From a4300483169869355a8c19fb78144ae59d1a0595 Mon Sep 17 00:00:00 2001
From: 천호석 <hosuk1418@naver.com>
Date: 금, 04 11월 2022 16:29:28 +0900
Subject: [PATCH] Measurement Width error 알람 추가, PREND 보고 오류 제거, S4750_ 에서 무언정지 제거
---
SHARP_CLAS_UI/500.Equipment/700.Unit/400.Unloader/ULD_Handler_1.cs | 1502 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 1,400 insertions(+), 102 deletions(-)
diff --git a/SHARP_CLAS_UI/500.Equipment/700.Unit/400.Unloader/ULD_Handler_1.cs b/SHARP_CLAS_UI/500.Equipment/700.Unit/400.Unloader/ULD_Handler_1.cs
index 0e68f2b..05eaf5b 100644
--- a/SHARP_CLAS_UI/500.Equipment/700.Unit/400.Unloader/ULD_Handler_1.cs
+++ b/SHARP_CLAS_UI/500.Equipment/700.Unit/400.Unloader/ULD_Handler_1.cs
@@ -1106,6 +1106,9 @@
var isAoiPanel1MeasurementAck = aoiStage.Stage1.IsExist == false || aoiStage.Panel1.Measurement_Ack;
var isAoiPanel2MeasurementAck = aoiStage.Stage2.IsExist == false || aoiStage.Panel2.Measurement_Ack;
+ var isAoiPanel1WidthMeasurementAck = aoiStage.Stage1.IsExist == false || aoiStage.Panel1.WidthMeasurement_Ack;
+ var isAoiPanel2WidthMeasurementAck = aoiStage.Stage2.IsExist == false || aoiStage.Panel2.WidthMeasurement_Ack;
+
switch (Step)
{
case UnloaderHandler1Steps.S4000_MEASUREMENT_START:
@@ -1674,13 +1677,26 @@
if (isAoiPanel1MeasurementAck && isAoiPanel2MeasurementAck)
{
- if (equipment.cim_mode == En_Cim_Mode.Online)
+ //AOI �셿猷�. -> Width meausrement �뿬湲곗뿉 異붽� �빐�빞 �맆�벏..?
+
+ if (equipment.Mode.Width_Measurement_Skip || equipment.WidthMeasurementCount < equipment.Setting.Width_Measurement_Count)
{
- Step = UnloaderHandler1Steps.S4600_PANEL_LEFT_CIM_SEND;
+ equipment.WidthMeasurementCount = equipment.WidthMeasurementCount + 1;
+
+ if (equipment.cim_mode == En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
}
else
{
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ equipment.WidthMeasurementCount = 0;
+ measurement_retry_cnt = 0;
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
}
}
else
@@ -1690,7 +1706,7 @@
if (measurement_retry_cnt >= equipment.Setting.Vision_Retry_Count)
{
- Step = UnloaderHandler1Steps.S4700_USER_COMMAND_START;
+ Step = UnloaderHandler1Steps.S4560_USER_COMMAND_START;
}
else
{
@@ -1708,7 +1724,7 @@
{
if (sequenceChangedTime.Minute > 5)
{
- Step = UnloaderHandler1Steps.S4700_USER_COMMAND_START;
+ Step = UnloaderHandler1Steps.S4560_USER_COMMAND_START;
}
}
else if (measurement_retry_cnt == equipment.Setting.Vision_Retry_Count)
@@ -1717,7 +1733,7 @@
Tact_Move.Stop();
equipment.Write_Tact_Time_Log($"ULD Handler 1, AOI Reading [End]");
equipment.Write_Tact_Time_Log($"ULD Handler 1, AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
- Step = UnloaderHandler1Steps.S4700_USER_COMMAND_START;
+ Step = UnloaderHandler1Steps.S4560_USER_COMMAND_START;
}
else
{
@@ -1732,100 +1748,7 @@
break;
}
- case UnloaderHandler1Steps.S4600_PANEL_LEFT_CIM_SEND:
- {
- if (equipment.cim_mode != En_Cim_Mode.Online)
- {
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
- return;
- }
-
- Panel_Info info1 = equipment.after.AoiStage.Panel1;
-
- if (equipment.after.AoiStage.Stage1.IsExist == false || info1.IsPanelIdRead == false)
- {
- Step = UnloaderHandler1Steps.S4620_PANEL_RIGHT_CIM_SEND;
- return;
- }
- else
- {
- if (equipment.cim_client.Send_Process_End("E123456", info1))
- {
- Step = UnloaderHandler1Steps.S4610_PANEL_LEFT_CIM_SEND_WAIT;
- }
- }
-
- break;
- }
- case UnloaderHandler1Steps.S4610_PANEL_LEFT_CIM_SEND_WAIT:
- {
- if (equipment.cim_mode != En_Cim_Mode.Online)
- {
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
- return;
- }
-
- if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PREND))
- {
- if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PREND))
- {
- Step = UnloaderHandler1Steps.S4620_PANEL_RIGHT_CIM_SEND;
- }
- else
- {
- Step = UnloaderHandler1Steps.S4600_PANEL_LEFT_CIM_SEND;
- }
- }
-
- break;
- }
- case UnloaderHandler1Steps.S4620_PANEL_RIGHT_CIM_SEND:
- {
- if (equipment.cim_mode != En_Cim_Mode.Online)
- {
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
- return;
- }
-
- Panel_Info info2 = equipment.after.AoiStage.Panel2;
-
- if (equipment.after.AoiStage.Stage2.IsExist == false || info2.IsPanelIdRead == false)
- {
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
- }
- else
- {
- if(equipment.cim_client.Send_Process_End("E123456", info2))
- {
- Step = UnloaderHandler1Steps.S4630_PANEL_RIGHT_CIM_SEND_WAIT;
- }
- }
-
- break;
- }
- case UnloaderHandler1Steps.S4630_PANEL_RIGHT_CIM_SEND_WAIT:
- {
- if (equipment.cim_mode != En_Cim_Mode.Online)
- {
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
- return;
- }
-
- if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PREND))
- {
- if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PREND))
- {
- Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
- }
- else
- {
- Step = UnloaderHandler1Steps.S4620_PANEL_RIGHT_CIM_SEND;
- }
- }
-
- break;
- }
- case UnloaderHandler1Steps.S4700_USER_COMMAND_START:
+ case UnloaderHandler1Steps.S4560_USER_COMMAND_START:
{
var aoistage = equipment.after.AoiStage;
Panel_Info info1 = aoistage.Panel1;
@@ -1844,10 +1767,10 @@
measurement_user_command = new Form_User_Command_Set("Measurement");
measurement_user_command_show = true;
- Step = UnloaderHandler1Steps.S4710_USER_COMMAND_WAIT;
+ Step = UnloaderHandler1Steps.S4570_USER_COMMAND_WAIT;
break;
}
- case UnloaderHandler1Steps.S4710_USER_COMMAND_WAIT:
+ case UnloaderHandler1Steps.S4570_USER_COMMAND_WAIT:
{
var aoistage = equipment.after.AoiStage;
Panel_Info info1 = aoistage.Panel1;
@@ -1948,6 +1871,1381 @@
}
break;
}
+ case UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY:
+ {
+ Tact_Move.Start();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, AOI Ready [Start]");
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4602_RIGHT_CAMERA_GRAB_READY;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Ready_Req(0, 0, 0, info.Stage_Num, info.Tray_Num, info.Panel_Num, info.Panel_ID))
+ Step = UnloaderHandler1Steps.S4601_LEFT_CAMERA_GRAB_READY_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4601_LEFT_CAMERA_GRAB_READY_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Ready_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4602_RIGHT_CAMERA_GRAB_READY;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4602_RIGHT_CAMERA_GRAB_READY:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) break;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [Tact : {Tact_Move.Seconds} (sec)]");
+
+ Step = UnloaderHandler1Steps.S4610_MOVE_MEASUREMENT_MARK1_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Ready_Req(1, 0, 0, info.Stage_Num, info.Tray_Num, info.Panel_Num, info.Panel_ID))
+ Step = UnloaderHandler1Steps.S4603_RIGHT_CAMERA_GRAB_READY_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4603_RIGHT_CAMERA_GRAB_READY_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Ready_Ack))
+ {
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [Tact : {Tact_Move.Seconds} (sec)]");
+
+ Step = UnloaderHandler1Steps.S4610_MOVE_MEASUREMENT_MARK1_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4610_MOVE_MEASUREMENT_MARK1_POSITION:
+ {
+ Tact_Move.Start();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading Position [Start]");
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark1_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark1_Y, 500))
+ Step = UnloaderHandler1Steps.S4611_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4611_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark1_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark1_Y, equipment.Setting.Inposition_Offset))
+ {
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading Position [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading Position [Tact : {Tact_Move.Seconds} (sec)]");
+
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4612_LEFT_CAMERA_MARK_1_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4610_MOVE_MEASUREMENT_MARK1_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4612_LEFT_CAMERA_MARK_1_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ Tact_Move.Start();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Start]");
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4614_RIGHT_CAMERA_MARK_1_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 0, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4613_LEFT_CAMERA_MARK_1_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4613_LEFT_CAMERA_MARK_1_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4614_RIGHT_CAMERA_MARK_1_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4614_RIGHT_CAMERA_MARK_1_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4620_MOVE_MEASUREMENT_MARK2_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 0, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4615_RIGHT_CAMERA_MARK_1_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4615_RIGHT_CAMERA_MARK_1_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4620_MOVE_MEASUREMENT_MARK2_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4620_MOVE_MEASUREMENT_MARK2_POSITION:
+ {
+ if (sequenceChangedTime.Seconds < equipment.Setting.Vision_Move_Delay) break;
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark2_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark2_Y, 500))
+ Step = UnloaderHandler1Steps.S4621_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4621_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark2_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark2_Y, equipment.Setting.Inposition_Offset))
+ {
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4622_LEFT_CAMERA_MARK_2_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4620_MOVE_MEASUREMENT_MARK2_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4622_LEFT_CAMERA_MARK_2_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4624_RIGHT_CAMERA_MARK_2_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 1, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4623_LEFT_CAMERA_MARK_2_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4623_LEFT_CAMERA_MARK_2_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4624_RIGHT_CAMERA_MARK_2_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4624_RIGHT_CAMERA_MARK_2_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ sequenceChangedTime.Start();
+
+ Step = UnloaderHandler1Steps.S4630_MOVE_MEASUREMENT_MARK3_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 1, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4625_RIGHT_CAMERA_MARK_2_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4625_RIGHT_CAMERA_MARK_2_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4630_MOVE_MEASUREMENT_MARK3_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4630_MOVE_MEASUREMENT_MARK3_POSITION:
+ {
+ if (sequenceChangedTime.Seconds < equipment.Setting.Vision_Move_Delay) break;
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark3_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark3_Y, 500))
+ Step = UnloaderHandler1Steps.S4631_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4631_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark3_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark3_Y, equipment.Setting.Inposition_Offset))
+ {
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4632_LEFT_CAMERA_MARK_3_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4630_MOVE_MEASUREMENT_MARK3_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4632_LEFT_CAMERA_MARK_3_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4634_RIGHT_CAMERA_MARK_3_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 2, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4633_LEFT_CAMERA_MARK_3_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4633_LEFT_CAMERA_MARK_3_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4634_RIGHT_CAMERA_MARK_3_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4634_RIGHT_CAMERA_MARK_3_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ sequenceChangedTime.Start();
+ Step = UnloaderHandler1Steps.S4640_MOVE_MEASUREMENT_MARK4_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 2, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4635_RIGHT_CAMERA_MARK_3_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4635_RIGHT_CAMERA_MARK_3_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4640_MOVE_MEASUREMENT_MARK4_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4640_MOVE_MEASUREMENT_MARK4_POSITION:
+ {
+ if (sequenceChangedTime.Seconds < equipment.Setting.Vision_Move_Delay) break;
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark4_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark4_Y, 500))
+ Step = UnloaderHandler1Steps.S4641_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4641_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark4_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark4_Y, equipment.Setting.Inposition_Offset))
+ {
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4642_LEFT_CAMERA_MARK_4_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4640_MOVE_MEASUREMENT_MARK4_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4642_LEFT_CAMERA_MARK_4_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4644_RIGHT_CAMERA_MARK_4_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 3, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4643_LEFT_CAMERA_MARK_4_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4643_LEFT_CAMERA_MARK_4_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4644_RIGHT_CAMERA_MARK_4_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4644_RIGHT_CAMERA_MARK_4_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ sequenceChangedTime.Start();
+ Step = UnloaderHandler1Steps.S4650_MEASUREMENT_CHECK;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 3, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4645_RIGHT_CAMERA_MARK_4_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4645_RIGHT_CAMERA_MARK_4_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4650_MEASUREMENT_CHECK;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4650_MEASUREMENT_CHECK:
+ {
+ var aoistage = equipment.after.AoiStage;
+ var info1 = aoistage.Panel1;
+ var info2 = aoistage.Panel2;
+
+ object value;
+ if ((isAoiPanel1WidthMeasurementAck || equipment.sm.Get_Bit(Vision_Address.Measurement_Left_Ack))
+ && (isAoiPanel2WidthMeasurementAck || equipment.sm.Get_Bit(Vision_Address.Measurement_Right_Ack)))
+ {
+ if (aoistage.Stage1.IsExist && info1.WidthMeasurement_Ack == false)
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Left_Ack))
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Left_Result))
+ {
+ info1.WidthMeasurement_Ack = true;
+ info1.WidthMeasurement_Result = true;
+
+ info1.End_Time = DateTime.Now;
+
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_1_Point_1, out value);
+ info1.Mark1Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_2_Point_1, out value);
+ info1.Mark2Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_3_Point_1, out value);
+ info1.Mark3Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_4_Point_1, out value);
+ info1.Mark4Width = double.Parse(value.ToString());
+
+ aoistage.Panel1 = info1;
+
+ isAoiPanel1WidthMeasurementAck = aoiStage.Stage1.IsExist == false || aoiStage.Panel1.WidthMeasurement_Ack;
+ }
+ }
+ else
+ {
+ return;
+ }
+ }
+
+ if (aoistage.Stage2.IsExist && info2.WidthMeasurement_Ack == false)
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Right_Ack))
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Right_Result))
+ {
+ info2.WidthMeasurement_Ack = true;
+ info2.WidthMeasurement_Result = true;
+
+ info2.End_Time = DateTime.Now;
+
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_1_Point_1, out value);
+ info2.Mark1Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_2_Point_1, out value);
+ info2.Mark2Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_3_Point_1, out value);
+ info2.Mark3Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_4_Point_1, out value);
+ info2.Mark4Width = double.Parse(value.ToString());
+
+ aoistage.Panel2 = info2;
+
+ isAoiPanel2WidthMeasurementAck = aoiStage.Stage2.IsExist == false || aoiStage.Panel2.WidthMeasurement_Ack;
+ }
+ }
+ else
+ {
+ return;
+ }
+ }
+
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
+
+ if (isAoiPanel1WidthMeasurementAck && isAoiPanel2WidthMeasurementAck)
+ {
+ if(equipment.Cur_Main_Recipe.vision_info.Width_AOI_8Use)
+ {
+ info1.WidthMeasurement_Ack = false;
+ info2.WidthMeasurement_Ack = false;
+ info1.WidthMeasurement_Result = false;
+ info2.WidthMeasurement_Result = false;
+
+ aoistage.Panel1 = info1;
+ aoistage.Panel2 = info2;
+
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ else
+ {
+ if (equipment.cim_mode == En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ }
+ }
+ else
+ {
+ equipment.Aoi_vision.WriteClientLog("no align result");
+ measurement_retry_cnt++;
+
+ if (measurement_retry_cnt >= equipment.Setting.Vision_Retry_Count)
+ {
+ Step = UnloaderHandler1Steps.S4660_USER_COMMAND_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ }
+ }
+ else
+ {
+ if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ measurement_retry_cnt++;
+
+ if (measurement_retry_cnt == equipment.Setting.Vision_Retry_Count)
+ {
+ equipment.Aoi_vision.WriteClientLog("no ack result");
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
+ Step = UnloaderHandler1Steps.S4660_USER_COMMAND_START;
+ }
+ else
+ {
+ equipment.Aoi_vision.WriteClientLog("no ack result");
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ }
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4660_USER_COMMAND_START:
+ {
+ var aoistage = equipment.after.AoiStage;
+ Panel_Info info1 = aoistage.Panel1;
+ Panel_Info info2 = aoistage.Panel2;
+
+ if (aoistage.Stage1.IsExist && info1.WidthMeasurement_Ack == false)
+ {
+ Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0888_MEASUREMENT_WIDTH_ERROR);
+ }
+
+ if (aoistage.Stage2.IsExist && info2.WidthMeasurement_Ack == false)
+ {
+ Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0888_MEASUREMENT_WIDTH_ERROR);
+ }
+
+ measurement_user_command = new Form_User_Command_Set("Width Measurement");
+ measurement_user_command.UserManualEnable(false);
+ measurement_user_command_show = true;
+
+ Step = UnloaderHandler1Steps.S4670_USER_COMMAND_WAIT;
+ break;
+ }
+ case UnloaderHandler1Steps.S4670_USER_COMMAND_WAIT:
+ {
+ var aoistage = equipment.after.AoiStage;
+ Panel_Info info1 = aoistage.Panel1;
+ Panel_Info info2 = aoistage.Panel2;
+
+ if (measurement_user_command.Command_Type == En_User_Command.Scrap)
+ {
+ if (aoistage.Stage1.IsExist && info1.Measurement_Ack == false)
+ {
+ aoistage.Panel1 = new Panel_Info();
+ aoistage.Stage_1_Scrap();
+ equipment.Aoi_vision.Send_Measurement_Command_Req(0, 0, info1.Tray_Num, info1.Panel_Num, info1.Panel_ID);
+ }
+
+ if (aoistage.Stage2.IsExist && info2.Measurement_Ack == false)
+ {
+ aoistage.Panel2 = new Panel_Info();
+ aoistage.Stage_2_Scrap();
+ equipment.Aoi_vision.Send_Measurement_Command_Req(0, 1, info2.Tray_Num, info2.Panel_Num, info2.Panel_ID);
+ }
+
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ else if (measurement_user_command.Command_Type == En_User_Command.Retry)
+ {
+ if (aoistage.Stage1.IsExist && info1.Measurement_Ack == false)
+ {
+ equipment.Aoi_vision.Send_Measurement_Command_Req(1, 0, info1.Tray_Num, info1.Panel_Num, info1.Panel_ID);
+ }
+
+ if (aoistage.Stage2.IsExist && info2.Measurement_Ack == false)
+ {
+ equipment.Aoi_vision.Send_Measurement_Command_Req(1, 1, info2.Tray_Num, info2.Panel_Num, info2.Panel_ID);
+ }
+
+ measurement_retry_cnt = 0;
+ Step = UnloaderHandler1Steps.S4600_LEFT_CAMERA_GRAB_READY;
+ }
+ else if (measurement_user_command.Command_Type == En_User_Command.Skip)
+ {
+ if (aoistage.Stage1.IsExist && info1.WidthMeasurement_Ack == false)
+ {
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Left_Ack, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Left_Align_Result, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Left_Result, false);
+ equipment.Aoi_vision.Send_Measurement_Command_Req(2, 0, info1.Tray_Num, info1.Panel_Num, info1.Panel_ID);
+ info1.Measurement_Result = false;
+ aoistage.Panel1 = info1;
+
+ }
+
+ if (aoistage.Stage2.IsExist && info2.Measurement_Ack == false)
+ {
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Right_Ack, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Right_Align_Result, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Right_Result, false);
+ equipment.Aoi_vision.Send_Measurement_Command_Req(2, 1, info2.Tray_Num, info2.Panel_Num, info2.Panel_ID);
+ info2.Measurement_Result = false;
+ aoistage.Panel2 = info2;
+ }
+
+ if (equipment.cim_mode == En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ }
+ break;
+ }
+
+ case UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY:
+ {
+ Tact_Move.Start();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, AOI Ready [Start]");
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4702_RIGHT_CAMERA_GRAB_READY;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Ready_Req(0, 0, 0, info.Stage_Num, info.Tray_Num, info.Panel_Num, info.Panel_ID))
+ Step = UnloaderHandler1Steps.S4701_LEFT_CAMERA_GRAB_READY_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4701_LEFT_CAMERA_GRAB_READY_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Ready_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4702_RIGHT_CAMERA_GRAB_READY;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4702_RIGHT_CAMERA_GRAB_READY:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) break;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [Tact : {Tact_Move.Seconds} (sec)]");
+
+ Step = UnloaderHandler1Steps.S4710_MOVE_MEASUREMENT_MARK1_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Ready_Req(1, 0, 0, info.Stage_Num, info.Tray_Num, info.Panel_Num, info.Panel_ID))
+ Step = UnloaderHandler1Steps.S4703_RIGHT_CAMERA_GRAB_READY_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4703_RIGHT_CAMERA_GRAB_READY_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Ready_Ack))
+ {
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Ready [Tact : {Tact_Move.Seconds} (sec)]");
+
+ Step = UnloaderHandler1Steps.S4710_MOVE_MEASUREMENT_MARK1_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4710_MOVE_MEASUREMENT_MARK1_POSITION:
+ {
+ Tact_Move.Start();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading Position [Start]");
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark5_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark5_Y, 500))
+ Step = UnloaderHandler1Steps.S4711_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4711_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark5_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark5_Y, equipment.Setting.Inposition_Offset))
+ {
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading Position [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading Position [Tact : {Tact_Move.Seconds} (sec)]");
+
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4712_LEFT_CAMERA_MARK_1_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4710_MOVE_MEASUREMENT_MARK1_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4712_LEFT_CAMERA_MARK_1_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ Tact_Move.Start();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Start]");
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4714_RIGHT_CAMERA_MARK_1_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 0, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4713_LEFT_CAMERA_MARK_1_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4713_LEFT_CAMERA_MARK_1_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4714_RIGHT_CAMERA_MARK_1_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4714_RIGHT_CAMERA_MARK_1_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4720_MOVE_MEASUREMENT_MARK2_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 0, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4715_RIGHT_CAMERA_MARK_1_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4715_RIGHT_CAMERA_MARK_1_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4720_MOVE_MEASUREMENT_MARK2_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4720_MOVE_MEASUREMENT_MARK2_POSITION:
+ {
+ if (sequenceChangedTime.Seconds < equipment.Setting.Vision_Move_Delay) break;
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark6_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark6_Y, 500))
+ Step = UnloaderHandler1Steps.S4721_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4721_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark6_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark6_Y, equipment.Setting.Inposition_Offset))
+ {
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4722_LEFT_CAMERA_MARK_2_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4720_MOVE_MEASUREMENT_MARK2_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4722_LEFT_CAMERA_MARK_2_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4724_RIGHT_CAMERA_MARK_2_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 1, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4723_LEFT_CAMERA_MARK_2_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4723_LEFT_CAMERA_MARK_2_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4724_RIGHT_CAMERA_MARK_2_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4724_RIGHT_CAMERA_MARK_2_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ sequenceChangedTime.Start();
+
+ Step = UnloaderHandler1Steps.S4730_MOVE_MEASUREMENT_MARK3_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 1, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4725_RIGHT_CAMERA_MARK_2_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4725_RIGHT_CAMERA_MARK_2_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4730_MOVE_MEASUREMENT_MARK3_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4730_MOVE_MEASUREMENT_MARK3_POSITION:
+ {
+ if (sequenceChangedTime.Seconds < equipment.Setting.Vision_Move_Delay) break;
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark7_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark7_Y, 500))
+ Step = UnloaderHandler1Steps.S4731_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4731_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark7_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark7_Y, equipment.Setting.Inposition_Offset))
+ {
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4732_LEFT_CAMERA_MARK_3_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4730_MOVE_MEASUREMENT_MARK3_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4732_LEFT_CAMERA_MARK_3_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4734_RIGHT_CAMERA_MARK_3_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 2, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4733_LEFT_CAMERA_MARK_3_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4733_LEFT_CAMERA_MARK_3_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4734_RIGHT_CAMERA_MARK_3_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4734_RIGHT_CAMERA_MARK_3_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ sequenceChangedTime.Start();
+ Step = UnloaderHandler1Steps.S4740_MOVE_MEASUREMENT_MARK4_POSITION;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 2, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4735_RIGHT_CAMERA_MARK_3_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4735_RIGHT_CAMERA_MARK_3_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4740_MOVE_MEASUREMENT_MARK4_POSITION;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4740_MOVE_MEASUREMENT_MARK4_POSITION:
+ {
+ if (sequenceChangedTime.Seconds < equipment.Setting.Vision_Move_Delay) break;
+
+ if (MotorX.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark8_X, 500) && MotorY.Move_Absolute_Pos(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark8_Y, 500))
+ Step = UnloaderHandler1Steps.S4741_POSITION_CHECK;
+ break;
+ }
+ case UnloaderHandler1Steps.S4741_POSITION_CHECK:
+ {
+ if (MotorX.MotionComplete && MotorY.MotionComplete)
+ {
+ if (MotorX.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark8_X, equipment.Setting.Inposition_Offset) && MotorY.Is_Inposition(equipment.Cur_Main_Recipe.vision_info.Width_AOI_Mark8_Y, equipment.Setting.Inposition_Offset))
+ {
+ vision_delay.Start();
+ Step = UnloaderHandler1Steps.S4742_LEFT_CAMERA_MARK_4_GRAB_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4740_MOVE_MEASUREMENT_MARK4_POSITION;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4742_LEFT_CAMERA_MARK_4_GRAB_START:
+ {
+ if (vision_delay.Seconds < equipment.Setting.Vision_Move_Delay) return;
+
+ var info = equipment.after.AoiStage.Panel1;
+
+ if (isAoiPanel1WidthMeasurementAck)
+ {
+ Step = UnloaderHandler1Steps.S4744_RIGHT_CAMERA_MARK_4_GRAB_START;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(0, 3, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4743_LEFT_CAMERA_MARK_4_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4743_LEFT_CAMERA_MARK_4_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4744_RIGHT_CAMERA_MARK_4_GRAB_START;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4744_RIGHT_CAMERA_MARK_4_GRAB_START:
+ {
+ if (sequenceChangedTime.Seconds < 0.1) return;
+
+ var info = equipment.after.AoiStage.Panel2;
+
+ if (isAoiPanel2WidthMeasurementAck)
+ {
+ sequenceChangedTime.Start();
+ Step = UnloaderHandler1Steps.S4750_MEASUREMENT_CHECK;
+ return;
+ }
+
+ if (equipment.Aoi_vision.Send_WidthMeasurement_Grab_Start_Req(1, 3, MotorX.Position, MotorY.Position))
+ Step = UnloaderHandler1Steps.S4745_RIGHT_CAMERA_MARK_4_GRAB_WAIT;
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4745_RIGHT_CAMERA_MARK_4_GRAB_WAIT:
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack))
+ {
+ Step = UnloaderHandler1Steps.S4750_MEASUREMENT_CHECK;
+ }
+ else if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4750_MEASUREMENT_CHECK:
+ {
+ var aoistage = equipment.after.AoiStage;
+ var info1 = aoistage.Panel1;
+ var info2 = aoistage.Panel2;
+
+ object value;
+ if ((isAoiPanel1WidthMeasurementAck || equipment.sm.Get_Bit(Vision_Address.Measurement_Left_Ack))
+ && (isAoiPanel2WidthMeasurementAck || equipment.sm.Get_Bit(Vision_Address.Measurement_Right_Ack)))
+ {
+ if (aoistage.Stage1.IsExist && info1.WidthMeasurement_Ack == false)
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Left_Ack))
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Left_Result))
+ {
+ info1.WidthMeasurement_Ack = true;
+ info1.WidthMeasurement_Result = true;
+
+ info1.End_Time = DateTime.Now;
+
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_1_Point_1, out value);
+ info1.Mark5Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_2_Point_1, out value);
+ info1.Mark6Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_3_Point_1, out value);
+ info1.Mark7Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Left_Mark_4_Point_1, out value);
+ info1.Mark8Width = double.Parse(value.ToString());
+
+ aoistage.Panel1 = info1;
+
+ isAoiPanel1WidthMeasurementAck = aoiStage.Stage1.IsExist == false || aoiStage.Panel1.WidthMeasurement_Result;
+ }
+ }
+ else
+ {
+ return;
+ }
+ }
+
+ if (aoistage.Stage2.IsExist && info2.WidthMeasurement_Ack == false)
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Right_Ack))
+ {
+ if (equipment.sm.Get_Bit(Vision_Address.Measurement_Right_Result))
+ {
+ info2.WidthMeasurement_Ack = true;
+ info2.WidthMeasurement_Result = true;
+
+ info2.End_Time = DateTime.Now;
+
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_1_Point_1, out value);
+ info2.Mark5Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_2_Point_1, out value);
+ info2.Mark6Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_3_Point_1, out value);
+ info2.Mark7Width = double.Parse(value.ToString());
+ equipment.sm.Get_Value(Vision_Address.Measurement_Right_Mark_4_Point_1, out value);
+ info2.Mark8Width = double.Parse(value.ToString());
+
+ aoistage.Panel2 = info2;
+
+ isAoiPanel2WidthMeasurementAck = aoiStage.Stage2.IsExist == false || aoiStage.Panel2.WidthMeasurement_Result;
+ }
+ }
+ else
+ {
+ return;
+ }
+ }
+
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
+
+ if (isAoiPanel1WidthMeasurementAck && isAoiPanel2WidthMeasurementAck)
+ {
+ if (equipment.cim_mode == En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ }
+ else
+ {
+ equipment.Aoi_vision.WriteClientLog("no align result");
+ measurement_retry_cnt++;
+
+ if (measurement_retry_cnt >= equipment.Setting.Vision_Retry_Count)
+ {
+ Step = UnloaderHandler1Steps.S4760_USER_COMMAND_START;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ }
+ }
+ else
+ {
+ if (sequenceChangedTime.Seconds > equipment.Setting.Vision_Timeout)
+ {
+ measurement_retry_cnt++;
+
+ if (measurement_retry_cnt == equipment.Setting.Vision_Retry_Count)
+ {
+ equipment.Aoi_vision.WriteClientLog("no ack result");
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
+ Step = UnloaderHandler1Steps.S4760_USER_COMMAND_START;
+ }
+ else
+ {
+ equipment.Aoi_vision.WriteClientLog("no ack result");
+ Tact_Move.Stop();
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [End]");
+ equipment.Write_Tact_Time_Log($"ULD Handler 1, Widht AOI Reading [Tact : {Tact_Move.Seconds} (sec)]");
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ }
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4760_USER_COMMAND_START:
+ {
+ var aoistage = equipment.after.AoiStage;
+ Panel_Info info1 = aoistage.Panel1;
+ Panel_Info info2 = aoistage.Panel2;
+
+ if (aoistage.Stage1.IsExist && info1.WidthMeasurement_Ack == false)
+ {
+ Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0888_MEASUREMENT_WIDTH_ERROR);
+ }
+
+ if (aoistage.Stage2.IsExist && info2.WidthMeasurement_Ack == false)
+ {
+ Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0888_MEASUREMENT_WIDTH_ERROR);
+ }
+
+ measurement_user_command = new Form_User_Command_Set("Width Measurement");
+ measurement_user_command.UserManualEnable(false);
+ measurement_user_command_show = true;
+
+ Step = UnloaderHandler1Steps.S4770_USER_COMMAND_WAIT;
+ break;
+ }
+ case UnloaderHandler1Steps.S4770_USER_COMMAND_WAIT:
+ {
+ var aoistage = equipment.after.AoiStage;
+ Panel_Info info1 = aoistage.Panel1;
+ Panel_Info info2 = aoistage.Panel2;
+
+
+ if (measurement_user_command.Command_Type == En_User_Command.Scrap)
+ {
+ if (aoistage.Stage1.IsExist && info1.Measurement_Ack == false)
+ {
+ aoistage.Panel1 = new Panel_Info();
+ aoistage.Stage_1_Scrap();
+ equipment.Aoi_vision.Send_Measurement_Command_Req(0, 0, info1.Tray_Num, info1.Panel_Num, info1.Panel_ID);
+ }
+
+ if (aoistage.Stage2.IsExist && info2.Measurement_Ack == false)
+ {
+ aoistage.Panel2 = new Panel_Info();
+ aoistage.Stage_2_Scrap();
+ equipment.Aoi_vision.Send_Measurement_Command_Req(0, 1, info2.Tray_Num, info2.Panel_Num, info2.Panel_ID);
+ }
+
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ else if (measurement_user_command.Command_Type == En_User_Command.Retry)
+ {
+ if (aoistage.Stage1.IsExist && info1.Measurement_Ack == false)
+ {
+ equipment.Aoi_vision.Send_Measurement_Command_Req(1, 0, info1.Tray_Num, info1.Panel_Num, info1.Panel_ID);
+ }
+
+ if (aoistage.Stage2.IsExist && info2.Measurement_Ack == false)
+ {
+ equipment.Aoi_vision.Send_Measurement_Command_Req(1, 1, info2.Tray_Num, info2.Panel_Num, info2.Panel_ID);
+ }
+
+ measurement_retry_cnt = 0;
+ Step = UnloaderHandler1Steps.S4700_LEFT_CAMERA_GRAB_READY;
+ }
+ else if (measurement_user_command.Command_Type == En_User_Command.Skip)
+ {
+ if (aoistage.Stage1.IsExist && info1.WidthMeasurement_Ack == false)
+ {
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Left_Ack, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Left_Align_Result, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Left_Result, false);
+ equipment.Aoi_vision.Send_Measurement_Command_Req(2, 0, info1.Tray_Num, info1.Panel_Num, info1.Panel_ID);
+ info1.Measurement_Result = false;
+ aoistage.Panel1 = info1;
+ }
+
+ if (aoistage.Stage2.IsExist && info2.WidthMeasurement_Ack == false)
+ {
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Right_Ack, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Right_Align_Result, true);
+ equipment.sm.Set_Bit(Vision_Address.Measurement_Right_Result, false);
+ equipment.Aoi_vision.Send_Measurement_Command_Req(2, 1, info2.Tray_Num, info2.Panel_Num, info2.Panel_ID);
+ info2.Measurement_Result = false;
+ aoistage.Panel2 = info2;
+ }
+
+ if (equipment.cim_mode == En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ }
+ break;
+ }
+ case UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND:
+ {
+ if (equipment.cim_mode != En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ return;
+ }
+
+ Panel_Info info1 = equipment.after.AoiStage.Panel1;
+
+ if (equipment.after.AoiStage.Stage1.IsExist == false || info1.IsPanelIdRead == false)
+ {
+ Step = UnloaderHandler1Steps.S4820_PANEL_RIGHT_CIM_SEND;
+ return;
+ }
+ else
+ {
+ if (equipment.cim_client.Send_Process_End("E123456", info1))
+ {
+ Step = UnloaderHandler1Steps.S4810_PANEL_LEFT_CIM_SEND_WAIT;
+ }
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4810_PANEL_LEFT_CIM_SEND_WAIT:
+ {
+ if (equipment.cim_mode != En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ return;
+ }
+
+ if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PREND))
+ {
+ if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PREND))
+ {
+ Step = UnloaderHandler1Steps.S4820_PANEL_RIGHT_CIM_SEND;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4800_PANEL_LEFT_CIM_SEND;
+ }
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4820_PANEL_RIGHT_CIM_SEND:
+ {
+ if (equipment.cim_mode != En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ return;
+ }
+
+ Panel_Info info2 = equipment.after.AoiStage.Panel2;
+
+ if (equipment.after.AoiStage.Stage2.IsExist == false || info2.IsPanelIdRead == false)
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ else
+ {
+ if (equipment.cim_client.Send_Process_End("E123456", info2))
+ {
+ Step = UnloaderHandler1Steps.S4830_PANEL_RIGHT_CIM_SEND_WAIT;
+ }
+ }
+
+ break;
+ }
+ case UnloaderHandler1Steps.S4830_PANEL_RIGHT_CIM_SEND_WAIT:
+ {
+ if (equipment.cim_mode != En_Cim_Mode.Online)
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ return;
+ }
+
+ if (equipment.cim_client.Get_Command_Ack(En_Cim_Command.PREND))
+ {
+ if (equipment.cim_client.Get_Command_Result(En_Cim_Command.PREND))
+ {
+ Step = UnloaderHandler1Steps.S4999_MEASUREMENT_END;
+ }
+ else
+ {
+ Step = UnloaderHandler1Steps.S4820_PANEL_RIGHT_CIM_SEND;
+ }
+ }
+
+ break;
+ }
case UnloaderHandler1Steps.S4999_MEASUREMENT_END:
{
Tact_AOI.Stop();
--
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