public void TestMethod1()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
cc.HalConnect();
//1. 光罩放置於Load Port A的Pod上
//2.Mask Robot從Home點移動至Load Port A
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLPHomeToLP1PathFile());
mt.RobotMoving(false);
//3. Mask Robot在Load Port A的Pod 內進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Load Port A移動至Clean Chamber內
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP1ToLPHomePathFile());
mt.ChangeDirection(pathFileObj.CleanChHomePathFile());
mt.ExePathMove(pathFileObj.FromCCHomeToCCFrontSidePathFile());
mt.RobotMoving(false);
//5. 雷射sensor可以偵測到Mask Robot進入Clean Chamber & 報值
var About = cc.ReadRobotPosLeftRight();
var UpDown = cc.ReadRobotPosUpDown();
//6. Mask Robot模擬吹除轉動Mask行為
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromCCFrontSideToCleanPathFile());
mt.ExePathMove(pathFileObj.FromFrontSideCleanFinishToCCPathFile());
mt.ExePathMove(pathFileObj.FromCCFrontSideToCapturePathFile());
mt.ExePathMove(pathFileObj.FromFrontSideCaptureFinishToCCPathFile());
mt.RobotMoving(false);
//7. 將光罩移動至安全光柵附近, 觸發光柵報值(由人員手動遮斷)
var LightCurtain = cc.ReadLightCurtain();
//8. Mask Robot將光罩從Clean Chamber, 移回Load Port A
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromCCFrontSideToCCHomePathFile());
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.ExePathMove(pathFileObj.FromLPHomeToLP1PathFile());
mt.RobotMoving(false);
//9. Mask Robot將光罩放置於Load Port A Pod上
mt.Unclamp();
//10. Mask Robot (無夾持光罩) 從Load Port A移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP1ToLPHomePathFile());
mt.RobotMoving(false);
About = 0;
UpDown = 0;
//11. 重複1~10, 執行Load Port B -> Clean Chamber光罩傳送
//1. 光罩放置於Load Port B的Pod上
//2.Mask Robot從Home點移動至Load Port B
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//3. Mask Robot在Load Port B的Pod 內進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Load Port B移動至Clean Chamber內
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
mt.ChangeDirection(pathFileObj.CleanChHomePathFile());
mt.ExePathMove(pathFileObj.FromCCHomeToCCFrontSidePathFile());
mt.RobotMoving(false);
//5. 雷射sensor可以偵測到Mask Robot進入Clean Chamber & 報值
About = cc.ReadRobotPosLeftRight();
UpDown = cc.ReadRobotPosUpDown();
//6. Mask Robot模擬吹除轉動Mask行為
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromCCFrontSideToCleanPathFile());
mt.ExePathMove(pathFileObj.FromFrontSideCleanFinishToCCPathFile());
mt.ExePathMove(pathFileObj.FromCCFrontSideToCapturePathFile());
mt.ExePathMove(pathFileObj.FromFrontSideCaptureFinishToCCPathFile());
mt.RobotMoving(false);
//7. 將光罩移動至安全光柵附近, 觸發光柵報值(由人員手動遮斷)
LightCurtain = cc.ReadLightCurtain();
//8. Mask Robot將光罩從Clean Chamber, 移回Load Port B
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromCCFrontSideToCCHomePathFile());
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//9. Mask Robot將光罩放置於Load Port B Pod上
mt.Unclamp();
//10. Mask Robot (無夾持光罩) 從Load Port B移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}