private void ConfirmTrayIndex(FASequence actor, TimeSpan time)
{
bool isRFTray, isFirstTray, isLastTray, isHaveAEmptyPocket;
int needEmptyTrayCount;
string errMsg;
var result = UtilityClass.SetTrayProcessFlag(ProductInfo, out isRFTray, out isFirstTray, out isLastTray, out needEmptyTrayCount, out isHaveAEmptyPocket, out errMsg);
if (result == false)
{
RaiseAlarm(actor, AlarmLotInfoNotCorrect);
}
else
{
if (isRFTray || needEmptyTrayCount > 0 || isHaveAEmptyPocket) // Robot이 집어간다.
{
SkipPassToNextMachine = true;
actor.NextStep();
}
else
{
SkipPassToNextMachine = false;
actor.NextTerminate();
}
}
}
private void ConfirmTrayDetectSensorOnAndServoZStop(FASequence actor, TimeSpan time)
{
if (TrayDetectSensor.IsOn)
{
if (DateTime.Now - LastTrayDetectedTime > TimeTrayCountingSensorHuntingTime.Time)
{
LastTrayDetectedTime = DateTime.Now;
RFScannerUpDownServo.Stop.Execute(actor);
actor.NextStep();
}
}
else if (RFScannerUpDownServo.IsMotionDone()
&& RFScannerUpDownServo.IsInPosition(RFScannerUpDownServo.BottomPos))
{
TrayCount += CountOffset;
actor.NextTerminate();
}
else if (RFScannerUpDownServo.RunFlag == false && RFScannerUpDownServo.IsMotionDone() &&
RFScannerUpDownServo.ErrorFlag == false)
{
RFScannerUpDownServo.MoveBottomPos.Execute(actor);
}
}
private void StartSequenceList(FASequence actor, TimeSpan time)
{
if (CurrentSequenceQueue.Count <= 0)
actor.NextTerminate();
else
{
CurrentSequence = CurrentSequenceQueue.Dequeue();
actor.NextStep();
}
}
protected void TerminateSequence(FASequence actor, TimeSpan time)
{
actor.NextTerminate();
}
private void IncreaseTrayCount(FASequence actor, TimeSpan time)
{
PickingTrayCount++;
if (SuppliedTrayCount + PickingTrayCount == TargetTrayCount)
actor.NextTerminate();
else
actor.NextStep();
}
private void ConfirmXYPosition(FASequence actor, TimeSpan time)
{
if (TransferServoX.IsInPosition(TargetPosition.PositionX) &&
TransferServoY.IsInPosition(TargetPosition.PositionY))
actor.NextTerminate();
else
actor.NextStep();
}
private void ConfirmTrayDetectSensorOnAndServoZStop(FASequence actor, TimeSpan time)
{
if (TraySideDetectSensor.IsOn)
{
TransferServoZ.Stop.Execute(actor);
actor.NextStep();
}
else if (TransferServoZ.IsMotionDone()
&& TransferServoZ.IsInPosition(TargetPosition.PositionZ))
{
PickingTrayCount = 0;
actor.NextTerminate();
}
else if (TransferServoZ.RunFlag == false && TransferServoZ.IsMotionDone() &&
TransferServoZ.ErrorFlag == false)
{
TransferServoZ.MoveToPos.Execute(actor);
}
}
private void ConfirmRemainTrayCount(FASequence actor, TimeSpan time)
{
if (SuppliedTrayCount == TargetTrayCount)
{
InterfaceEmptyTraySupplyConveyorReady.DoTurnOff(actor);
actor.NextTerminate();
}
else
actor.NextStep("SelectTargetStacker");
}
private void ConfirmSeperateActionCount(FASequence actor, TimeSpan time)
{
if (RetryInfoSeperateAction.IncreaseCount() == true)
actor.NextStep();
else
actor.NextTerminate();
}
private void ConfirmStackFull(FASequence actor, TimeSpan time)
{
if (IsStackTerminated() == true)
{
if (ProductInfo.VT8792ProductInfo.TrayCount == ProductInfo.VT8792ProductInfo.TrayIndex &&
ProductInfo.VT8792ProductInfo.LotScanCompleted.ScanSuccess == false)
{
RFTrayCoveringRequest = true;
CoverTrayRequest = true;
actor.NextStep();
}
else
{
CoverTrayRequest = true;
actor.NextStep();
}
}
else
actor.NextTerminate();
}