Data_Update();
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}
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}
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private void Interlock_Th_Set()
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{
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while (!IsDisposed)
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{
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Thread.Sleep(50);
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try
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{
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Interlock_Update();
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}
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catch(Exception)
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{
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}
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}
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}
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private void Board_Data_Update()
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{
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try
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{
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DateTime dt = DateTime.Now;
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Get_Board_Mode();
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if (BoardInit == false)
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{
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if(!Board_Init())
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{
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//Board Control 확인 Alarm 추가.
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return;
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}
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else
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{
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if (Board_Run())
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{
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foreach (Axis axis in Motors.Values)
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{
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axis.MC_Error_Reset();
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axis.Amp_On();
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}
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}
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}
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}
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ushort DICount = 0;
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ushort DOCount = 0;
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ushort AnalogCount = 0;
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NMCSDKLib.MasterGet_DO_DeviceCount(BoardID, ref DOCount);
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NMCSDKLib.MasterGet_DI_DeviceCount(BoardID, ref DICount);
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NMCSDKLib.MasterGet_AO_DeviceCount(BoardID, ref AnalogCount);
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DIMap = new ushort[DICount];
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DOMap = new ushort[DOCount];
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AnalogMap = new ushort[AnalogCount];
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if (DICount > 0)
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NMCSDKLib.MasterGet_DI_DeviceID(BoardID, DIMap);
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if (DOCount > 0)
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NMCSDKLib.MasterGet_DO_DeviceID(BoardID, DOMap);
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AxisMap = new ushort[100];
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uint AxisCount = 0;
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NMCSDKLib.MasterGetAxesID(BoardID, AxisMap);
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NMCSDKLib.MasterGetAxesCount(BoardID, ref AxisCount);
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uint uAxisCount = AxisCount;
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TimeSpan ts = DateTime.Now - dt;
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}
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catch (Exception ex)
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{
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}
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}
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private void DI_Data_Update()
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{
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try
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{
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DateTime dt = DateTime.Now;
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if (!BoardInit) return;
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int inputaxis = 0;
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SharedmemoryAddressInfo[] inputmemory = Input_Memory_Address.Get_Address_Infos();
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foreach (DI input in Inputs.Values)
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{
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if (DIMap.Contains(input.Device_Id))
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{
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EcState state;
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if(input.Get_State(out state))
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{
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if(state == EcState.eST_OP)
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{
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if (input.Get_Input())
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{
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for (int i = 0; i < input.Status.Length; i++)
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{
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_equip.sm.Set_Bit(inputmemory[inputaxis * input.Status.Length + i], input.Status[i]);
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}
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}
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}
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}
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}
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inputaxis++;
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}
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TimeSpan ts = DateTime.Now - dt;
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}
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catch (Exception ex)
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{
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}
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}
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private void DO_Data_Update()
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{
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try
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{
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DateTime dt = DateTime.Now;
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if (!BoardInit) return;
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int outputaxis = 0;
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SharedmemoryAddressInfo[] outputmemory= Output_Memory_Address.Get_Address_Infos();
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foreach (DO output in Outputs.Values)
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{
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if (DOMap.Contains(output.Device_Id))
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{
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EcState state;
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if (output.Get_State(out state))
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{
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if (state == EcState.eST_OP)
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{
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if (output.Get_Ouput())
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{
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for (int i = 0; i < output.Status.Length; i++)
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{
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_equip.sm.Set_Bit(outputmemory[outputaxis * output.Status.Length + i], output.Status[i]);
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}
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}
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}
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}
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}
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outputaxis++;
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}
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TimeSpan ts = DateTime.Now - dt;
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}
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catch (Exception ex)
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{
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}
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}
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private void Axis_Data_Update()
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{
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try
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{
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DateTime dt = DateTime.Now;
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if (!BoardInit) return;
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EcState state;
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foreach (Axis axis in Motors.Values)
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{
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if (AxisMap.Contains(axis.Device_Id))
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{
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if (axis.Get_State(out state))
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{
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if (state == EcState.eST_OP)
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{
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axis.Get_Actual_Position();
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axis.Get_Actual_Velocity();
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axis.Get_Axis_Status();
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axis.ErrorInfo();
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}
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}
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}
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}
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TimeSpan ts = DateTime.Now - dt;
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}
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catch (Exception ex)
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{
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}
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}
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private void Addr_Data_update()
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{
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try
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{
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DateTime dt = DateTime.Now;
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_equip.sm.Set_Bit(RS_Automation_Motor_Address.Board_Init, BoardInit);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Status, Motors[MotorAxis.LD_Tray_In_Port].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Error_ID, Motors[MotorAxis.LD_Tray_In_Port].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Error_Info_0, Motors[MotorAxis.LD_Tray_In_Port].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Error_Info_1, Motors[MotorAxis.LD_Tray_In_Port].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Actual_Position, Motors[MotorAxis.LD_Tray_In_Port].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Actual_Velocity, Motors[MotorAxis.LD_Tray_In_Port].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Port_Status, Motors[MotorAxis.LD_Tray_Out_Port].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Port_Error_ID, Motors[MotorAxis.LD_Tray_Out_Port].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Port_Error_Info_0, Motors[MotorAxis.LD_Tray_Out_Port].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Port_Error_Info_1, Motors[MotorAxis.LD_Tray_Out_Port].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Port_Actual_Position, Motors[MotorAxis.LD_Tray_Out_Port].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Port_Actual_Velocity, Motors[MotorAxis.LD_Tray_Out_Port].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Lift_Status, Motors[MotorAxis.LD_Tray_In_Lift].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Lift_Error_ID, Motors[MotorAxis.LD_Tray_In_Lift].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Lift_Error_Info_0, Motors[MotorAxis.LD_Tray_In_Lift].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Lift_Error_Info_1, Motors[MotorAxis.LD_Tray_In_Lift].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Lift_Actual_Position, Motors[MotorAxis.LD_Tray_In_Lift].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Lift_Actual_Velocity, Motors[MotorAxis.LD_Tray_In_Lift].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Lift_Status, Motors[MotorAxis.LD_Tray_Out_Lift].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Lift_Error_ID, Motors[MotorAxis.LD_Tray_Out_Lift].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Lift_Error_Info_0, Motors[MotorAxis.LD_Tray_Out_Lift].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Lift_Error_Info_1, Motors[MotorAxis.LD_Tray_Out_Lift].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Lift_Actual_Position, Motors[MotorAxis.LD_Tray_Out_Lift].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_Out_Lift_Actual_Velocity, Motors[MotorAxis.LD_Tray_Out_Lift].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_TR_X_Status, Motors[MotorAxis.LD_Tray_TR_X].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_TR_X_Error_ID, Motors[MotorAxis.LD_Tray_TR_X].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_TR_X_Error_Info_0, Motors[MotorAxis.LD_Tray_TR_X].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_TR_X_Error_Info_1, Motors[MotorAxis.LD_Tray_TR_X].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_TR_X_Actual_Position, Motors[MotorAxis.LD_Tray_TR_X].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_TR_X_Actual_Velocity, Motors[MotorAxis.LD_Tray_TR_X].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_X_Status, Motors[MotorAxis.LD_Handler_1_X].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_X_Error_ID, Motors[MotorAxis.LD_Handler_1_X].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_X_Error_Info_0, Motors[MotorAxis.LD_Handler_1_X].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_X_Error_Info_1, Motors[MotorAxis.LD_Handler_1_X].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_X_Actual_Position, Motors[MotorAxis.LD_Handler_1_X].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_X_Actual_Velocity, Motors[MotorAxis.LD_Handler_1_X].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_X_Status, Motors[MotorAxis.LD_Handler_2_X].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_X_Error_ID, Motors[MotorAxis.LD_Handler_2_X].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_X_Error_Info_0, Motors[MotorAxis.LD_Handler_2_X].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_X_Error_Info_1, Motors[MotorAxis.LD_Handler_2_X].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_X_Actual_Position, Motors[MotorAxis.LD_Handler_2_X].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_X_Actual_Velocity, Motors[MotorAxis.LD_Handler_2_X].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_Y_Status, Motors[MotorAxis.LD_Handler_1_Y].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_Y_Error_ID, Motors[MotorAxis.LD_Handler_1_Y].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_Y_Error_Info_0, Motors[MotorAxis.LD_Handler_1_Y].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_Y_Error_Info_1, Motors[MotorAxis.LD_Handler_1_Y].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_Y_Actual_Position, Motors[MotorAxis.LD_Handler_1_Y].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_1_Y_Actual_Velocity, Motors[MotorAxis.LD_Handler_1_Y].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_Y_Status, Motors[MotorAxis.LD_Handler_2_Y].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_Y_Error_ID, Motors[MotorAxis.LD_Handler_2_Y].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_Y_Error_Info_0, Motors[MotorAxis.LD_Handler_2_Y].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_Y_Error_Info_1, Motors[MotorAxis.LD_Handler_2_Y].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_Y_Actual_Position, Motors[MotorAxis.LD_Handler_2_Y].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Handler_2_Y_Actual_Velocity, Motors[MotorAxis.LD_Handler_2_Y].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Status, Motors[MotorAxis.LD_Tray_In_Port].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Error_ID, Motors[MotorAxis.LD_Tray_In_Port].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Error_Info_0, Motors[MotorAxis.LD_Tray_In_Port].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Error_Info_1, Motors[MotorAxis.LD_Tray_In_Port].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Actual_Position, Motors[MotorAxis.LD_Tray_In_Port].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Tray_In_Port_Actual_Velocity, Motors[MotorAxis.LD_Tray_In_Port].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_1_Status, Motors[MotorAxis.LD_Rotation_Unit_Z_1].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_1_Error_ID, Motors[MotorAxis.LD_Rotation_Unit_Z_1].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_1_Error_Info_0, Motors[MotorAxis.LD_Rotation_Unit_Z_1].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_1_Error_Info_1, Motors[MotorAxis.LD_Rotation_Unit_Z_1].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_1_Actual_Position, Motors[MotorAxis.LD_Rotation_Unit_Z_1].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_1_Actual_Velocity, Motors[MotorAxis.LD_Rotation_Unit_Z_1].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_1_Status, Motors[MotorAxis.LD_Rotation_Unit_R_1].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_1_Error_ID, Motors[MotorAxis.LD_Rotation_Unit_R_1].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_1_Error_Info_0, Motors[MotorAxis.LD_Rotation_Unit_R_1].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_1_Error_Info_1, Motors[MotorAxis.LD_Rotation_Unit_R_1].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_1_Actual_Position, Motors[MotorAxis.LD_Rotation_Unit_R_1].Position);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_1_Actual_Velocity, Motors[MotorAxis.LD_Rotation_Unit_R_1].Velocity);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_2_Status, Motors[MotorAxis.LD_Rotation_Unit_Z_2].AxisStatus);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_2_Error_ID, Motors[MotorAxis.LD_Rotation_Unit_Z_2].ErrorID);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_2_Error_Info_0, Motors[MotorAxis.LD_Rotation_Unit_Z_2].ErrorInfo0);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_2_Error_Info_1, Motors[MotorAxis.LD_Rotation_Unit_Z_2].ErrorInfo1);
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_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_2_Actual_Position, Motors[MotorAxis.LD_Rotation_Unit_Z_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_Z_2_Actual_Velocity, Motors[MotorAxis.LD_Rotation_Unit_Z_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_2_Status, Motors[MotorAxis.LD_Rotation_Unit_R_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_2_Error_ID, Motors[MotorAxis.LD_Rotation_Unit_R_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_2_Error_Info_0, Motors[MotorAxis.LD_Rotation_Unit_R_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_2_Error_Info_1, Motors[MotorAxis.LD_Rotation_Unit_R_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_2_Actual_Position, Motors[MotorAxis.LD_Rotation_Unit_R_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.LD_Rotation_Unit_R_2_Actual_Velocity, Motors[MotorAxis.LD_Rotation_Unit_R_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_1_Status, Motors[MotorAxis.Pre_Align_Stage_X_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_1_Error_ID, Motors[MotorAxis.Pre_Align_Stage_X_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_1_Error_Info_0, Motors[MotorAxis.Pre_Align_Stage_X_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_1_Error_Info_1, Motors[MotorAxis.Pre_Align_Stage_X_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_1_Actual_Position, Motors[MotorAxis.Pre_Align_Stage_X_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_1_Actual_Velocity, Motors[MotorAxis.Pre_Align_Stage_X_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_1_Status, Motors[MotorAxis.Pre_Align_Stage_Y_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_1_Error_ID, Motors[MotorAxis.Pre_Align_Stage_Y_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_1_Error_Info_0, Motors[MotorAxis.Pre_Align_Stage_Y_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_1_Error_Info_1, Motors[MotorAxis.Pre_Align_Stage_Y_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_1_Actual_Position, Motors[MotorAxis.Pre_Align_Stage_Y_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_1_Actual_Velocity, Motors[MotorAxis.Pre_Align_Stage_Y_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_1_Status, Motors[MotorAxis.Pre_Align_Stage_T_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_1_Error_ID, Motors[MotorAxis.Pre_Align_Stage_T_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_1_Error_Info_0, Motors[MotorAxis.Pre_Align_Stage_T_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_1_Error_Info_1, Motors[MotorAxis.Pre_Align_Stage_T_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_1_Actual_Position, Motors[MotorAxis.Pre_Align_Stage_T_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_1_Actual_Velocity, Motors[MotorAxis.Pre_Align_Stage_T_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_2_Status, Motors[MotorAxis.Pre_Align_Stage_X_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_2_Error_ID, Motors[MotorAxis.Pre_Align_Stage_X_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_2_Error_Info_0, Motors[MotorAxis.Pre_Align_Stage_X_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_2_Error_Info_1, Motors[MotorAxis.Pre_Align_Stage_X_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_2_Actual_Position, Motors[MotorAxis.Pre_Align_Stage_X_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_X_2_Actual_Velocity, Motors[MotorAxis.Pre_Align_Stage_X_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_2_Status, Motors[MotorAxis.Pre_Align_Stage_Y_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_2_Error_ID, Motors[MotorAxis.Pre_Align_Stage_Y_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_2_Error_Info_0, Motors[MotorAxis.Pre_Align_Stage_Y_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_2_Error_Info_1, Motors[MotorAxis.Pre_Align_Stage_Y_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_2_Actual_Position, Motors[MotorAxis.Pre_Align_Stage_Y_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_Y_2_Actual_Velocity, Motors[MotorAxis.Pre_Align_Stage_Y_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_2_Status, Motors[MotorAxis.Pre_Align_Stage_T_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_2_Error_ID, Motors[MotorAxis.Pre_Align_Stage_T_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_2_Error_Info_0, Motors[MotorAxis.Pre_Align_Stage_T_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_2_Error_Info_1, Motors[MotorAxis.Pre_Align_Stage_T_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_2_Actual_Position, Motors[MotorAxis.Pre_Align_Stage_T_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Pre_Align_Stage_T_2_Actual_Velocity, Motors[MotorAxis.Pre_Align_Stage_T_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_X_Status, Motors[MotorAxis.Ablation_X].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_X_Error_ID, Motors[MotorAxis.Ablation_X].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_X_Error_Info_0, Motors[MotorAxis.Ablation_X].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_X_Error_Info_1, Motors[MotorAxis.Ablation_X].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_X_Actual_Position, Motors[MotorAxis.Ablation_X].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_X_Actual_Velocity, Motors[MotorAxis.Ablation_X].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_1_Status, Motors[MotorAxis.Ablation_Y_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_1_Error_ID, Motors[MotorAxis.Ablation_Y_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_1_Error_Info_0, Motors[MotorAxis.Ablation_Y_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_1_Error_Info_1, Motors[MotorAxis.Ablation_Y_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_1_Actual_Position, Motors[MotorAxis.Ablation_Y_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_1_Actual_Velocity, Motors[MotorAxis.Ablation_Y_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_2_Status, Motors[MotorAxis.Ablation_Y_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_2_Error_ID, Motors[MotorAxis.Ablation_Y_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_2_Error_Info_0, Motors[MotorAxis.Ablation_Y_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_2_Error_Info_1, Motors[MotorAxis.Ablation_Y_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_2_Actual_Position, Motors[MotorAxis.Ablation_Y_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Y_2_Actual_Velocity, Motors[MotorAxis.Ablation_Y_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Z_Status, Motors[MotorAxis.Ablation_Z].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Z_Error_ID, Motors[MotorAxis.Ablation_Z].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Z_Error_Info_0, Motors[MotorAxis.Ablation_Z].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Z_Error_Info_1, Motors[MotorAxis.Ablation_Z].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Z_Actual_Position, Motors[MotorAxis.Ablation_Z].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Ablation_Z_Actual_Velocity, Motors[MotorAxis.Ablation_Z].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Fine_Align_X_Status, Motors[MotorAxis.Fine_Align_X].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Fine_Align_X_Error_ID, Motors[MotorAxis.Fine_Align_X].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Fine_Align_X_Error_Info_0, Motors[MotorAxis.Fine_Align_X].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Fine_Align_X_Error_Info_1, Motors[MotorAxis.Fine_Align_X].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Fine_Align_X_Actual_Position, Motors[MotorAxis.Fine_Align_X].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Fine_Align_X_Actual_Velocity, Motors[MotorAxis.Fine_Align_X].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Plasma_X_Status, Motors[MotorAxis.Plasma_X].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Plasma_X_Error_ID, Motors[MotorAxis.Plasma_X].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Plasma_X_Error_Info_0, Motors[MotorAxis.Plasma_X].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Plasma_X_Error_Info_1, Motors[MotorAxis.Plasma_X].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Plasma_X_Actual_Position, Motors[MotorAxis.Plasma_X].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.Plasma_X_Actual_Velocity, Motors[MotorAxis.Plasma_X].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_1_Status, Motors[MotorAxis.AOI_Stage_T_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_1_Error_ID, Motors[MotorAxis.AOI_Stage_T_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_1_Error_Info_0, Motors[MotorAxis.AOI_Stage_T_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_1_Error_Info_1, Motors[MotorAxis.AOI_Stage_T_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_1_Actual_Position, Motors[MotorAxis.AOI_Stage_T_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_1_Actual_Velocity, Motors[MotorAxis.AOI_Stage_T_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_2_Status, Motors[MotorAxis.AOI_Stage_T_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_2_Error_ID, Motors[MotorAxis.AOI_Stage_T_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_2_Error_Info_0, Motors[MotorAxis.AOI_Stage_T_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_2_Error_Info_1, Motors[MotorAxis.AOI_Stage_T_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_2_Actual_Position, Motors[MotorAxis.AOI_Stage_T_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.AOI_Stage_T_2_Actual_Velocity, Motors[MotorAxis.AOI_Stage_T_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_1_Status, Motors[MotorAxis.ULD_Rotation_Unit_Z_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_1_Error_ID, Motors[MotorAxis.ULD_Rotation_Unit_Z_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_1_Error_Info_0, Motors[MotorAxis.ULD_Rotation_Unit_Z_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_1_Error_Info_1, Motors[MotorAxis.ULD_Rotation_Unit_Z_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_1_Actual_Position, Motors[MotorAxis.ULD_Rotation_Unit_Z_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_1_Actual_Velocity, Motors[MotorAxis.ULD_Rotation_Unit_Z_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_1_Status, Motors[MotorAxis.ULD_Rotation_Unit_R_1].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_1_Error_ID, Motors[MotorAxis.ULD_Rotation_Unit_R_1].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_1_Error_Info_0, Motors[MotorAxis.ULD_Rotation_Unit_R_1].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_1_Error_Info_1, Motors[MotorAxis.ULD_Rotation_Unit_R_1].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_1_Actual_Position, Motors[MotorAxis.ULD_Rotation_Unit_R_1].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_1_Actual_Velocity, Motors[MotorAxis.ULD_Rotation_Unit_R_1].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_2_Status, Motors[MotorAxis.ULD_Rotation_Unit_Z_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_2_Error_ID, Motors[MotorAxis.ULD_Rotation_Unit_Z_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_2_Error_Info_0, Motors[MotorAxis.ULD_Rotation_Unit_Z_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_2_Error_Info_1, Motors[MotorAxis.ULD_Rotation_Unit_Z_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_2_Actual_Position, Motors[MotorAxis.ULD_Rotation_Unit_Z_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_Z_2_Actual_Velocity, Motors[MotorAxis.ULD_Rotation_Unit_Z_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_2_Status, Motors[MotorAxis.ULD_Rotation_Unit_R_2].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_2_Error_ID, Motors[MotorAxis.ULD_Rotation_Unit_R_2].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_2_Error_Info_0, Motors[MotorAxis.ULD_Rotation_Unit_R_2].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_2_Error_Info_1, Motors[MotorAxis.ULD_Rotation_Unit_R_2].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_2_Actual_Position, Motors[MotorAxis.ULD_Rotation_Unit_R_2].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Rotation_Unit_R_2_Actual_Velocity, Motors[MotorAxis.ULD_Rotation_Unit_R_2].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_X_Status, Motors[MotorAxis.ULD_Handler_1_X].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_X_Error_ID, Motors[MotorAxis.ULD_Handler_1_X].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_X_Error_Info_0, Motors[MotorAxis.ULD_Handler_1_X].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_X_Error_Info_1, Motors[MotorAxis.ULD_Handler_1_X].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_X_Actual_Position, Motors[MotorAxis.ULD_Handler_1_X].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_X_Actual_Velocity, Motors[MotorAxis.ULD_Handler_1_X].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_X_Status, Motors[MotorAxis.ULD_Handler_2_X].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_X_Error_ID, Motors[MotorAxis.ULD_Handler_2_X].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_X_Error_Info_0, Motors[MotorAxis.ULD_Handler_2_X].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_X_Error_Info_1, Motors[MotorAxis.ULD_Handler_2_X].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_X_Actual_Position, Motors[MotorAxis.ULD_Handler_2_X].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_X_Actual_Velocity, Motors[MotorAxis.ULD_Handler_2_X].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_Y_Status, Motors[MotorAxis.ULD_Handler_1_Y].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_Y_Error_ID, Motors[MotorAxis.ULD_Handler_1_Y].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_Y_Error_Info_0, Motors[MotorAxis.ULD_Handler_1_Y].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_Y_Error_Info_1, Motors[MotorAxis.ULD_Handler_1_Y].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_Y_Actual_Position, Motors[MotorAxis.ULD_Handler_1_Y].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_1_Y_Actual_Velocity, Motors[MotorAxis.ULD_Handler_1_Y].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_Y_Status, Motors[MotorAxis.ULD_Handler_2_Y].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_Y_Error_ID, Motors[MotorAxis.ULD_Handler_2_Y].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_Y_Error_Info_0, Motors[MotorAxis.ULD_Handler_2_Y].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_Y_Error_Info_1, Motors[MotorAxis.ULD_Handler_2_Y].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_Y_Actual_Position, Motors[MotorAxis.ULD_Handler_2_Y].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Handler_2_Y_Actual_Velocity, Motors[MotorAxis.ULD_Handler_2_Y].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Lift_Z_Status, Motors[MotorAxis.ULD_Tray_OK_Lift_Z].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Lift_Z_Error_ID, Motors[MotorAxis.ULD_Tray_OK_Lift_Z].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Lift_Z_Error_Info_0, Motors[MotorAxis.ULD_Tray_OK_Lift_Z].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Lift_Z_Error_Info_1, Motors[MotorAxis.ULD_Tray_OK_Lift_Z].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Lift_Z_Actual_Position, Motors[MotorAxis.ULD_Tray_OK_Lift_Z].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Lift_Z_Actual_Velocity, Motors[MotorAxis.ULD_Tray_OK_Lift_Z].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_NG_Lift_Z_Status, Motors[MotorAxis.ULD_Tray_NG_Lift_Z].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_NG_Lift_Z_Error_ID, Motors[MotorAxis.ULD_Tray_NG_Lift_Z].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_NG_Lift_Z_Error_Info_0, Motors[MotorAxis.ULD_Tray_NG_Lift_Z].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_NG_Lift_Z_Error_Info_1, Motors[MotorAxis.ULD_Tray_NG_Lift_Z].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_NG_Lift_Z_Actual_Position, Motors[MotorAxis.ULD_Tray_NG_Lift_Z].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_NG_Lift_Z_Actual_Velocity, Motors[MotorAxis.ULD_Tray_NG_Lift_Z].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Lift_Z_Status, Motors[MotorAxis.ULD_Tray_IN_Lift_Z].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Lift_Z_Error_ID, Motors[MotorAxis.ULD_Tray_IN_Lift_Z].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Lift_Z_Error_Info_0, Motors[MotorAxis.ULD_Tray_IN_Lift_Z].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Lift_Z_Error_Info_1, Motors[MotorAxis.ULD_Tray_IN_Lift_Z].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Lift_Z_Actual_Position, Motors[MotorAxis.ULD_Tray_IN_Lift_Z].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Lift_Z_Actual_Velocity, Motors[MotorAxis.ULD_Tray_IN_Lift_Z].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_TR_X_Status, Motors[MotorAxis.ULD_Tray_TR_X].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_TR_X_Error_ID, Motors[MotorAxis.ULD_Tray_TR_X].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_TR_X_Error_Info_0, Motors[MotorAxis.ULD_Tray_TR_X].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_TR_X_Error_Info_1, Motors[MotorAxis.ULD_Tray_TR_X].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_TR_X_Actual_Position, Motors[MotorAxis.ULD_Tray_TR_X].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_TR_X_Actual_Velocity, Motors[MotorAxis.ULD_Tray_TR_X].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Port_Status, Motors[MotorAxis.ULD_Tray_OK_Port].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Port_Error_ID, Motors[MotorAxis.ULD_Tray_OK_Port].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Port_Error_Info_0, Motors[MotorAxis.ULD_Tray_OK_Port].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Port_Error_Info_1, Motors[MotorAxis.ULD_Tray_OK_Port].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Port_Actual_Position, Motors[MotorAxis.ULD_Tray_OK_Port].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_OK_Port_Actual_Velocity, Motors[MotorAxis.ULD_Tray_OK_Port].Velocity);
|
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Port_Status, Motors[MotorAxis.ULD_Tray_IN_Port].AxisStatus);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Port_Error_ID, Motors[MotorAxis.ULD_Tray_IN_Port].ErrorID);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Port_Error_Info_0, Motors[MotorAxis.ULD_Tray_IN_Port].ErrorInfo0);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Port_Error_Info_1, Motors[MotorAxis.ULD_Tray_IN_Port].ErrorInfo1);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Port_Actual_Position, Motors[MotorAxis.ULD_Tray_IN_Port].Position);
|
_equip.sm.Set_Value(RS_Automation_Motor_Address.ULD_Tray_IN_Port_Actual_Velocity, Motors[MotorAxis.ULD_Tray_IN_Port].Velocity);
|
|
TimeSpan ts = DateTime.Now - dt;
|
}
|
catch (Exception ex)
|
{
|
|
}
|
}
|
|
private void Analog_Data_Update()
|
{
|
try
|
{
|
DateTime dt = DateTime.Now;
|
|
if (!BoardInit) return;
|
|
EcState state;
|
|
foreach (Analog analog in Analogs.Values)
|
{
|
if (analog.Get_State(out state))
|
{
|
if (state == EcState.eST_OP)
|
{
|
if(analog.Get_Values())
|
{
|
if (analog.Device_Id == (ushort)AnalogAxis.Slave1)
|
{
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.CDA_1_Pressure_Switch_Air_Cylinder, analog.Datas[0]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.CDA_1_Pressure_Switch_Vaccum, analog.Datas[1]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.CDA_1_Pressure_Switch_Stage_Ionizer, analog.Datas[2]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.CDA_1_Pressure_Switch_Stage_Vaccum, analog.Datas[3]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Pre_Align_Stage_1_Vaccum_Pressure, analog.Datas[4]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Pre_Align_Stage_2_Vaccum_Pressure, analog.Datas[5]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.AOI_Stage_1_Vaccum_Pressure, analog.Datas[6]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.AOI_Stage_2_Vaccum_Pressure, analog.Datas[7]);
|
}
|
else if (analog.Device_Id == (ushort)AnalogAxis.Slave2)
|
{
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_1_1_Vaccum_Pressure, analog.Datas[0]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_1_2_Vaccum_Pressure, analog.Datas[1]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_2_1_Vaccum_Pressure, analog.Datas[2]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_2_2_Vaccum_Pressure, analog.Datas[3]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_3_1_Vaccum_Pressure, analog.Datas[4]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_3_2_Vaccum_Pressure, analog.Datas[5]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_4_1_Vaccum_Pressure, analog.Datas[6]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Ablation_Stage_4_2_Vaccum_Pressure, analog.Datas[7]);
|
}
|
else if (analog.Device_Id == (ushort)AnalogAxis.Slave3)
|
{
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Tray_Transfer_Vaccum_Pressure, analog.Datas[0]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Cell_Handler_1_1_Vaccum_Pressure, analog.Datas[1]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Cell_Handler_1_2_Vaccum_Pressure, analog.Datas[2]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Cell_Handler_2_1_Vaccum_Pressure, analog.Datas[3]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Cell_Handler_2_2_Vaccum_Pressure, analog.Datas[4]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Cell_Reverse_1_Vaccum_Pressure, analog.Datas[5]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.LD_Cell_Reverse_2_Vaccum_Pressure, analog.Datas[6]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Reserved_3_CH8, analog.Datas[7]);
|
}
|
else
|
{
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Tray_Transfer_Vaccum_Pressure, analog.Datas[0]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Cell_Handler_1_1_Vaccum_Pressure, analog.Datas[1]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Cell_Handler_1_2_Vaccum_Pressure, analog.Datas[2]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Cell_Handler_2_1_Vaccum_Pressure, analog.Datas[3]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Cell_Handler_2_2_Vaccum_Pressure, analog.Datas[4]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Cell_Reverse_1_Vaccum_Pressure, analog.Datas[5]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.ULD_Cell_Reverse_2_Vaccum_Pressure, analog.Datas[6]);
|
_equip.sm.Set_Value(Analog_Data_Memory_Address.Reserved_4_CH8, analog.Datas[7]);
|
}
|
}
|
}
|
}
|
}
|
|
TimeSpan ts = DateTime.Now - dt;
|
}
|
catch (Exception ex)
|
{
|
|
}
|
}
|
private void Interlock_Update()
|
{
|
bool value;
|
if(_equip.sm.Get_Bit(Input_Memory_Address.LD_Handle_1_Collision_Prevention, out value))
|
{
|
if(value == false)
|
{
|
Motors[MotorAxis.LD_Handler_1_Y].Move_Stop(500);
|
|
Motors[MotorAxis.LD_Handler_2_Y].Move_Stop(500);
|
}
|
}
|
|
if (_equip.sm.Get_Bit(Input_Memory_Address.ULD_Handle_1_Collision_Prevention, out value))
|
{
|
if (value == false)
|
{
|
Motors[MotorAxis.ULD_Handler_1_Y].Move_Stop(500);
|
|
Motors[MotorAxis.ULD_Handler_2_Y].Move_Stop(500);
|
}
|
}
|
}
|
|
public bool Board_Init()
|
{
|
try
|
{
|
NMCSDKLib.MC_STATUS mc;
|
mc = NMCSDKLib.MC_Init();
|
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
BoardInit = true;
|
return true;
|
}
|
else
|
{
|
BoardInit = false;
|
return false;
|
}
|
}
|
catch(Exception ex)
|
{
|
BoardInit = false;
|
return false;
|
}
|
}
|
|
public bool Get_Board_Mode()
|
{
|
try
|
{
|
NMCSDKLib.MC_STATUS mc;
|
byte bMode = 0;
|
mc = NMCSDKLib.MasterGetCurMode(BoardID, ref bMode);
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
BoardMode = (EcMstMode)bMode;
|
return true;
|
}
|
else
|
{
|
BoardMode = (EcMstMode)bMode;
|
return false;
|
}
|
}
|
catch(Exception ex)
|
{
|
BoardMode = EcMstMode.eMM_ERR;
|
return false;
|
}
|
}
|
|
public bool Board_Run()
|
{
|
try
|
{
|
NMCSDKLib.MC_STATUS mc;
|
mc = NMCSDKLib.MC_MasterRUN(BoardID);
|
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
return true;
|
else
|
return false;
|
}
|
catch (Exception ex)
|
{
|
return false;
|
}
|
}
|
}
|
}
|
