void BindEvents(IMacHalDrawer drawer)
{
drawer.OnSetMotionSpeedFailedHandler += OnSetMotionSpeedFailed;
drawer.OnSetMotionSpeedOKHandler += OnSetMotionSpeedOK;
drawer.OnPositionStatusHandler += OnPosionStatus;
drawer.OnDetectedEmptyBoxHandler += OnDetectedEmptyBox;
drawer.OnDetectedHasBoxHandler += OnDetectedHasBox;
drawer.OnBrightLEDFailedHandler += OnBrightLEDFailed;
drawer.OnBrightLEDOKHandler += OnBrightLEDOK;
drawer.OnTrayMotioningHandler += OnTrayMotioning;
drawer.OnTrayArriveHomeHandler += OnTrayArriveHome;
drawer.OnSetTimeOutFailedHandler += OnSetTimeOutFailed;
drawer.OnSetTimeOutOKHandler += OnSetTimeOutOK;
drawer.OnINIFailedHandler += OnINIFailed;
drawer.OnINIOKHandler += OnINIOK;
drawer.OnTrayArriveInHandler += OnTrayArriveIn;
drawer.OnTrayArriveOutHandler += OnTrayArriveOut;
drawer.OnTrayMotionFailedHandler += OnTrayMotionFailed;
drawer.OnTrayMotionOKHandler += OnTrayMotionOK;
drawer.OnTrayMotionSensorOFFHandler += TrayMotionSensorOFF;
drawer.OnERRORErrorHandler += OnERRORError;
drawer.OnERRORREcoveryHandler += OnERRORRecovery;
drawer.OnSysStartUpHandler += OnSysStartUp;
drawer.OnButtonEventHandler += OnButtonEvent;
drawer.OnLCDCMsgFailedHandler += OnLCDCMsgFailed;
drawer.OnLCDCMsgOKHandler += OnLCDCMsgOK;
}
public static bool MoveTrayToIn(this IMacHalDrawer instance)
{
instance.CommandTrayMotionIn();
var rtn = SpinWait.SpinUntil(
() => { return(instance.CurrentWorkState == DrawerWorkState.TrayArriveAtPositionIn || instance.CurrentWorkState == DrawerWorkState.TrayMotionFailed); }, timeoutMilliSecs);
if (instance.CurrentWorkState == DrawerWorkState.TrayArriveAtPositionIn)
{
return(true);
}
else if (instance.CurrentWorkState == DrawerWorkState.TrayMotionFailed)
{
throw new Exception("Drawer Move Tray In Failed");
}
else
{
throw (new Exception("Drawer Move Tray In Time Out"));
}
}
public static bool Initial(this IMacHalDrawer instance)
{
instance.CommandINI();
var rtn = SpinWait.SpinUntil(
() => { return(instance.CurrentWorkState == DrawerWorkState.InitialFailed || instance.CurrentWorkState == DrawerWorkState.TrayArriveAtPositionHome); }, timeoutMilliSecs);
if (instance.CurrentWorkState == DrawerWorkState.TrayArriveAtPositionHome)
{
return(true);
}
else if (instance.CurrentWorkState == DrawerWorkState.InitialFailed)
{
throw new Exception("Drawer Initial Failed");
}
else
{
throw (new Exception("Drawer Initial Time Out"));
}
}
public void InSideLoadToOutSideUnload()
{
// [假設 Tray 移到 Out, 並已放入 盒子]
// 1. Tray 移到 Home,
// 2. 檢查有沒有 Box,
// 3. (1) 沒有盒子=> 退回Out 並 警示
// (2) 有盒子=> 移到 In
MacHalDrawerKjMachine testDrawer = null;
MacHalCabinet cabinet = null;
MacHalContext halContext = null;
try
{
halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real");
halContext.MvaCfLoad();
cabinet = halContext.HalDevices[EnumMacDeviceId.cabinet_assembly.ToString()] as MacHalCabinet;
testDrawer = cabinet.Hals[EnumMacDeviceId.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
testDrawer.HalConnect();
testDrawer.OnTrayMotionFailedHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotionFailedHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotionFailedHandler 事件");
};
testDrawer.OnTrayMotionOKHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotionOKHandler)} 事件");
Debug.WriteLine("Index= " + drawer.DeviceId + ", 觸發 drawer.OnTrayMotionOKHandler 事件");
};
testDrawer.OnTrayMotionSensorOFFHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotionSensorOFFHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotionSensorOFFHandler 事件");
};
testDrawer.OnERRORErrorHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
// Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnERRORErrorHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnERRORErrorHandler 事件");
};
testDrawer.OnERRORREcoveryHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
// Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnERRORREcoveryHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnERRORREcoveryHandler 事件");
};
testDrawer.OnTrayMotioningHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
// Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotioningHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotioningHandler 事件");
};
/**到逹 Home*/
testDrawer.OnTrayArriveHomeHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 檢查有沒有放盒子");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 檢查有沒有放盒子");
drawer.CommandBoxDetection();
};
/**檢查沒有盒子 */
testDrawer.OnDetectedEmptyBoxHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
/** // vs 2013
* Debug.WriteLine($"Index={drawer.DeviceIndex}, 沒有盒子");
* Debug.WriteLine($"Index={drawer.DeviceIndex}, 將 Drawer 送回 Out");
*/
Debug.WriteLine("Index=" + drawer.DeviceId + ", 沒有盒子");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 將 Drawer 送回 Out");
drawer.CommandTrayMotionOut();
};
/**檢查有盒子 */
testDrawer.OnDetectedHasBoxHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.Write($"Index={drawer.DeviceIndex}, 有放盒子, 將 Drawer 送往 In");
Debug.Write("Index=" + drawer.DeviceId + ", 有放盒子, 將 Drawer 送往 In");
drawer.CommandTrayMotionIn();
};
testDrawer.OnTrayArriveInHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
// Debug.WriteLine($"Index={drawer.DeviceIndex}, 已經到達 In ");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 已經到達 In ");
};
testDrawer.OnTrayArriveOutHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.Write($"Index={drawer.DeviceIndex}, Drawer沒有盒子, 已經退回 Out , 請重新裝入盒子");
Debug.Write("Index=" + drawer.DeviceId + ", Drawer沒有盒子, 已經退回 Out , 請重新裝入盒子");
};
testDrawer.CommandTrayMotionHome();
Repeat();
}
catch (Exception ex)
{
var deviceIndex = testDrawer == null ? "" : testDrawer.DeviceId;
// vs 2013
// Debug.WriteLine($"Index={deviceIndex}, Exception={ex.Message}");
Debug.WriteLine("Index=" + deviceIndex + ", Exception=" + ex.Message);
}
finally
{
if (halContext != null)
{
halContext.Dispose();
}
}
}
public void Test_MainMethod(EnumMacMaskBoxType boxType, bool getComeraShot, DrawerReplaceBoxPlace drawerReplaceBoxPlace)
{
/** Index & array
* [0] [1] [2]
* 1-2, 1-3, 1-4 IP: 31~33
* ------------------
* [3] [4] [5]
* 2-2, 2-3, 2-4, IP: 41~43
* ------------------
* [6] [7] [8]
* 3-2, 3-3, 3-4, IP: 51~53
* ----------------
* [9] [10] [11]
* 4-2, 4-3, 4-4, IP: 61~63
* ------------------
* [12] [13] [14]
* 5-2, 5-3, 5-4, IP: 71~73
* ------------------
* [15] [16] [17]
* 6-2, 6-3, 6-4, IP: 81~83
*--------------------
* [18] [19]
* 7-2, 7-3, IP: 91~92
*/
if (InitialError)
{
var message = InitialErrorMessage;
return;
}
int BREAK_POINT = 0;
// Connect, 所有Drawer
var failedConnectDrawers = HalContext.DrawersConnect();
int start = 2; // 0; // 3-2~ 4-4
int end = 6; // DrawerKeys.Count;// DrawerKeys.Count;
//int end = DrawerKeys.Count;
for (var i = start; i < end; i++)
{
var drawerKey = DrawerKeys[i];
var drawerLocation = DrawerLocations[i];
try
{
var drawer = HalContext.GetDrawer(drawerKey);
IMacHalDrawer previousDrawer = null;
var drawerHome = drawerLocation.GetCabinetHomeCode().Item2;
if (i != start)
{
// 取得前一個 Drawer
previousDrawer = HalContext.GetDrawer(DrawerKeys[i - 1]);
// 將前一個 Drawer Tray 移回 Home 點
previousDrawer.MoveTrayToHome();
// 將 前一個 Drawer 移到可以 抽換 Box 的位置
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
previousDrawer.MoveTrayToIn();
}
else
{
previousDrawer.MoveTrayToOut();
}
}
/** 004-01 光罩盒在 Drawer 內 */
drawer.Initial();
// 將 目前 Drawer 的 Tray 移到可抽換Box 的位置
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
drawer.MoveTrayToIn();
}
else
{
drawer.MoveTrayToOut();
}
BREAK_POINT++;// [[[[[[[[一定要暫停]]]]]]]]]]]] 將 Box 放入 Tray 中 (如果是第2個及第2個以後的 Drawer, 將 盒子從前一個測試的 Drawer 取出來, 放到這個 Drawer 當中)
// 前個 Drawer Tray 回 Home
if (previousDrawer != null)
{
previousDrawer.MoveTrayToHome();
}
/** 004-02 Drawer 往機台內部移動 到Box Robot 可以存光罩鐵盒的位置 */
// Drawer Tray 回 Home
drawer.MoveTrayToHome();
// Drawer Tray 移到 Box Robot 可以取得 光罩鐵盒的位置
drawer.MoveTrayToIn();
BREAK_POINT++; // 確試 Drawer Tray 已經移到 In
/** 004-03 Box Robot 從Home 點至Drawer 夾取點, 進行光罩鐵盒夾取(Clamp光鐵盒)*/
// BoxRobot 回 Cabinet 1 Home
HalBoxTransfer.TurnToCB1Home();
// Drawer 04-01 ~ Drawer 07-05 回 Cabitnet 1 Home 轉向 Cabitnet 2 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
HalBoxTransfer.TurnToCB2Home();
}
filePath = pathFileObj.GetFromCabinetHomeToDrawerGetPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 BoxTransfer 是否到了Drawer
// 夾取
HalBoxTransfer.Clamp((uint)boxType);
BREAK_POINT++; // 確認 Box robot 是否夾到了 盒子
/**004-04. Box Robot 將光罩盒從Drawer 移動到Open stage Entry</para>*/
// Box robot 回 Home
filePath = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 Box robot 是否到了 Cabinet 1( or 2) Home
// Drawer 04-01 ~ Drawer 07-05 回 Cabitnet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
HalBoxTransfer.TurnToCB1Home();
BREAK_POINT++; // 確認 Box robot 是否到了 Cabinet 1 Home
}
// OpenStage 入侵
HalOpenStage.SetRobotIntrude(true, null);
//HalOpenStage.SortUnclampAndLock();
BREAK_POINT++; // 確認 OPen Stage 的狀態是否可以放入盒子
// Boxrobot 移到 Open Stage
filePath = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 BOx Robot 是否已到Open Stage
/** 004-05. Drawer 回到Cabinet 內 */
drawer.MoveTrayToHome();
/** 004-06. Box Robot將光罩盒放在 Open Stage平台上 */
HalBoxTransfer.Unclamp();
/** 004-07.Box Robot(無夾持光罩盒) 從Open Stage 移回 Home 點*/
// Boxrobot 回 Cabitnet 1 Home
filePath = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++;// 確認 BoxRobot 是否回到 Cabitnet 1 Home
// 解除 Open Stage 入侵
HalOpenStage.SetRobotIntrude(false, null);
BREAK_POINT++;//
// HalOpenStage.SetBoxTypeAndSortClamp(boxType);
//BREAK_POINT++;// 確認 OPenStage 是否 已固定
/** 005-01 光罩鐵盒位於於Open Stage平台上 */
// 目視, 確認
BREAK_POINT++;
/** 005-02. Drawer往機台內部移動到Box Robot可以存取光罩鐵盒的位置 */
drawer.MoveTrayToIn();
BREAK_POINT++;// 確認 Drawer Tray 是否在 In
/** 005-03. Box Robot從Home點至Open Stage進行光罩鐵盒夾取*/
// 入侵 OpenStage
HalOpenStage.SetRobotIntrude(true, null);
// HalOpenStage.SortUnclampAndLock();
BREAK_POINT++;// 確認 Open Stage 是否已經放開鐵盒 ?
// Boxrobot 移到 Open Stage
filePath = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 Boxrobot 是否已經到了 Cabitnet 1 Home
// Clamp
HalBoxTransfer.Clamp((uint)boxType);
BREAK_POINT++; // 確認 Boxrobot 已經夾到盒子
/** 005-04. Box Robot將光罩鐵盒從Open Stage夾取並放置於Drawer內 (release光罩鐵盒)*/
// Boxrobot 回到 Cabinet 1 Home
filePath = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認Boxrobot 已經到 Cabitnet 1 HOme
// 解除 入侵
HalOpenStage.SetRobotIntrude(false, null);
BREAK_POINT++;
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04-01 ~ Drawer 07-05 , Boxrobot 移到 Cabinet 2 Home
HalBoxTransfer.TurnToCB2Home();
BREAK_POINT++; // 確認Boxrobot 已經到 Cabitnet 2 HOme
}
// Boxrobot 移到 Drawer
filePath = pathFileObj.GetFromCabinetHomeToDrawerPutPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 1. 確認 DRAWER Tray 是否在In, 2.確認 BoxTRansfer 是否到位
// Unclamp
HalBoxTransfer.Unclamp();
BREAK_POINT++;// 確認 Box 是否已在 Tray 上
/** 005-05. Box Robot退回Home點 */
// Boxrobot 回 Home 點
filePath = pathFileObj.GetFromDrawerToCabitnetHomePutPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; //Box robot 是否到了 Cabinet 1(or 2) Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04-01 ~ Drawer 07-05, Boxrobot 回 Cabitnet 2 Home
HalBoxTransfer.TurnToCB1Home();
BREAK_POINT++; //Box robot 是否到了 Cabinet 1 Home
}
/** 005-06. Drawer回到Cabinet內 */
drawer.MoveTrayToHome();
/** 005-07 測試(編號13-CCD): 開啟光源 -> 拍照-> 關閉光源, 功能是否正常 */
if (getComeraShot)
{
// 2-07.測試(編號13-CCD): 開啟光源 -> 拍照-> 關閉光源, 功能是否正常
var lightValue = HalBoxTransfer.GetCameraLightValue(boxType);
var resultTemp = HalBoxTransfer.CameraShot("D:/Image/BT/Gripper", "jpg", lightValue);
}
/** 999999 ok*/
BREAK_POINT++; //[[[[[[[[[[[[[[[[[[一定要暫停]]]]]]]]]]]]]]]]]]]]]]]]]] 準備下一個
}
catch (Exception ex)
{
Debug.WriteLine("EX=" + ex.Message);
}
}
// Repeat();
}
[DataRow(EnumMacMaskBoxType.IronBox, true, DrawerReplaceBoxPlace.In)] // 鐵盒
//[DataRow(BoxType.CrystalBox,true)] // 水晶盒
public void TestMethod1(EnumMacMaskBoxType boxType, bool autoConnect, DrawerReplaceBoxPlace drawerReplaceBoxPlace)
{
var BREAK_POINT = 0;
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
/** Index & array
* [0] [1] [2]
* 1-2, 1-3, 1-4 IP: 31~33
* ------------------
* [3] [4] [5]
* 2-2, 2-3, 2-4, IP: 41~43
* ------------------
* [6] [7] [8]
* 3-2, 3-3, 3-4, IP: 51~53
* ----------------
* [9] [10] [11]
* 4-2, 4-3, 4-4, IP: 61~63
* ------------------
* [12] [13] [14]
* 5-2, 5-3, 5-4, IP: 71~73
* ------------------
* [15] [16] [17]
* 6-2, 6-3, 6-4, IP: 81~83
*--------------------
* [18] [19]
* 7-2, 7-3, IP: 91~92
*/
halContext.MvaCfBootup();
halContext.MvaCfLoad();
try
{
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
string btMovePathFile = default(string);
uni.HalConnect();
bt.HalConnect();
os.HalConnect();
halContext.DrawersConnect();
//bt.Reset();
bt.Initial();
//bt.TurnToCB1Home();
int start = 8;
int end = 10;
for (var i = start; i < end; i++)
{
try
{
var drawerLocation = DrawerLocations[i];
var drawer = halContext.GetDrawer(DrawerKeys[i]);
IMacHalDrawer previousDrawer = null;
var drawerHome = drawerLocation.GetCabinetHomeCode().Item2;
/** 00 預先動作, 如有上一輪的 Drawer, 將上一輪的 Drawer 推回到 Out , 取出 Box, 將Box放到現在的 Drawer Tray中, 並將 Tray 放回 Home */
// 0.1 如有上一輪的 Drawer, 將其 Tray 移到 可抽換 box 的位置
if (i > start)
{
previousDrawer = halContext.GetDrawer(DrawerKeys[i - 1]);
previousDrawer.MoveTrayToHome();
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
previousDrawer.MoveTrayToIn();
}
else
{
previousDrawer.MoveTrayToOut();
}
}
// 0.2 將目前的 Drawer Tray Initial
drawer.Initial();
// 0.3 將 目前的 Drawer Tray 移回 可以置換 Drawer 的地方
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
drawer.MoveTrayToIn();
}
else
{
drawer.MoveTrayToOut();
}
/**1. 光罩盒置於 Drawer內*/
BREAK_POINT++; //[[[[[[[[[[[[[[[[[[一定要暫停]]]]]]]]]]]]]]]]]]]]]]]]]] 確認有 Box後往下執行
// 1.1 如有上一個 Drawer, 將上一個 Drawer 移到 Home
if (previousDrawer != null)
{ //
previousDrawer.MoveTrayToHome();;
}
// 1.2 Drawer Tray 往機台內部移動到可以取得光罩的位置
drawer.MoveTrayToHome();
drawer.MoveTrayToIn();
/** 02 Box Robot從Home點至Drawer entry處*/
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // Drawer 01-01 ~ Drawer 03-05
bt.TurnToCB1Home();
btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // // Drawer 04-01 ~ Drawer 07-05
//Cabinet 2 Drawer 的 Path
bt.TurnToCB1Home();
bt.TurnToCB2Home();
btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
}
bt.Move(btMovePathFile);
/** 03 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
try
{
var lightValue = bt.GetCameraLightValue(boxType);
bt.LightForGripperSetValue(lightValue);
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
//bt.LightForGripper(0);
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
finally
{
bt.LightForGripperSetValue(0);
}
// bt.Clamp((uint)boxType);
//var lightValue = bt.GetCameraLightValue(boxType);
//var resultTemp=bt.CameraShot("D:/Image/BT/Gripper", "jpg",lightValue);
/** 04 Box Robot從Drawer Entry處移至Drawer內進行光罩鐵盒夾取*/
var resultTemp = bt.Clamp((uint)boxType);
/** 05 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
var Level = bt.ReadLevelSensor();
/** 06 Box Robot將光罩鐵盒從Drawer移動至Open Stage上方*/
// 6.1 回到 Cabinet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{
btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation); // Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
bt.Move(btMovePathFile);
}
else // if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04_01~07~05 回到 Cabinet 1 Home
btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);// Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
bt.Move(btMovePathFile);
bt.TurnToCB1Home();
}
// 6.2 boxrobot 移到 OpenStage
os.SetRobotIntrude(true, null);
btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile(); // boxrobot 目前有盒子, 要到 Open Stage, 用PUT
bt.Move(btMovePathFile);
/** 07 光罩鐵盒放置前確認Box Robot是水平狀態 (by 水平儀)*/
Level = bt.ReadLevelSensor();
/** 08 Box Robot將光罩鐵盒放置於Open Stage上*/
bt.Unclamp();
/** 09 Box Robot退出Open Stage, 並回到Box Robot Home點*/
btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
bt.Move(btMovePathFile);
os.SetRobotIntrude(false, null);
/** 10 (編號9-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
/**
* os.LightForTopBarDfsSetValue(200);
* os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
* os.LightForTopBarDfsSetValue(0);
*/
try
{
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(140); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
Debug.WriteLine("Open Stage Camera Shot(Top) OK");
}
catch (Exception ex)
{
Debug.WriteLine("Open Stage Camera Shot(Top) Error=" + ex.Message);
}
finally
{
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
}
/** 11 (編號12-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
/**
* os.LightForSideBarDfsSetValue(200);
* os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
* os.LightForSideBarDfsSetValue(0);
*/
try
{
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(140); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
Debug.WriteLine("Open Stage Camera Shot OK");
}
catch (Exception ex)
{
Debug.WriteLine("Open Stage Camera Shot(Side) Error=" + ex.Message);
}
finally
{
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
}
/** 12 Box Robot(無夾持光罩鐵盒)從Home點移動進入Open Stage上方*/
os.SetRobotIntrude(true, null);
btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
bt.Move(btMovePathFile);
/** 13 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
Level = bt.ReadLevelSensor();
/** 14 Box Robot從Open Stage上方夾取光罩鐵盒*/
bt.Clamp((uint)boxType);
/** 15 Box Robot將光罩鐵盒移動至Drawer處*/
// 15.1 Boxrobot 移到 Cabitnet 1 Home
btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile(); // boxrobot 目前有盒子,要回到 Cabinet 1 Home, 用 GET
bt.Move(btMovePathFile);
os.SetRobotIntrude(false, null);
// 15.2
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // drawer 01-01 ~ drawer 03-05
btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
bt.Move(btMovePathFile);
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
// drawer 04-01 ~ drawer 07-05
bt.TurnToCB2Home();
btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
bt.Move(btMovePathFile);
}
/** 16 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
try
{
var lightValue = bt.GetCameraLightValue(boxType);
bt.LightForGripperSetValue(lightValue);
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
finally
{
bt.LightForGripperSetValue(0);
}
//lightValue = bt.GetCameraLightValue(boxType);
//resultTemp= bt.CameraShot("D:/Image/BT/Gripper", "jpg", lightValue);
/** 17 Box Robot將光罩鐵盒移動至Drawer內*/
bt.Unclamp();
/** 18 Box Robot (無夾持光罩鐵盒) 從Drawer移回Home點*/
// 18.1 Boxrobot 移回 Home 點
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{
btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_PUT_PathFile(drawerLocation); //
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_PUT_PathFile(drawerLocation); // T
}
bt.Move(btMovePathFile);
// 18.2 Drawer 04-01 ~ Drawer 07-05 時 Boxrobot 轉回 Cabitnet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
bt.TurnToCB1Home();
}
// drawer.CommandINI();
/** 19 重複1~18步驟, 完成20個Drawer的光罩鐵盒測試*/
/** 20 重複1~19步驟, 完成20個Drawer的光罩水晶盒測試*/
BREAK_POINT++; // [一定要暫停] 這個 drawer 做好了, 準備下一個
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
