void DoWork(RUN_MODE mode = RUN_MODE.ONCE)
{
if (InvokeRequired)
{
Invoke(new DoWorkDelegate(DoWork), mode);
}
else
{
string reason = (mode == RUN_MODE.MONITOR) ? "Display change detected" : "Applied settings";
var res = Program.Run();
if (res == ApplyResult.Success_WriteOK)
{
FlashIcon(Constants.OK_ICON);
if (!Program.SilentMode)
{
ShowBalloon($"{reason}\n\nPowerPoint will output on display \"{Config.LoadConfig().GetShortName()}\"");
}
}
else if (res == ApplyResult.Fail_NotDetected)
{
FlashIcon(Constants.NO_ICON);
if (!Program.SilentMode)
{
ShowBalloon($"Failed to apply settings\n\nDid not detect display \"{Config.LoadConfig().GetShortName()}\"");
}
}
else if (res == ApplyResult.Success_NoWriteNeeded)
{
// no need for balloon, but flash the tray icon for assurance
FlashIcon(Constants.OK_ICON);
}
}
}
//训练神经网络
private bool TrainNetwork()
{
mode = RUN_MODE.TRAINING;
if (!(net.Train(data)))
{
return(false);
}
mode = RUN_MODE.ACTIVE;
return(true);
}
//学习新的手势
private void StartLearn()
{
if (mode == RUN_MODE.LEARNING)
{
//保存新的手势并重新训练网络
print(vectors.Count);
data.AddPattern(vectors, strName);
numValidPatterns++;
net = new NeuralNet(Useful.NUM_VECTORS * 2, numValidPatterns);
RenewNetwork();
mode = RUN_MODE.ACTIVE;
}
}
// Constructor
public EventWatcher(RUN_MODE mode)
{
InitializeComponent();
runMode = mode;
Action <int> a = (arg) =>
{
DoWork(RUN_MODE.MONITOR);
};
debouncedWrapper = a.Debounce();
}
void Update()
{
txtError.text = "误差率：" + ((float)net.errorSum).ToString();
if (Input.GetKeyDown(KeyCode.S))
{
mode = RUN_MODE.SAVING;
isShow = true;
}
if (Input.GetKeyDown(KeyCode.L))
{
mode = RUN_MODE.LEARNING;
}
if (Input.GetKeyDown(KeyCode.T))
{
//Thread oThread = new Thread(new ThreadStart(StartTrainNetWork));
//oThread.Start();
StartTrainNetWork();
}
if (Input.GetMouseButton(0))
{
Record();
}
else
{
mouseMode = MouseState.LEAVE;
}
if (Input.GetMouseButtonDown(0))
{
ClearRecord();
}
if (Input.GetMouseButtonUp(0))
{
if (mode == RUN_MODE.LEARNING)
{
if (Smooth())
{
ShowSmoothPoint();
CreateVectors();
}
isShow = true;
}
else
{
StartMatch();
}
}
}
//开始手势识别
private bool StartMatch()
{
if (Smooth())
{
ShowSmoothPoint();
CreateVectors();
//识别
if (Mode == RUN_MODE.ACTIVE)
{
if (!TestForMatch())
{
MessageBox.Show("An internal error accured when matching!", "GestureStudy", MessageBoxButtons.OK, MessageBoxIcon.Error);
return(false);
}
else
{
ShowResult();
}
}
//学习
else if (Mode == RUN_MODE.LEARNING)
{
//保存新的手势并重新训练网络
if (MessageBox.Show("Do you want to save this gesture?", "GestureStudy", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
{
string name = Microsoft.VisualBasic.Interaction.InputBox("Name for this gesture?", "GestureStudy", "", this.Left + 100, this.Top + 100);
data.AddPattern(Vectors, name);
NumValidPatterns++;
net = new NeuralNet(Useful.NUM_VECTORS * 2, NumValidPatterns, Useful.NUM_HIDDEN_NEURONS, Useful.LEARNING_RATE);
net.SendMessage += new NeuralNet.DelegateOfSendMessage(ShowMessage);
txtState.BackColor = Color.FromKnownColor(KnownColor.Control);
RenewNetwork();
Mode = RUN_MODE.ACTIVE;
}
}
}
else
{
MessageBox.Show("Too few points captured, please draw line slowly!", "GestureStudy", MessageBoxButtons.OK, MessageBoxIcon.Information);
Clear();
ClearDraw();
}
return(true);
}
//初始化数据
private void InitData()
{
Mode = RUN_MODE.UNREADY;
NumValidPatterns = Useful.NUM_PATTERNS;
NumSmoothPoints = Useful.NUM_VECTORS + 1;
HighestOutput = 0.0;
BestMatch = -1;
Match = -1;
RawPath = new List <Point>();
SmoothPath = new List <Point>();
Vectors = new List <double>();
data = new GestureData(NumValidPatterns, Useful.NUM_VECTORS);
net = new NeuralNet(Useful.NUM_VECTORS * 2, NumValidPatterns, Useful.NUM_HIDDEN_NEURONS, Useful.LEARNING_RATE);
net.SendMessage += new NeuralNet.DelegateOfSendMessage(ShowMessage);
}
public void Run()
{
if (!isAcceptRun())
{
return;
}
if (nSeqNo != nPreSeqNo)
{
resetCmd();
}
nPreSeqNo = nSeqNo;
CaseVTM seqCase = (CaseVTM)nSeqNo;
alwaysCheck();
RUN_MODE RunMode = RecipeMgr.Inst.TempRcp.eRunMode; //현재 레시피
if (RunMode == RUN_MODE.ONLY_LAMI)
{
//현재 진행 모드가 라미 모드일 경우 진행하지 않기 위함
return;
}
switch (seqCase)
{
case CaseVTM.Initialze:
break;
case CaseVTM.Check_Interlock:
break;
case CaseVTM.Check_Status:
//웨이퍼 로딩 상태 확인
ReqStatus = CheckStatusReqeust();
if (ReqStatus == ReqStatus_VTM.LOADLOCK_LOAD)
{
//Pickup Loadlock
Working_Arm = ARM.UPPER;
nextSeq(CaseVTM.Check_LL_Pickup);
}
else if (ReqStatus == ReqStatus_VTM.LOAD_PMC)
{
//Load PMC Seq
Working_Arm = ARM.UPPER;
nextSeq(CaseVTM.Start_VTM_Load_PMC);
}
else if (ReqStatus == ReqStatus_VTM.UNLOAD_PMC)
{
//Unload Seq
Working_Arm = ARM.LOWER;
nextSeq(CaseVTM.Start_VTM_Unload_PMC);
}
else if (ReqStatus == ReqStatus_VTM.UNLOAD_BONDED)
{
Working_Arm = ARM.LOWER;
nextSeq(CaseVTM.Check_LL_Place);
}
else
{
//요청이 없을 경우 대기하자
}
return;
/////////////////////////////////
//VTM Pickup LL -> Load PMC
/////////////////////////////////
case CaseVTM.Check_WaferStatus:
break;
case CaseVTM.Check_LL_Pickup:
//Loadlock이 동작 중인지 확인
if (GlobalVariable.interlock.bLLMoving)
{
return;
}
GlobalVariable.interlock.bLLMoving = true;
break;
case CaseVTM.Move_LL_Move_Pickup:
//Pickup LL
//GlobalSeq.autoRun.procLoadlock.Move(MotionPos.Pos3);
GlobalSeq.autoRun.procLoadlock.MoveExit((int)MotionPos.Pos3);
strLog = string.Format("Loadlock VTM Pickup Move Start -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Compl_LL_Move_Pickup:
if (GlobalSeq.autoRun.procLoadlock.CheckMoveDone((int)MotionPos.Pos3) == false)
{
return;
}
strLog = string.Format("Loadlock VTM Pickup Move End -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Start_VTM_Pickup_LL:
break;
case CaseVTM.Set_Pumping_Pickup_LL:
GlobalSeq.autoRun.prcVTM.Pmc.GetStatus(CTC_STATUS.CTCRunMode, ref status);
if (status == (short)CTC_RunMode.ModeAtm)
{
break;
}
//Loadlock Pumping 상태로 만든다.
fRet = GlobalSeq.autoRun.procLoadlock.Loadlock_Pumping();
if (fRet == fn.success)
{
break;
}
else if (fRet == fn.busy)
{
return;
}
else
{
//Error
return;
}
case CaseVTM.Door_Open_Pickup_LL:
//VTM Door Open
GlobalVariable.io.VTM_Door_Open();
break;
case CaseVTM.Check_Open_Pickup_LL:
//VTM Door Open Check
if (GlobalVariable.io.Check_VTM_Door_Open() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.Move_VTM_Pickup_LL:
Working_Stage = VtmStage.LL;
Working_Arm = ARM.UPPER;
//VTM Pickup/Place 시 부분동작으로 변경 함
if (GlobalSeq.autoRun.procLoadlock.SetBlock() == false)
{
return;
}
MoveRobot(Working_Stage, Working_Arm, true); //Arm Fold 이동
//MoveRobot(Working_Stage, Working_Arm, false); //Arm Fold 이동
strLog = string.Format("VTM Robot Pickup Move Start -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Move_VTM_Pickup_LL_Check:
if (CheckComplete() != fn.success)
{
return;
}
break;
case CaseVTM.Move_VTM_Pickup_LL_Stretch:
//if (CheckComplete() != fn.success) return;
MoveRobot_Stretch(Working_Stage, Working_Arm, UPDOWN_POS.DOWN);
break;
case CaseVTM.Move_VTM_Pickup_LL_Stretch_Check:
if (CheckComplete() != fn.success)
{
return;
}
break;
case CaseVTM.Move_VTM_Pickup_LL_HandUp:
MoveRobot_HandUp(Working_Stage, Working_Arm);
break;
case CaseVTM.Move_VTM_Pickup_LL_HandUp_Check:
if (CheckComplete() != fn.success)
{
return;
}
break;
case CaseVTM.Move_VTM_Pickup_LL_Fold:
MoveRobot_Fold(Working_Stage, Working_Arm, UPDOWN_POS.UP);
break;
case CaseVTM.Move_VTM_Pickup_LL_Fold_Check:
if (CheckComplete() != fn.success)
{
return;
}
GlobalSeq.autoRun.procLoadlock.UnBlock();
break;
case CaseVTM.Compl_VTM_Pickup_LL:
strLog = string.Format("VTM Robot Pickup Move End -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Door_Close_Pickup_LL:
//VTM Door Close
GlobalVariable.io.VTM_Door_Close();
break;
case CaseVTM.Check_Close_Pickup_LL:
//VTM Door Close Check
if (GlobalVariable.io.Check_VTM_Door_Close() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.End_VTM_Pickup_LL:
GlobalVariable.seqShared.LoadingLoadLockToVtm(WaferType.CARRIER, (HAND)Working_Arm);
//GlobalVariable.seqShared.LoadingLoadLockToVtm(WaferType.DEVICE, (HAND)Working_Arm);
GlobalVariable.interlock.bLLMoving = false;
GlobalVariable.interlock.bLLUsed_VTM = false; //Loadlock 사용 해제 Flag
//Loadlock 픽업 후 리턴
nextSeq(CaseVTM.Check_Interlock);
break;
/////////////////////////////////
//VTM Load PMC
/////////////////////////////////
case CaseVTM.Start_VTM_Load_PMC:
strLog = string.Format("VTM PMC Load Move Start -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Set_Pumping_Load_PMC:
GlobalSeq.autoRun.prcVTM.Pmc.GetStatus(CTC_STATUS.CTCRunMode, ref status);
if (status == (short)CTC_RunMode.ModeAtm)
{
break;
}
//PMC에 Vacuum 상태를 확인한다.
fRet = GlobalSeq.autoRun.procLoadlock.VTM_Pumping();
if (fRet == fn.success)
{
break;
}
else if (fRet == fn.busy)
{
return;
}
else
{
//Error
return;
}
////Convectron Sensor On Check
//if (GlobalVariable.io.ReadInput(GlobalVariable.io.I_VacuumTm_ConvectronRy_1) == true
// && GlobalVariable.io.ReadInput(GlobalVariable.io.I_VacuumTm_ConvectronRy_2) == true)
//{
// //조건이 맞으면 다음 케이스로 넘긴다
// break;
//}
//else
//{
// //Error
// return;
//}
case CaseVTM.Door_Open_Load_PMC:
//PMC Door Open
GlobalVariable.io.BD_Door_Open();
break;
case CaseVTM.Check_Open_Load_PMC:
//PMC Door Open Check
if (GlobalVariable.io.Check_BD_Door_Open() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.Move_VTM_Load_PMC:
if (Load_PMC(Working_Arm) != fn.success)
{
return;
}
break;
case CaseVTM.Compl_VTM_Load_PMC:
break;
case CaseVTM.Door_Close_Load_PMC:
//PMC Door Close
GlobalVariable.io.BD_Door_Close();
break;
case CaseVTM.Check_Close_Load_PMC:
//PMC Door Close Check
if (GlobalVariable.io.Check_BD_Door_Close() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.End_VTM_Load_PMC:
GlobalVariable.seqShared.LoadingVtmToBonder((HAND)Working_Arm);
strLog = string.Format("VTM PMC Load Move End -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Set_Recipe:
break;
case CaseVTM.Start_Process:
//Set Process Start
GlobalVariable.interlock.bBondingProcess = true;
strLog = string.Format("Pmc Process On -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
nextSeq(CaseVTM.Check_Interlock);
return;
/////////////////////////////////
//VTM Unload PMC
/////////////////////////////////
case CaseVTM.Start_VTM_Unload_PMC:
strLog = string.Format("VTM PMC Unload Move Start -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Set_Pumping_Unload_PMC:
GlobalSeq.autoRun.prcVTM.Pmc.GetStatus(CTC_STATUS.CTCRunMode, ref status);
if (status == (short)CTC_RunMode.ModeAtm)
{
break;
}
//PMC에 Vacuum 상태를 확인한다.
fRet = GlobalSeq.autoRun.procLoadlock.VTM_Pumping();
if (fRet == fn.success)
{
break;
}
else if (fRet == fn.busy)
{
return;
}
else
{
//Error
return;
}
case CaseVTM.Door_Open_Unload_PMC:
//PMC Door Open
GlobalVariable.io.BD_Door_Open();
break;
case CaseVTM.Check_Open_Unload_PMC:
//PMC Door Open Check
if (GlobalVariable.io.Check_BD_Door_Open() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.Move_VTM_Unload_PMC:
Working_Arm = ARM.LOWER; //언로드 시 Lower Hand
if (Unload_PMC(Working_Arm) != fn.success)
{
return;
}
strLog = string.Format("VTM PMC Unload Move End -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Compl_VTM_Unload_PMC:
break;
case CaseVTM.Door_Close_Unload_PMC:
//Door Close
GlobalVariable.io.BD_Door_Close();
break;
case CaseVTM.Check_Close_Unload_PMC:
//Door Close Check
if (GlobalVariable.io.Check_BD_Door_Close() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.End_VTM_Unload_PMC:
//데이터 이동
GlobalVariable.seqShared.LoadingBonderToVtm((HAND)Working_Arm);
nextSeq(CaseVTM.Check_Interlock);
return;
case CaseVTM.Check_LL_Place:
//Loadlock이 동작 중인지 확인
if (GlobalVariable.interlock.bLLMoving)
{
return;
}
GlobalVariable.interlock.bLLMoving = true;
GlobalVariable.interlock.bLLUsed_VTM = true; //Loadlock 사용 Flag
break;
case CaseVTM.Move_LL_Move_Place:
//BD Place -> Unload
//GlobalSeq.autoRun.procLoadlock.Move(MotionPos.Pos1);
GlobalSeq.autoRun.procLoadlock.MoveExit((int)MotionPos.Pos1);
strLog = string.Format("Loadlock VTM Place Move Start -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Compl_LL_Move_Place:
// if (GlobalSeq.autoRun.procLoadlock.CheckComplete() != fn.success) return;
if (GlobalSeq.autoRun.procLoadlock.CheckMoveDone((int)MotionPos.Pos1) == false)
{
return;
}
strLog = string.Format("Loadlock VTM Place Move End -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Start_VTM_Place_LL:
if (Working_Arm != ARM.LOWER)
{
//Hand Fail
return;
}
break;
case CaseVTM.Set_Pumping_Place_LL:
GlobalSeq.autoRun.prcVTM.Pmc.GetStatus(CTC_STATUS.CTCRunMode, ref status);
if (status == (short)CTC_RunMode.ModeAtm)
{
break;
}
//Loadlock Pumping 상태로 만든다.
fRet = GlobalSeq.autoRun.procLoadlock.Loadlock_Pumping();
if (fRet == fn.success)
{
break;
}
else if (fRet == fn.busy)
{
return;
}
else
{
//Error
return;
}
case CaseVTM.Door_Open_Place_LL:
//VTM Door Open
GlobalVariable.io.VTM_Door_Open();
break;
case CaseVTM.Check_Open_Place_LL:
//VTM Door Open Check
if (GlobalVariable.io.Check_VTM_Door_Open() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.Move_VTM_Place_LL:
Working_Stage = VtmStage.Bonded;
if (GlobalSeq.autoRun.procLoadlock.SetBlock() == false)
{
return;
}
//MoveRobot(Working_Stage, Working_Arm, false);
MoveRobot(Working_Stage, Working_Arm, true); //Hand Fold 이동
strLog = string.Format("VTM Robot Place Move Start -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Move_VTM_Place_LL_Check:
if (CheckComplete() != fn.success)
{
return;
}
break;
case CaseVTM.Move_VTM_Place_LL_Stretch:
MoveRobot_Stretch(Working_Stage, Working_Arm, UPDOWN_POS.UP);
break;
case CaseVTM.Move_VTM_Place_LL_Stretch_Check:
if (CheckComplete() != fn.success)
{
return;
}
break;
case CaseVTM.Move_VTM_Place_LL_HandDown:
MoveRobot_HandDown(Working_Stage, Working_Arm);
break;
case CaseVTM.Move_VTM_Place_LL_HandDown_Check:
if (CheckComplete() != fn.success)
{
return;
}
break;
case CaseVTM.Move_VTM_Place_LL_Fold:
MoveRobot_Fold(Working_Stage, Working_Arm, UPDOWN_POS.DOWN);
break;
case CaseVTM.Move_VTM_Place_LL_Fold_Check:
if (CheckComplete() != fn.success)
{
return;
}
GlobalSeq.autoRun.procLoadlock.UnBlock();
break;
case CaseVTM.Compl_VTM_Place_LL:
strLog = string.Format("VTM Robot Place Move End -> {0}, {1}", Working_Stage.ToString(), Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseVTM.Door_Close_Place_LL:
//VTM Door Close
GlobalVariable.io.VTM_Door_Close();
break;
case CaseVTM.Check_Close_Place_LL:
//VTM Door Close Check
if (GlobalVariable.io.Check_VTM_Door_Close() == false)
{
//타임아웃 체크
return;
}
break;
case CaseVTM.End_VTM_Place_LL:
//데이터 이동
GlobalVariable.seqShared.LoadingVtmToLoadlock(WaferType.BONDED, (HAND)Working_Arm);
GlobalVariable.interlock.bLLMoving = false;
//본딩 완료 된 웨이퍼 LL에 언로딩 하고
//LL에 투입된 웨이퍼 있는지 확인
//있으면 Pickup 하자, Exchange
if (GlobalVariable.seqShared.IsInLoadLock((int)WaferType.DEVICE) == true &&
GlobalVariable.seqShared.IsInLoadLock((int)WaferType.CARRIER) == true &&
GlobalVariable.seqShared.IsInVTM(HAND.UPPER) == false)
{
//Pickup Loadlock
Working_Arm = ARM.UPPER;
nextSeq(CaseVTM.Check_LL_Pickup);
return;
}
else
{
//Loadlock 사용 해제
GlobalVariable.interlock.bLLUsed_VTM = false;
nextSeq(CaseVTM.Check_Interlock);
return;
}
return;
}
nSeqNo++;
}
private void btnLearn_Click(object sender, EventArgs e)
{
Mode = RUN_MODE.LEARNING;
txtState.Text = "Learning";
txtState.BackColor = Color.Yellow;
}
public void Run()
{
if (!isAcceptRun())
{
return;
}
if (nSeqNo != nPreSeqNo)
{
resetCmd();
}
nPreSeqNo = nSeqNo;
CaseFM seqCase = (CaseFM)nSeqNo;
//test
int nRetV = 0;
alwaysCheck();
switch (seqCase)
{
case CaseFM.Initialze:
break;
case CaseFM.Check_Interlock:
//임시 테스트, 웨이퍼 2장만 진행하기 위함
//if (nWaferCount >= 2) return;
//strLog = seqCase.ToString();
//AddMessage(strLog);
break;
case CaseFM.Start_LPM_Load:
if (bLPM_Load[(int)EFEM.LPMA] && bLPM_Load[(int)EFEM.LPMC])
{
//이미 LPM 로드 상태면 진행하지 않는다
nextSeq((int)CaseFM.Check_Status);
return;
}
break;
case CaseFM.Move_LPM_Load:
if (bLPM_Load[(int)EFEM.LPMA] == false)
{
//로드 전 Flag 초기화
LpmRoot.InitMappingFlag(EFEM.LPMA);
LoadLPM(EFEM.LPMA);
}
if (bLPM_Load[(int)EFEM.LPMC] == false)
{
LpmRoot.InitMappingFlag(EFEM.LPMC);
LoadLPM(EFEM.LPMC);
}
Thread.Sleep(500); //Load Delay
break;
case CaseFM.Compl_LPM_Load:
if (CheckLoad_LPM(EFEM.LPMA) != fn.success)
{
return;
}
break;
case CaseFM.End_LPM_Load:
if (CheckLoad_LPM(EFEM.LPMC) != fn.success)
{
return;
}
break;
case CaseFM.LPM_Mapping_Data:
//로드 시 Scan한 Map Data 연결
break;
case CaseFM.Check_Status_Load_A:
//Status를 체크 할 경우 LPM Alarm이 발생함,
//테스트 시 제거 후 진행 함
//LpmRoot.GetStatus(EFEM.LPMA);
break;
case CaseFM.Compl_Status_Load_A:
//if (CheckLoad_LPM(EFEM.LPMA) != fn.success) return;
break;
case CaseFM.End_Status_Load_A:
#if _REAL_MC
//LPM Load 후 Mapping Flag가 변경되면 완료
if (LpmRoot.GetMappingComplete(EFEM.LPMA) == false)
{
return;
}
if (LpmRoot.GetMappingComplete(EFEM.LPMC) == false)
{
return;
}
#endif
bLPM_Load[(int)EFEM.LPMA] = true;
bLPM_Load[(int)EFEM.LPMC] = true;
break;
case CaseFM.Check_Status:
RUN_MODE RunMode = RecipeMgr.Inst.TempRcp.eRunMode; //현재 레시피
if (RunMode == RUN_MODE.FULL || RunMode == RUN_MODE.ONLY_BOND)
{
//FULL Mode
if (nWaferCount % 2 == 0)
{
Working_LPM = EFEM.LPMA;
efemType = EFEM_TYPE.A_CARRIER;
}
else
{
Working_LPM = EFEM.LPMC;
efemType = EFEM_TYPE.C_DEVICE;
}
}
else if (RunMode == RUN_MODE.ONLY_LAMI)
{
//Only Lami 일경우 Carrier 고정 사용
Working_LPM = EFEM.LPMA;
efemType = EFEM_TYPE.A_CARRIER;
}
else
{
return;
}
//Next Wafer Slot 유/무 확인
GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM] = LpmRoot.GetNextWaferSlot(Working_LPM, LPMStatus.Load, COUNT.MAX_PORT_SLOT);
if (GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM] < 0)
{
//Wafer Empty
//더이상 투입할 웨이퍼가 없을경우 언로딩 시퀀스로 보낸다
nextSeq((int)CaseFM.Check_Unload_Wafer);
return;
}
break;
case CaseFM.Start_FM_Pickup_LPM:
//FM 로봇 상태 확인
//FM 로봇 웨이퍼 상태 확인
//웨이퍼 택타임 측정 시작 시간
if (Working_LPM == EFEM.LPMA)
{
GlobalVariable.seqShared.carrierArray1[GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM]].strTotalSt = DateTime.Now.ToString("hh:mm:ss.fff");
}
else if (Working_LPM == EFEM.LPMB)
{
GlobalVariable.seqShared.carrierArray2[GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM]].strTotalSt = DateTime.Now.ToString("hh:mm:ss.fff");
}
else if (Working_LPM == EFEM.LPMC)
{
GlobalVariable.seqShared.deviceArray1[GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM]].strTotalSt = DateTime.Now.ToString("hh:mm:ss.fff");
}
else if (Working_LPM == EFEM.LPMD)
{
GlobalVariable.seqShared.deviceArray2[GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM]].strTotalSt = DateTime.Now.ToString("hh:mm:ss.fff");
}
break;
case CaseFM.Move_FM_Pickup_LPM:
fmStatus = FMStatus.LPM_LOAD;
Working_Stage = (FMStage)Working_LPM + 1; //현재 LPM을 작업 할 Stage로 변경
nWorking_Slot = GlobalVariable.WaferInfo.nWaferLoadSlot[(int)Working_LPM] + 1; //현재 작업할 Wafer Slot
Working_Arm = ARM.UPPER;
MoveFmRobot(Working_Stage, nWorking_Slot, Working_Arm, fmStatus);
strLog = string.Format("FmRobot Pickup Move Start -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.Compl_FM_Pickup_LPM:
if (CheckCompl_FM() != fn.success)
{
return;
}
//nRetV = CheckCompl_FM();
//f(nRetV == err )
strLog = string.Format("FmRobot Pickup Move End -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.End_FM_Pickup_LPM:
GlobalSeq.autoRun.prcFM.LpmRoot.SetWaferInfo(Working_LPM, nWorking_Slot - 1, false); //웨이퍼 맵핑 데이터 갱신
GlobalVariable.seqShared.LoadingEfemToFm(efemType, nWorking_Slot - 1, (HAND)Working_Arm);
nWaferCount++;
break;
case CaseFM.Waiting_AL:
if (GlobalVariable.seqShared.IsInAligner() ||
GlobalVariable.interlock.bAlignMoving == true)
{
//Alinger에 Wafer가 아직 있으면 대기 하도록 하자
return;
}
break;
case CaseFM.Start_FM_Place_AL:
break;
case CaseFM.Move_FM_Place_AL:
fmStatus = FMStatus.BUFFER_LOAD;
Working_Stage = FMStage.AL;
nWorking_Slot = 1;
Working_Arm = ARM.UPPER;
MoveFmRobot(Working_Stage, nWorking_Slot, Working_Arm, fmStatus);
strLog = string.Format("FmRobot Place Move Start -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.Compl_FM_Place_AL:
if (CheckCompl_FM() != fn.success)
{
return;
}
strLog = string.Format("FmRobot Place Move End -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.End_FM_Place_AL:
GlobalVariable.seqShared.LoadingFmToAligner((HAND)Working_Arm);
GlobalVariable.interlock.bAlignMoving = true; //얼라인 동작
break;
case CaseFM.Check_Unload_Wafer:
//CP에 언로드 할 웨이퍼가 있는지 확인
if (GlobalVariable.seqShared.IsInCP(0) == false)
{
nextSeq((int)CaseFM.Initialze);
return;
}
break;
//////////////////////////////////////
//Wafer Unload
/////////////////////////////////////
case CaseFM.Start_FM_Pickup_CP:
//CP 웨이퍼 감지 센서 확인 필요!
break;
case CaseFM.Move_FM_Pickup_CP:
fmStatus = FMStatus.BUFFER_UNLOAD;
Working_Stage = FMStage.CP1;
nWorking_Slot = 1;
Working_Arm = ARM.LOWER; //CP에서 언로딩 시에는 LOW ARM 사용하자
MoveFmRobot(Working_Stage, nWorking_Slot, Working_Arm, fmStatus);
strLog = string.Format("FmRobot Pickup Move Start -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.Compl_FM_Pickup_CP:
if (CheckCompl_FM() != fn.success)
{
return;
}
strLog = string.Format("FmRobot Pickup Move End -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.End_FM_Pickup_cp:
GlobalVariable.seqShared.LoadingCpToFm(0, (HAND)Working_Arm);
break;
case CaseFM.Start_FM_Place_LPM:
//완료 웨이퍼 언로딩 시 LPM A부터 채워넣자
Working_LPM = EFEM.LPMA;
//LPM 상태를 확인하자
if (CheckLoad_LPM(Working_LPM) != fn.success)
{
//로드 상태가 아니면 에러
return;
}
//Unload Slot Check
//Next Wafer Slot 유/무 확인
GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM] = LpmRoot.GetNextWaferSlot(Working_LPM, LPMStatus.Unload, COUNT.MAX_PORT_SLOT);
if (GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM] < 0)
{
//Wafer Empty
return;
}
break;
case CaseFM.Move_FM_Place_LPM:
fmStatus = FMStatus.LPM_UNLOAD;
Working_Stage = (FMStage)Working_LPM + 1;
nWorking_Slot = GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM] + 1; //현재 작업할 Wafer Slot
Working_Arm = ARM.LOWER; //CP에서 언로딩 시에는 LOW ARM 사용하자
MoveFmRobot(Working_Stage, nWorking_Slot, Working_Arm, fmStatus);
strLog = string.Format("FmRobot Place Move Start -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.Compl_FM_Place_LPM:
if (CheckCompl_FM() != fn.success)
{
return;
}
strLog = string.Format("FmRobot Place Move End -> {0}, {1}, {2}", Working_Stage.ToString(), nWorking_Slot, Working_Arm.ToString());
AddMessage(strLog);
break;
case CaseFM.End_FM_Place_LPM:
GlobalVariable.seqShared.LoadingFmToEfem(EFEM_TYPE.A_CARRIER, nWorking_Slot - 1, (HAND)Working_Arm);
//Wafer Unload 후 Data 변경
GlobalSeq.autoRun.prcFM.LpmRoot.SetUnloadSlot(Working_LPM, nWorking_Slot - 1, true);
if (Working_LPM == EFEM.LPMA)
{
GlobalVariable.seqShared.carrierArray1[GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM]].strTotalEnd = DateTime.Now.ToString("hh:mm:ss.fff");
}
else if (Working_LPM == EFEM.LPMB)
{
GlobalVariable.seqShared.carrierArray2[GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM]].strTotalEnd = DateTime.Now.ToString("hh:mm:ss.fff");
}
else if (Working_LPM == EFEM.LPMC)
{
GlobalVariable.seqShared.deviceArray1[GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM]].strTotalEnd = DateTime.Now.ToString("hh:mm:ss.fff");
}
else if (Working_LPM == EFEM.LPMD)
{
GlobalVariable.seqShared.deviceArray2[GlobalVariable.WaferInfo.nWaferUnloadSlot[(int)Working_LPM]].strTotalEnd = DateTime.Now.ToString("hh:mm:ss.fff");
}
nextSeq((int)CaseFM.Initialze);
return;
///////////////////////////////////
//LPM Unload
//////////////////////////////////
case CaseFM.Start_LPM_Unload:
break;
case CaseFM.Move_LPM_Unload:
UnloadLPM(Working_LPM);
break;
case CaseFM.Check_Status_Unload:
LpmRoot.GetStatus(Working_LPM);
break;
case CaseFM.Compl_LPM_Unload:
if (CheckUnload_LPM(Working_LPM) != fn.success)
{
return;
}
break;
case CaseFM.End_LPM_Unload:
//처음 case로
nextSeq((int)CaseFM.Initialze);
return;
}
nSeqNo++;
}
