public static string GetFromDrawerToCabitnetHomeGetPath(this BoxrobotTransferPathFile instance, BoxrobotTransferLocation drawerLocation)
        {
            var drawerHome = drawerLocation.GetCabinetHomeCode();

            if (drawerHome.Item1 == false)
            {
                return("");
            }
            if (drawerHome.Item2 == BoxrobotTransferLocation.Cabinet_01_Home)
            {
                var path = instance.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation);

                return(path);
            }
            else// if(drawerHome.Item2 == BoxrobotTransferLocation.Cabinet_02_Home)
            {
                var path = instance.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);
                return(path);
            }
        }
Example #2
0
        [DataRow(EnumMacMaskBoxType.IronBox, false)] // 鐵盒
        //[DataRow(BoxType.CrystalBox,false)]// 水晶盒
        public void Test_Ut001_BT(EnumMacMaskBoxType boxType, bool autoConnect)
        {
            var BREAK_POINT = 0;

            using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
            {
                try
                {
                    var universal   = halContext.GetUniversalAssembly(autoConnect);
                    var boxTransfer = halContext.GetBoxTransferAssembly(autoConnect);
                    var cabinet     = halContext.GetCabinetAssembly(autoConnect);
                    var openStage   = halContext.GetOpenStageAssembly(autoConnect);

                    if (!autoConnect)
                    {
                        universal.HalConnect();
                        boxTransfer.HalConnect();
                        cabinet.HalConnect();
                        openStage.HalConnect();
                    }

                    // Initial OpenStage
                    openStage.Initial();
                    openStage.SetBoxType((uint)boxType);
                    openStage.SortClamp();
                    // Initial BoxTransfer
                    boxTransfer.Initial();
                    // 關燈
                    boxTransfer.TurnOffCameraLight();


                    // connect 所有 Drawer
                    halContext.DrawersConnect();



                    for (int i = 0; 0 < DrawerKeys.Count; i++)
                    {
                        try
                        {
                            // 取得 Drawer
                            var drawer = halContext.GetDrawer(DrawerKeys[i]);
                            // Drawer  代碼
                            var drawerLocation = DrawerLocations[i];
                            // Drawer Home
                            var drawerHome = DrawerLocations[i].GetCabinetHomeCode().Item2;
                            // Drawer Initial
                            drawer.Initial();
                            // boxTransfer 轉向 Cabitnet 1 Home
                            boxTransfer.TurnToCB1Home();


                            BREAK_POINT = 0;


                            /** 1 光罩鐵盒放置於Open Stage平台上*/


                            BREAK_POINT = 0;   // 確認 光罩鐵盒放置於Open Stage平台上*/


                            /** 2. Drawer往機台內部移動到光罩盒可放置的位置 */
                            // 將 Drawer 的Tray 移到 In
                            drawer.MoveTrayToIn();


                            BREAK_POINT = 0;

                            /** 3. Box Robot從Home點至Open Stage進行光罩鐵盒夾取*/
                            //  3.1 能否入侵 Open Stage?
                            openStage.SetRobotIntrude(true, null);
                            //  3.2 將 Boxrobot 移到 OpenStage
                            var path = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
                            openStage.SortUnclamp();
                            openStage.Lock();
                            boxTransfer.Move(path);

                            boxTransfer.Clamp((uint)boxType);

                            BREAK_POINT = 0;

                            /** 4. Box Robot從Open Stage夾持光罩至Drawer放置點位之前一個點位 (暫且定義為 CB1 Home 或CB2 Home) */
                            path = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile();
                            boxTransfer.Move(path);
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB2Home();
                            }

                            #region 拍照 , 移到 6~7 間
                            // 5. (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源, 確認Drawer中無光罩盒
                            #endregion


                            BREAK_POINT = 0;

                            /** 6. Box Robot從Open Stage夾持光罩至Drawer放置點位 (不做放置光罩鐵盒於drawer的動作) */
                            //  將 BoxRobot 移到 Drawer
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {
                                path = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation);
                            }
                            else  //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB2Home();

                                path = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation);
                            }


                            boxTransfer.Move(path);

                            //  拍照
                            //  boxTransfer.CameraShot("Ut001_BT_" + drawerLocation);


                            BREAK_POINT = 0;


                            /** 7. Box Robot夾持光罩回到Drawer entry點位 (目前没有 teach Drawer entry 點 這個點位, 改以 回到 CB1_HOME 或 CB2_Home)*/
                            //   7.1 以Get 方式回到 Cb1Home(目前有盒子)
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {  // cabinet 1
                                path = pathFileObj.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation);
                            }
                            else if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {   // cabinet 2
                                path = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);
                            }
                            boxTransfer.Move(path);
                            //   7.2 如果 Drawer 是 Cabinet 2的Drawer, 再回到 Cabitnet 1 Home
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB1Home();
                            }
                            //   7.3 檢查入侵到 Open Stage
                            openStage.SetRobotIntrude(true, null); // 入侵
                            path = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile();
                            //    7.4 BoxTransfer 移到 OpenStage
                            boxTransfer.Move(path);
                            //   7.5 放下盒子
                            boxTransfer.Unclamp();    // => 第二 個以後Drawer(01_03, 01_04 ,......, 07_03)  的 1.
                            //   7.6 Box robot 回CB1Home
                            path = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
                            boxTransfer.Move(path);



                            BREAK_POINT = 0;


                            // 8. Drawer回到Cabinet內
                            drawer.MoveTrayToHome();

                            // 9. 重複1~8步驟, 完成20個Drawer的光罩鐵盒的移動測試(下個 Cycle)
                            //10.重複1~8步驟, 完成20個Drawer的光罩水晶盒的移動測試
                        }
                        catch (Exception ex)
                        {
                        }
                    }
                }
                catch (Exception ex)
                {
                    MvaLog.WarnNs(this, ex);
                }
            };
        }
Example #3
0
        [DataRow(EnumMacMaskBoxType.CrystalBox, true)]  // 水晶盒
        public void Test_Ut002_BT(EnumMacMaskBoxType boxType, bool autoConnect)
        {
            var BREAK_POINT = 0;

            using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
            {
                try
                {
                    var    universal      = halContext.GetUniversalAssembly(autoConnect);
                    var    boxTransfer    = halContext.GetBoxTransferAssembly(autoConnect);
                    var    openStage      = halContext.GetOpenStageAssembly(autoConnect);
                    var    cabinet        = halContext.GetCabinetAssembly(autoConnect);
                    string btMovePathFile = default(string);
                    if (!autoConnect)
                    {
                        universal.HalConnect();
                        boxTransfer.HalConnect();
                        cabinet.HalConnect();
                        openStage.HalConnect();
                    }


                    openStage.Initial();
                    boxTransfer.Initial();
                    boxTransfer.TurnOffCameraLight();


                    halContext.DrawersConnect();


                    for (var i = 0; i < DrawerKeys.Count; i++)
                    {
                        try
                        {
                            BREAK_POINT = 0;

                            var drawerLocation = DrawerLocations[i];
                            var drawer         = halContext.GetDrawer(DrawerKeys[i]);

                            var drawerHome = drawerLocation.GetCabinetHomeCode().Item2;

                            drawer.Initial();

                            /** 01 光罩鐵盒放置於Drawer內*/
                            // [1.1] Tray 移到 Out
                            drawer.MoveTrayToOut();
                            // [1.2] 移到 Out 之後等待手動放入鐵盒

                            BREAK_POINT = 0;

                            /** 02 Drawer往機台內部移動到Box Robot可以取得光罩的位置*/
                            drawer.MoveTrayToHome();
                            drawer.MoveTrayToIn();

                            BREAK_POINT = 0;


                            /** 03 Box Robot從Home點至Drawer夾取前的檢查點位*/
                            // 3.1 BoxTransfer 轉到 Cabitnet 1 Home
                            boxTransfer.TurnToCB1Home();
                            //*******[BR]*******
                            // 3.2 如果是 Cabitnet 2 的Drawer, 再轉到 Cabinet 2 Home
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB2Home();
                            }


                            BREAK_POINT = 0;


                            /** 04 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源, 確認Drawer中有光罩鐵盒*/ //(移到5.1 ~ 5.2)



                            BREAK_POINT = 0;


                            /** 5 Box Robot移動至Drawer夾取點, 進行光罩鐵盒夾取 (clamp光罩鐵盒)*/
                            // 5.1 Boxtransfer 移到夾取點
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {                                                                                        // Cabinet 1  Drawer 的 Path
                                btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
                            }
                            else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                //Cabinet 2 Drawer 的 Path
                                btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
                            }
                            boxTransfer.Move(btMovePathFile);


                            // 照相
                            // boxTransfer.CameraShot("Ut002_BT_" + drawerLocation);


                            // 5.2 夾取
                            boxTransfer.Clamp((uint)boxType);

                            BREAK_POINT = 0;

                            /** 6 Box Robot將光罩鐵盒從Drawer移動至Open Stage Entry處*/
                            // 6.1 回到 Cabinet 1 Home
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation); // Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
                            }
                            else // if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);// Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
                            }
                            boxTransfer.Move(btMovePathFile);
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB1Home();
                            }
                            // 6.2 boxrobot 移到 OpenStage
                            openStage.SetRobotIntrude(true, null);
                            btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile(); // boxrobot 目前有盒子, 要到 Open Stage, 用PUT
                            boxTransfer.Move(btMovePathFile);


                            BREAK_POINT = 0;

                            /** 7 Box Robot將光罩鐵盒從Open Stage Entry處, 移至Drawer可放置光罩盒的位置, 並且放置光罩鐵盒 (release光罩鐵盒)*/
                            // 7.1 Boxtransfer 回到 Cabinet 1 Home
                            btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile(); // boxrobot 目前有盒子,要回到 Cabinet 1 Home, 用 GET
                            boxTransfer.Move(btMovePathFile);
                            // 7.2 如果是 Cabinet 2 的 Drawer, 轉向 Cabinet 2 Home
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB2Home();
                            }
                            // 7.3 移到 Drawer
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {
                                btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
                            }
                            else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
                            }
                            boxTransfer.Move(btMovePathFile);
                            // 7.3 放下 Box
                            boxTransfer.Unclamp();

                            BREAK_POINT = 0;

                            /** 8 Box Robot (無夾持光罩盒) 從Drawer移回Home點*/
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_PUT_PathFile(drawerLocation); //
                            }
                            else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_PUT_PathFile(drawerLocation); // T
                            }
                            boxTransfer.Move(btMovePathFile);
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                boxTransfer.TurnToCB1Home();
                            }
                            BREAK_POINT = 0;

                            /** 9 Drawer回到Cabinet內*/
                            drawer.MoveTrayToHome();

                            BREAK_POINT = 0;
                            drawer.MoveTrayToOut(); //取出盒子

                            BREAK_POINT = 0;

                            // 取出盒子後回到 HOME
                            drawer.MoveTrayToHome();



                            // 10.重複1~9步驟, 完成20個Drawer的光罩鐵盒測試
                        }
                        catch (Exception ex)
                        {
                        }
                    }

                    //12.重複1~9步驟, 完成20個Drawer的光罩盒測試
                }
                catch (Exception ex)
                {
                }
            }
        }
Example #4
0
        [DataRow(EnumMacMaskBoxType.IronBox, true, DrawerReplaceBoxPlace.In)] // 鐵盒
        //[DataRow(BoxType.CrystalBox,true)]  // 水晶盒
        public void TestMethod1(EnumMacMaskBoxType boxType, bool autoConnect, DrawerReplaceBoxPlace drawerReplaceBoxPlace)
        {
            var BREAK_POINT = 0;

            using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
            {
                /** Index & array
                 * [0]   [1]  [2]
                 * 1-2,  1-3, 1-4     IP: 31~33
                 * ------------------
                 * [3]   [4]  [5]
                 * 2-2,  2-3, 2-4,    IP: 41~43
                 * ------------------
                 * [6]   [7]  [8]
                 * 3-2,  3-3, 3-4,    IP: 51~53
                 * ----------------
                 * [9]   [10] [11]
                 * 4-2,  4-3, 4-4,    IP: 61~63
                 * ------------------
                 * [12]  [13] [14]
                 * 5-2,  5-3, 5-4,    IP: 71~73
                 * ------------------
                 * [15]  [16] [17]
                 * 6-2,  6-3, 6-4,    IP: 81~83
                 *--------------------
                 * [18]  [19]
                 * 7-2,  7-3,         IP: 91~92
                 */

                halContext.MvaCfBootup();
                halContext.MvaCfLoad();

                try
                {
                    var    uni            = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
                    var    bt             = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
                    var    os             = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
                    string btMovePathFile = default(string);

                    uni.HalConnect();
                    bt.HalConnect();
                    os.HalConnect();


                    halContext.DrawersConnect();
                    //bt.Reset();
                    bt.Initial();
                    //bt.TurnToCB1Home();
                    int start = 8;
                    int end   = 10;

                    for (var i = start; i < end; i++)
                    {
                        try
                        {
                            var           drawerLocation = DrawerLocations[i];
                            var           drawer         = halContext.GetDrawer(DrawerKeys[i]);
                            IMacHalDrawer previousDrawer = null;
                            var           drawerHome     = drawerLocation.GetCabinetHomeCode().Item2;
                            /** 00 預先動作, 如有上一輪的 Drawer, 將上一輪的 Drawer 推回到 Out , 取出 Box, 將Box放到現在的 Drawer Tray中, 並將 Tray 放回 Home */
                            // 0.1 如有上一輪的 Drawer, 將其 Tray 移到 可抽換 box 的位置
                            if (i > start)
                            {
                                previousDrawer = halContext.GetDrawer(DrawerKeys[i - 1]);
                                previousDrawer.MoveTrayToHome();
                                if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
                                {
                                    previousDrawer.MoveTrayToIn();
                                }
                                else
                                {
                                    previousDrawer.MoveTrayToOut();
                                }
                            }
                            // 0.2 將目前的  Drawer Tray Initial
                            drawer.Initial();
                            // 0.3 將 目前的  Drawer Tray 移回 可以置換 Drawer 的地方
                            if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
                            {
                                drawer.MoveTrayToIn();
                            }
                            else
                            {
                                drawer.MoveTrayToOut();
                            }


                            /**1. 光罩盒置於 Drawer內*/
                            BREAK_POINT++; //[[[[[[[[[[[[[[[[[[一定要暫停]]]]]]]]]]]]]]]]]]]]]]]]]]   確認有 Box後往下執行
                            // 1.1 如有上一個  Drawer, 將上一個 Drawer 移到 Home
                            if (previousDrawer != null)
                            { //
                                previousDrawer.MoveTrayToHome();;
                            }
                            // 1.2 Drawer Tray 往機台內部移動到可以取得光罩的位置
                            drawer.MoveTrayToHome();
                            drawer.MoveTrayToIn();

                            /** 02 Box Robot從Home點至Drawer entry處*/
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {                                                                                        // Drawer 01-01 ~ Drawer 03-05
                                bt.TurnToCB1Home();
                                btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
                            }
                            else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {   // // Drawer 04-01 ~ Drawer 07-05
                                //Cabinet 2 Drawer 的 Path
                                bt.TurnToCB1Home();
                                bt.TurnToCB2Home();
                                btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
                            }
                            bt.Move(btMovePathFile);

                            /** 03 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/

                            try
                            {
                                var lightValue = bt.GetCameraLightValue(boxType);
                                bt.LightForGripperSetValue(lightValue);
                                bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
                                //bt.LightForGripper(0);
                            }
                            catch (Exception ex)
                            {
                                MvaLog.WarnNs(this, ex);
                            }
                            finally
                            {
                                bt.LightForGripperSetValue(0);
                            }
                            //    bt.Clamp((uint)boxType);
                            //var lightValue = bt.GetCameraLightValue(boxType);
                            //var resultTemp=bt.CameraShot("D:/Image/BT/Gripper", "jpg",lightValue);


                            /** 04 Box Robot從Drawer Entry處移至Drawer內進行光罩鐵盒夾取*/
                            var resultTemp = bt.Clamp((uint)boxType);

                            /** 05 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
                            var Level = bt.ReadLevelSensor();

                            /** 06 Box Robot將光罩鐵盒從Drawer移動至Open Stage上方*/
                            // 6.1 回到 Cabinet 1 Home
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation); // Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
                                bt.Move(btMovePathFile);
                            }
                            else // if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {   // Drawer 04_01~07~05 回到  Cabinet 1 Home
                                btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);// Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
                                bt.Move(btMovePathFile);
                                bt.TurnToCB1Home();
                            }

                            // 6.2 boxrobot 移到 OpenStage
                            os.SetRobotIntrude(true, null);
                            btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile(); // boxrobot 目前有盒子, 要到 Open Stage, 用PUT
                            bt.Move(btMovePathFile);

                            /** 07 光罩鐵盒放置前確認Box Robot是水平狀態 (by 水平儀)*/
                            Level = bt.ReadLevelSensor();

                            /** 08 Box Robot將光罩鐵盒放置於Open Stage上*/
                            bt.Unclamp();

                            /** 09 Box Robot退出Open Stage, 並回到Box Robot Home點*/
                            btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
                            bt.Move(btMovePathFile);
                            os.SetRobotIntrude(false, null);

                            /** 10 (編號9-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/

                            /**
                             * os.LightForTopBarDfsSetValue(200);
                             * os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
                             * os.LightForTopBarDfsSetValue(0);
                             */
                            try
                            {
                                os.LightForFrontBarDfsSetValue(85); //bar 0~255
                                os.LightForSideBarDfsSetValue(140); //bar 0~255
                                os.LightForTopBarDfsSetValue(20);   //bar 0~255
                                os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
                                Debug.WriteLine("Open Stage Camera Shot(Top) OK");
                            }
                            catch (Exception ex)
                            {
                                Debug.WriteLine("Open Stage Camera Shot(Top) Error=" + ex.Message);
                            }
                            finally
                            {
                                os.LightForFrontBarDfsSetValue(0);
                                os.LightForSideBarDfsSetValue(0);
                                os.LightForTopBarDfsSetValue(0);
                            }



                            /** 11 (編號12-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/

                            /**
                             * os.LightForSideBarDfsSetValue(200);
                             * os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
                             * os.LightForSideBarDfsSetValue(0);
                             */
                            try
                            {
                                os.LightForFrontBarDfsSetValue(85); //bar 0~255
                                os.LightForSideBarDfsSetValue(140); //bar 0~255
                                os.LightForTopBarDfsSetValue(20);   //bar 0~255
                                os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");

                                Debug.WriteLine("Open Stage Camera Shot OK");
                            }
                            catch (Exception ex)
                            {
                                Debug.WriteLine("Open Stage Camera Shot(Side) Error=" + ex.Message);
                            }
                            finally
                            {
                                os.LightForFrontBarDfsSetValue(0);
                                os.LightForSideBarDfsSetValue(0);
                                os.LightForTopBarDfsSetValue(0);
                            }

                            /** 12 Box Robot(無夾持光罩鐵盒)從Home點移動進入Open Stage上方*/
                            os.SetRobotIntrude(true, null);
                            btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
                            bt.Move(btMovePathFile);

                            /** 13 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
                            Level = bt.ReadLevelSensor();

                            /** 14 Box Robot從Open Stage上方夾取光罩鐵盒*/
                            bt.Clamp((uint)boxType);

                            /** 15 Box Robot將光罩鐵盒移動至Drawer處*/
                            // 15.1 Boxrobot 移到 Cabitnet 1 Home
                            btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile(); // boxrobot 目前有盒子,要回到 Cabinet 1 Home, 用 GET
                            bt.Move(btMovePathFile);
                            os.SetRobotIntrude(false, null);
                            // 15.2
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {                                                                                        // drawer 01-01 ~ drawer 03-05
                                btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
                                bt.Move(btMovePathFile);
                            }
                            else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                // drawer 04-01 ~ drawer 07-05
                                bt.TurnToCB2Home();
                                btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
                                bt.Move(btMovePathFile);
                            }


                            /** 16 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
                            try
                            {
                                var lightValue = bt.GetCameraLightValue(boxType);
                                bt.LightForGripperSetValue(lightValue);
                                bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
                            }
                            catch (Exception ex)
                            {
                                MvaLog.WarnNs(this, ex);
                            }
                            finally
                            {
                                bt.LightForGripperSetValue(0);
                            }

                            //lightValue = bt.GetCameraLightValue(boxType);
                            //resultTemp= bt.CameraShot("D:/Image/BT/Gripper", "jpg", lightValue);

                            /** 17 Box Robot將光罩鐵盒移動至Drawer內*/
                            bt.Unclamp();

                            /** 18 Box Robot (無夾持光罩鐵盒) 從Drawer移回Home點*/
                            // 18.1 Boxrobot 移回 Home 點
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_PUT_PathFile(drawerLocation); //
                            }
                            else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_PUT_PathFile(drawerLocation); // T
                            }
                            bt.Move(btMovePathFile);

                            // 18.2 Drawer 04-01 ~ Drawer 07-05 時 Boxrobot 轉回 Cabitnet 1 Home
                            if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
                            {
                                bt.TurnToCB1Home();
                            }


                            // drawer.CommandINI();
                            /** 19 重複1~18步驟, 完成20個Drawer的光罩鐵盒測試*/
                            /** 20 重複1~19步驟, 完成20個Drawer的光罩水晶盒測試*/

                            BREAK_POINT++; // [一定要暫停] 這個 drawer 做好了, 準備下一個
                        }
                        catch (Exception ex)                       { MvaLog.WarnNs(this, ex); }
                    }
                }
                catch (Exception ex)                { MvaLog.WarnNs(this, ex); }
            }
        }