public void TestMethod2()//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;
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();
cc.HalConnect();
ic.HalConnect();
//1. 光罩放置於Inspection Chamber Stage上
//2. Mask Robot從Home點移動至Inspection Chamber
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//3. Mask Robot在Inspection Chamber 內進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Inspection Chamber移動至Clean Chamber內
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.CleanChHomePathFile());
mt.ExePathMove(pathFileObj.FromCCHomeToCCBackSidePathFile());
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.FromCCBackSideToCleanPathFile());
mt.ExePathMove(pathFileObj.FromBackSideCleanFinishToCCPathFile());
mt.ExePathMove(pathFileObj.FromCCBackSideToCapturePathFile());
mt.ExePathMove(pathFileObj.FromBackSideCaptureFinishToCCPathFile());
mt.RobotMoving(false);
//7. 將光罩移動至安全光柵附近, 可觸發光柵報值(由人員手動遮斷)
var LightCurtain = cc.ReadLightCurtain();
//8. Mask Robot將光罩從Clean Chamber, 移回Inspection Chamber
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromCCBackSideToCCHomePathFile());
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//9. Mask Robot將光罩放置於Inspection Chamber Stage上
mt.Unclamp();
//10.Mask Robot(無夾持光罩) 從Inspection Chamber移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}