private int CheckXAxMatchZone(EHandlerIndex index, int curPos, int curZone_X)
{
switch (curPos)
{
case (int)EHandlerPos.LOAD:
if (curZone_X != (int)EHandlerXAxZone.LOAD)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_XAX_POS_NOT_MATCH_ZONE));
}
break;
case (int)EHandlerPos.WAIT:
if (curZone_X != (int)EHandlerXAxZone.WAIT)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_XAX_POS_NOT_MATCH_ZONE));
}
break;
case (int)EHandlerPos.UNLOAD:
if (curZone_X != (int)EHandlerXAxZone.UNLOAD)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_XAX_POS_NOT_MATCH_ZONE));
}
break;
}
return(SUCCESS);
}
public int CheckHandlerPosition(EHandlerIndex index, out int curPos,
int firstCheckPos = (int)EHandlerPos.NONE, bool bCheck_ZAxis = true)
{
int iResult = SUCCESS;
// Init
curPos = (int)EHandlerPos.NONE;
// 1. check first position
if (firstCheckPos != (int)EHandlerPos.NONE)
{
bool bResult;
iResult = GetHandler(index).CompareHandlerPos(firstCheckPos, out bResult, false, bCheck_ZAxis);
if (iResult != SUCCESS)
{
return(iResult);
}
if (bResult)
{
curPos = firstCheckPos;
return(SUCCESS);
}
}
// Get Position Info
iResult = GetHandler(index).GetHandlerPosInfo(out curPos, true, bCheck_ZAxis);
if (iResult != SUCCESS)
{
return(iResult);
}
return(SUCCESS);
}
public MMeHandler GetHandler(EHandlerIndex index)
{
if (index == EHandlerIndex.LOAD_UPPER)
{
return(m_RefComp.UpperHandler);
}
else
{
return(m_RefComp.LowerHandler);
}
}
public EHandlerIndex GetOtherIndex(EHandlerIndex index)
{
if (index == EHandlerIndex.LOAD_UPPER)
{
return(EHandlerIndex.UNLOAD_LOWER);
}
else
{
return(EHandlerIndex.LOAD_UPPER);
}
}
public int IsReleased(EHandlerIndex index, out bool bStatus)
{
bStatus = false;
int iResult = GetHandler(index).IsReleased(out bStatus);
if (iResult != SUCCESS)
{
return(iResult);
}
return(SUCCESS);
}
public int MoveToUnloadPos(EHandlerIndex index, bool bPanelTransfer, bool bMoveXYT = true, bool bMoveZ = true, double dZMoveOffset = 0)
{
double[] dMoveOffset = new double[DEF_XYTZ];
dMoveOffset[DEF_Z] = dZMoveOffset;
int iResult = CheckSafety_forMove(index, (int)EHandlerPos.UNLOAD, bPanelTransfer, bMoveZ);
if (iResult != SUCCESS)
{
return(iResult);
}
iResult = GetHandler(index).MoveHandlerToUnloadPos(bMoveXYT, bMoveZ, dMoveOffset);
if (iResult != SUCCESS)
{
return(iResult);
}
return(SUCCESS);
}
public int CheckSafety_forMove(EHandlerIndex index, int nTargetPos, bool bPanelTransfer, bool bMozeZAxis)
{
int iResult = SUCCESS;
// 0. init
int curPos = (int)EHandlerPos.NONE;
// 0.1 check vacuum
iResult = CheckVacuum_forMove(index, bPanelTransfer);
if (iResult != SUCCESS)
{
return(iResult);
}
// 1 check object exist
bool bObjectExist = false;
iResult = IsObjectDetected(index, out bObjectExist);
if (iResult != SUCCESS)
{
return(iResult);
}
if (bPanelTransfer == true && bObjectExist == false)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_OBJECT_NOT_EXIST));
}
else if (bPanelTransfer == false && bObjectExist == true)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_OBJECT_EXIST));
}
// 2 get current pos
// need to decide check position interlock..
iResult = CheckHandlerPosition(index, out curPos, nTargetPos, false);
if (iResult != SUCCESS)
{
return(iResult);
}
if (curPos == (int)EHandlerPos.NONE)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_CANNOT_DETECT_POSINFO));
}
int other_curPos;
iResult = CheckHandlerPosition(GetOtherIndex(index), out other_curPos, nTargetPos, false);
if (iResult != SUCCESS)
{
return(iResult);
}
if (other_curPos == (int)EHandlerPos.NONE)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_CANNOT_DETECT_POSINFO));
}
// 3. get current zone
int curZone_X, other_curZone_X;
iResult = GetHandler(index).GetHandlerAxZone(DEF_X, out curZone_X);
if (iResult != SUCCESS)
{
return(iResult);
}
iResult = GetOtherHandler(index).GetHandlerAxZone(DEF_X, out other_curZone_X);
if (iResult != SUCCESS)
{
return(iResult);
}
int curZone_Z, other_curZone_Z;
iResult = GetHandler(index).GetHandlerAxZone(DEF_Z, out curZone_Z);
if (iResult != SUCCESS)
{
return(iResult);
}
iResult = GetOtherHandler(index).GetHandlerAxZone(DEF_Z, out other_curZone_Z);
if (iResult != SUCCESS)
{
return(iResult);
}
// 4. check curPos match cur zone
iResult = CheckXAxMatchZone(index, curPos, curZone_X);
if (iResult != SUCCESS)
{
return(iResult);
}
iResult = CheckXAxMatchZone(GetOtherIndex(index), other_curPos, other_curZone_X);
if (iResult != SUCCESS)
{
return(iResult);
}
// 5. check interlock within handlers
if (index == (int)EHandlerIndex.LOAD_UPPER) // Upper Handler
{
// check cur position, because uhandler may collide when z axis is in down pos.
if (curZone_Z != (int)EHandlerZAxZone.SAFETY)
{
if (curZone_X == other_curZone_X)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_UHANDLER_IN_DOWN_AND_LHANDLER_IN_SAME_XZONE));
}
}
// check target position,
if (bMozeZAxis == true &&
(nTargetPos == (int)EHandlerPos.LOAD || nTargetPos == (int)EHandlerPos.UNLOAD))
{
if (nTargetPos == other_curPos)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_UHANDLER_NEED_DOWN_AND_LHANDLER_IN_SAME_XZONE));
}
}
}
else // Lower Handler
{
// check cur position, because uhandler may collide when z axis is in down pos.
if (other_curZone_Z != (int)EHandlerZAxZone.SAFETY)
{
if (curZone_X == other_curZone_X)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_UHANDLER_IN_DOWN_AND_LHANDLER_IN_SAME_XZONE));
}
// UHandler가 중간 지점 wait zone에서 down 되어있을경우, 못 움직인다.
if (other_curZone_X == (int)EHandlerXAxZone.WAIT)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_LHANDLER_NEED_MOVE_AND_UHANDLER_IN_DOWN));
}
// 목표 위치와 UHandler가 같은 지역일때
if (nTargetPos == other_curPos)
{
return(GenerateErrorCode(ERR_CTRLHANDLER_LHANDLER_NEED_MOVE_AND_UHANDLER_IN_DOWN));
}
}
}
return(SUCCESS);
}
/// <summary>
/// Handler의 이동전에 Run Mode에 따라서, Object가 감지되어야 하는지 및 진공 여부를 체크
/// </summary>
/// <param name="index"></param>
/// <param name="bPanelTransfer">Object가 있어야 되는지</param>
/// <param name="bCheckAutoRun">AutoRun모드에서 Error 발생 여부</param>
/// <returns></returns>
private int CheckVacuum_forMove(EHandlerIndex index, bool bPanelTransfer, bool bCheckAutoRun = false)
{
int iResult = SUCCESS;
bool bDetected, bAbsorbed;
// check vacuum
iResult = IsObjectDetected(index, out bDetected);
if (iResult != SUCCESS)
{
return(iResult);
}
iResult = IsAbsorbed(index, out bAbsorbed);
if (iResult != SUCCESS)
{
return(iResult);
}
if (bPanelTransfer)
{
if (bDetected == true && bAbsorbed == false)
{
iResult = Absorb(index);
if (iResult != SUCCESS)
{
return(iResult);
}
bAbsorbed = true;
}
}
// Panel이 있든 없든 상관없는 위치들, 가령 대기, 마크 등등의 위치를 위해서
if (bCheckAutoRun == true)
{
return(SUCCESS);
}
// check object exist when auto run
if (AutoManual == EAutoManual.AUTO)
{
if (OpMode != EOpMode.DRY_RUN) // not dry run
{
if (bDetected != bPanelTransfer)
{
if (bPanelTransfer) // Panel이 있어야 할 상황일경우
{
WriteLog("CtrlHandler의 이동 전 조건을 정상적으로 확인하지 못함. OBJECT NOT EXIST", ELogType.Debug, ELogWType.Error);
return(GenerateErrorCode(ERR_CTRLHANDLER_OBJECT_NOT_EXIST));
}
else
{
WriteLog("CtrlHandler의 이동 전 조건을 정상적으로 확인하지 못함. OBJECT EXIST", ELogType.Debug, ELogWType.Error);
return(GenerateErrorCode(ERR_CTRLHANDLER_OBJECT_EXIST));
}
}
}
else // dry run
{
if (bDetected || bAbsorbed)
{
WriteLog("CtrlHandler의 이동 전 조건을 정상적으로 확인하지 못함. OBJECT EXIST", ELogType.Debug, ELogWType.Error);
return(GenerateErrorCode(ERR_CTRLHANDLER_OBJECT_EXIST));
}
}
}
// m_plogMng->WriteLog(DEF_MLOG_NORMAL_LOG_LEVEL, "Stage3의 이동 전 조건을 정상적으로 확인함: OK", __FILE__, __LINE__);
return(SUCCESS);
}
public int Release(EHandlerIndex index, bool bSkipSensor = false)
{
int iResult = GetHandler(index).Absorb(bSkipSensor);
return(iResult);
}
