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 ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
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();
ic.HalConnect();
os.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
//1. 光罩放置於Open Stage上的光罩鐵盒內
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
var BoxWeight = os.ReadWeightOnStage();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//2. (編號9 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(3); //bar 0~255
os.LightForTopBarDfsSetValue(50); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
//3. (編號12 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(250); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
//4. Mask Robot從Home點移動至Open Stage
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//5. Mask Robot上的傾斜角度傳感器可報值 & 位於水平狀態
var Level = mt.ReadLevel();
//6. Mask Robot在Open Stage進行光罩夾取(clamp光罩)
mt.Clamp(1);
//7. Mask Robot將光罩從Open Stage移動至Inspection Chamber Entry處
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//8. Mask Robot將光罩從Inspection Chamber Entry處, 移回Open Stage
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//9. Mask Robot將光罩放置於Open Stage上的光罩鐵盒內(release光罩)
mt.Unclamp();
//10. Mask Robot(無夾持光罩) 從Open Stage移回Home點
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.RobotMoving(false);
//11. (編號9 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(3); //bar 0~255
os.LightForTopBarDfsSetValue(50); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
//12. (編號12 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(250); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
os.Close();
os.Unclamp();
os.Vacuum(false);
os.Lock();
BoxType = 2;
//13. 重複1~12, 完成光罩水晶盒內的光罩clamp & release測試
//1. 光罩放置於Open Stage上的光罩水晶盒內
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
BoxWeight = os.ReadWeightOnStage();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//2. (編號9 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(3); //bar 0~255
os.LightForTopBarDfsSetValue(50); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
//3. (編號12 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(250); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
//4. Mask Robot從Home點移動至Open Stage
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//5. Mask Robot上的傾斜角度傳感器可報值 & 位於水平狀態
Level = mt.ReadLevel();
//6. Mask Robot在Open Stage進行光罩夾取(clamp光罩)
mt.Clamp(1);
//7. Mask Robot將光罩從Open Stage移動至Inspection Chamber Entry處
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//8. Mask Robot將光罩從Inspection Chamber Entry處, 移回Open Stage
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//9. Mask Robot將光罩放置於Open Stage上的光罩水晶盒內(release光罩)
mt.Unclamp();
//10. Mask Robot(無夾持光罩) 從Open Stage移回Home點
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.RobotMoving(false);
//11. (編號9 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(3); //bar 0~255
os.LightForTopBarDfsSetValue(50); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
//12. (編號12 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(250); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
os.Close();
os.Unclamp();
os.Vacuum(false);
os.Lock();
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod3()//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 os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
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();
os.HalConnect();
ic.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
//1. 光罩放置於Open Stage上的鐵盒內
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//2. Mask Robot從Home點移動至Open Stage上方
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//3. Mask Robot在Open Stage進行光罩夾取
mt.Clamp(1);
//4.Mask Robot將光罩從Open Stage移動至Inspection Chamber處(不放置)
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.RobotMoving(false);
//5. 雷射sensor可以偵測到Mask Robot進入Inspection Chamber & 報值
var About = ic.ReadRobotPosLeftRight();
var UpDown = ic.ReadRobotPosUpDown();
//6. Mask Robot將光罩從Inspection Chamber, 移回Open Stage
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//7.Mask Robot將光罩放置於Open Stage上
mt.Unclamp();
//8. Mask Robot (無夾持光罩) 從Open Stage移回Home點
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
mt.RobotMoving(false);
os.SetRobotIntrude(false, false);
os.Close();
os.Unclamp();
os.Vacuum(false);
os.Lock();
About = 0;
UpDown = 0;
BoxType = 2;
//8. 重複1~7, 執行Open Stage上水晶盒的傳送測試
//1. 光罩放置於Open Stage上的水晶盒內
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//2. Mask Robot從Home點移動至Open Stage上方
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//3. Mask Robot在Open Stage進行光罩夾取
mt.Clamp(1);
//4.Mask Robot將光罩從Open Stage移動至Inspection Chamber處(不放置)
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.RobotMoving(false);
//5. 雷射sensor可以偵測到Mask Robot進入Inspection Chamber & 報值
About = ic.ReadRobotPosLeftRight();
UpDown = ic.ReadRobotPosUpDown();
//6. Mask Robot將光罩從Inspection Chamber, 移回Open Stage
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//7.Mask Robot將光罩放置於Open Stage上
mt.Unclamp();
//8. Mask Robot (無夾持光罩) 從Open Stage移回Home點
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
mt.RobotMoving(false);
os.SetRobotIntrude(false, false);
os.Close();
os.Unclamp();
os.Vacuum(false);
os.Lock();
}
}
catch (Exception ex) { throw ex; }
}
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 os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
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();
os.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//1. Mask Robot (無夾持光罩) 從Home點移動至Open Stage
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(null, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(null, false);
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}