/// <summary> 回到 CB1 HOME</summary> /// <param name="instance"></param> public static void TurnToCB2Home(this MacHalBoxTransfer instance) { var pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); string path = pathFileObj.Cabinet02HomePathFile(); instance.Move(path); }
public Ut001_002_004_005() { try { DrawerKeys = HalDrawerExtends.DrawerKeys; DrawerLocations = HalDrawerExtends.DrawerLocations; PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料 pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path); HalContext = MacHalContextExtends.Create_MacHalContext_Instance(); HalUniversal = HalContext.GetUniversalAssembly(); HalOpenStage = HalContext.GetOpenStageAssembly(); HalBoxTransfer = HalContext.GetBoxTransferAssembly(); HalUniversal.HalConnect(); HalOpenStage.HalConnect(); HalBoxTransfer.HalConnect(); // Initial // HalOpenStage.ReadRobotIntrude(false, false); HalOpenStage.Initial(); HalBoxTransfer.Initial(); HalBoxTransfer.TurnOffCameraLight(); } catch (Exception ex) { InitialError = true; InitialErrorMessage = ex.Message; } // HalBoxTransfer.TurnToCB1Home(); }
/// <summary>多路徑移動</summary> /// <param name="instance"></param> /// <param name="path">路徑檔名稱的集合</param> public static void Move(this MacHalBoxTransfer instance, List <string> paths) { instance.RobotMoving(true); foreach (var path in paths) { instance.ExePathMove(path); } instance.RobotMoving(false); }
public static int GetCameraLightValue(this MacHalBoxTransfer instance, EnumMacMaskBoxType boxType) { if (boxType == EnumMacMaskBoxType.IronBox) { return(5); } else if (boxType == EnumMacMaskBoxType.CrystalBox) { return(100); } else { return(200); } }
/// <summary></summary> /// <param name="instance"></param> /// <param name="picName"></param> /// <param name="lightValue"></param> public static string CameraShot(this MacHalBoxTransfer instance, string pathName, string picType, int lightValue = 200) { string rtnV = ""; try { // 開啟 光源 instance.TurnOnCameraLight(lightValue); // 照相 instance.Camera_CapToSave(pathName, picType); rtnV = "Boxtransfer camera shot [OK]"; } catch (Exception ex) { rtnV = "Boxtransfer camera shot error:" + ex.Message + ", lightValue=" + lightValue; } finally { instance.TurnOffCameraLight(); } return(rtnV); }
public static void TurnOffCameraLight(this MacHalBoxTransfer instance) { instance.LightForGripperSetValue(0); }
public static void TurnOnCameraLight(this MacHalBoxTransfer instance, int lightValue = 200) { instance.LightForGripperSetValue(lightValue); }
/// <summary>單一路徑移動</summary> /// <param name="instance"></param> /// <param name="path">路徑檔名稱</param> public static void Move(this MacHalBoxTransfer instance, string path) { instance.Move((new string[] { path }).ToList()); }