static void GetAwgVerticalHeight(SystemServiceClient service, HObject _image)
{
double rRow = 941;
double rColumn = 601;
double rPhi = -1.57;
double rLength1 = 75;
double rLength2 = 383;
HTuple minScaleValue = 130;
HTuple maxScaleValue = 190;
visionFun.scale_image_range(_image, out HObject scaleImage, minScaleValue, maxScaleValue);
visionFun.findline(scaleImage, out HObject line, rRow, rColumn, rPhi, rLength1, rLength2, "nearest_neighbor", 1.5, 30, "positive", "first");
HOperatorSet.AreaCenter(line, out HTuple area, out HTuple row, out HTuple column);
HOperatorSet.GetRegionPoints(line, out HTuple rows, out HTuple columns);
visionFun.HObject2Bpp8(_image, out Bitmap bitmap);
var rtnImage = BitMapZd.DrawLine(bitmap, columns[0], rows[0], columns[columns.Length - 1], rows[rows.Length - 1], 40, Color.LightGreen);
service.__SSC_ShowImage(rtnImage);
bitmap.Dispose();
Console.WriteLine($"the awg height is {row.D},");
Console.WriteLine($"the awg vertical offset is {row.D-954},");
}
/// <summary>
/// The section of the user process.
/// 用户自定义流程函数。
///
/// Please write your process in the following method.
/// 请在以下函数中定义您的工艺流程。
///
/// </summary>
/// <param name="Service"></param>
/// <returns></returns>
static void BenchMarkSet(SystemServiceClient Service, CamRemoteAccessContractClient Camera = null)
{
string message = "";
double pdX = 0, pdY = 0, pdAngle = 0;
double offsetX, offsetY, offsetAngle;
Camera.SetExposure("AWG", 30000);
Camera.SetExposure("Left", 16000);
try
{
if (!Directory.Exists(programDataFile))
{
Directory.CreateDirectory(programDataFile);
}
if (!File.Exists(programDataFile + "\\calibratedata.tup"))
{
throw new Exception("cannot find the calibratedata file");
}
if (!File.Exists(programDataFile + "\\Model"))
{
throw new Exception("cannot find the model file");
}
HOperatorSet.ReadTuple(programDataFile + "\\calibratedata.tup", out calibratedata);
HOperatorSet.ReadShapeModel(programDataFile + "\\Model", out HTuple model);
PointInfo pdOriginAngle = new PointInfo();
pdOriginAngle.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "R"));
pdOriginAngle.Aliger = Aliger;
pdOriginAngle.PointName = "pd初始角度";
pdOriginAngle.Save(programDataFile, "pd初始角度.json");
PointInfo awgCouplingLower = new PointInfo();
awgCouplingLower.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Z", 20));
awgCouplingLower.Aliger = Aliger;
awgCouplingLower.PointName = "Awg耦合低位";
awgCouplingLower.Save(programDataFile, "Awg耦合低位.json");
Service.__SSC_MoveAxis(Aliger, "Z", SSC_MoveMode.REL, 100, -500);
PointInfo awgCouplingHigher = new PointInfo();
awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "X"));
awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Y"));
awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Z", 100, 2));
awgCouplingHigher.Aliger = Aliger;
awgCouplingHigher.PointName = "Awg耦合高位";
awgCouplingHigher.Save(programDataFile, "Awg耦合高位.json");
#region pd初始位置获取并保存
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "pd拍照位置");
var image2 = Camera.GrabOneFrame("Left");
HObject pdImage;
visionFun.Bitmap2HObjectBpp32(image2, out pdImage);
GetPdOriginPosition(pdImage, out double pdx, out double pdy, out double pdangle, out Bitmap pdresultImage);
Service.__SSC_ShowImage(pdresultImage);
HTuple PdOrigin = new HTuple();
PdOrigin.Append(pdx);
PdOrigin.Append(pdy);
PdOrigin.Append(pdangle);
HOperatorSet.WriteTuple(PdOrigin, programDataFile + "\\PdOrigin.tup");
#endregion
#region awg初始位置获取并保存
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "awg拍照位置");
Thread.Sleep(100);
var image1 = Camera.GrabOneFrame("AWG");
HObject awgImage;
visionFun.Bitmap2HObjectBpp32(image1, out awgImage);
GetAwgOriginPosition(awgImage, out double awgX, out double awgY, out double awgAngle, out Bitmap awgimage);
Service.__SSC_ShowImage(awgimage);
HTuple AwgOrigin = new HTuple();
AwgOrigin.Append(awgX);
AwgOrigin.Append(awgY);
AwgOrigin.Append(awgAngle);
HOperatorSet.WriteTuple(AwgOrigin, programDataFile + "\\AwgOrigin.tup");
#endregion
}
catch (Exception ex)
{
Service.__SSC_LogError(ex.Message);
}
System.Threading.Thread.Sleep(100);
}
static HTuple model; //模板数据
#endregion
#region User Process
/// <summary>
/// The section of the user process.
/// 用户自定义流程函数。
///
/// Please write your process in the following method.
/// 请在以下函数中定义您的工艺流程。
///
/// </summary>
/// <param name="Service"></param>
/// <returns></returns>
static void UserProc(SystemServiceClient Service, CamRemoteAccessContractClient Camera = null)
{
string message = "";
int cycles = 0;
bool goodAlign = false;
string alignmentProfile = "";
double awgX = 0, awgY = 0, awgAngle = 0;
double pdX = 0, pdY = 0, pdAngle = 0;
double offsetX, offsetY, offsetAngle;
Camera.SetExposure("AWG", 30000);
Camera.SetExposure("Left", 16000);
Init();
try
{
// 抬起针筒
Service.__SSC_WriteIO(Conditions.IO_INJECTOR, SSC_IOStatusEnum.Disabled);
// 识别AWG角度
Service.__SSC_LogInfo("移动到AWG角度识别位置...");
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "awg拍照位置");
MoveToPosition(Service, "pd初始角度");
// Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "pd初始角度");
Thread.Sleep(100);
Service.__SSC_LogInfo("识别AWG角度...");
var image1 = Camera.GrabOneFrame("AWG");
HObject awgImage;
visionFun.Bitmap2HObjectBpp32(image1, out awgImage);
GetAwgOffset(awgImage, ref awgX, ref awgY, ref awgAngle, out Bitmap awgimage);
Service.__SSC_ShowImage(awgimage);
awgImage.Dispose();
awgimage.Dispose();
awgImage = null;
awgimage = null;
Service.__SSC_MoveAxis(Conditions.ALIGNER, "R", SSC_MoveMode.REL, 100, -awgAngle);
Thread.Sleep(100);
// 识别PD Array角度
Service.__SSC_LogInfo("移动到PD Array角度识别位置...");
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "pd拍照位置");
Thread.Sleep(100);
Service.__SSC_LogInfo("识别PA Array角度...");
var image2 = Camera.GrabOneFrame("Left");
HObject pdImage;
visionFun.Bitmap2HObjectBpp32(image2, out pdImage);
GetPdOffset(pdImage, ref pdX, ref pdY, ref pdAngle, out Bitmap pdimage);
Service.__SSC_ShowImage(pdimage);
pdImage.Dispose();
pdimage.Dispose();
pdImage = null;
pdimage = null;
offsetX = -awgX - pdX;
offsetY = -awgY - pdY;
Service.__SSC_LogInfo($"x 方向总偏移量 {offsetX}");
Service.__SSC_LogInfo($"y 方向总偏移量 {offsetY}");
MoveToPosition(Service, "Awg耦合高位");
// Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "耦合高位");
Thread.Sleep(100);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "X", SSC_MoveMode.REL, 100, -awgX);
Thread.Sleep(100);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "X", SSC_MoveMode.REL, 100, -pdX);
Thread.Sleep(100);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Y", SSC_MoveMode.REL, 100, -awgY);
Thread.Sleep(100);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Y", SSC_MoveMode.REL, 100, -pdY);
Thread.Sleep(100);
var image3 = Camera.GrabOneFrame("Rear");
HObject awgImage1;
visionFun.Bitmap2HObjectBpp32(image3, out awgImage1);
GetAwgVerticalHeight(Service, awgImage1);
Console.WriteLine("Press any key to go to 耦合位置.");
Console.ReadKey();
Thread.Sleep(100);
MoveToPosition(Service, "Awg耦合低位");
// Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "耦合位置");
Console.WriteLine("Press any key to continue.");
Console.ReadKey();
int xmaxpath = 0;
double[] data = new double[4];
data[0] = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},0");
data[1] = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},1");
data[2] = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},2");
data[3] = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},3");
message = "预对准初始响应度：";
for (int i = 0; i < 4; i++)
{
message += $"[{i}]{data[i]} ";
}
Service.__SSC_LogInfo(message);
if (data[0] < Conditions.Resp_After_VisionAlign)
{
Service.__SSC_LogError("视觉对准初始光功率过低，请检查产品。");
return;
}
#region 粗耦合
// 如果初始响应度大于阈值，跳过粗找光。
if (data[0] < Conditions.Resp_After_RoughAlign)
{
cycles = 0;
goodAlign = false;
Service.__SSC_LogInfo("开始粗找光...");
while (cycles < 5)
{
cycles++;
alignmentProfile = "x&y_roughScan";
Service.__SSC_LogInfo($"执行Profile-ND，参数[{alignmentProfile}]，Cycle {cycles}/5...");
Service.__SSC_DoProfileND(alignmentProfile);
var resp = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},0");
Service.__SSC_LogInfo($"响应度：{resp}/目标值: {Conditions.Resp_After_RoughAlign}");
if (resp >= Conditions.Resp_After_RoughAlign)
{
goodAlign = true;
break;
}
}
if (!goodAlign)
{
Service.__SSC_LogError("CH1响应度无法达到规格。");
return;
}
}
#endregion
#region 精细耦合
cycles = 0;
goodAlign = false;
Service.__SSC_LogInfo("开始细找光...");
while (cycles < 5)
{
cycles++;
alignmentProfile = "x&y_detailScan";
Service.__SSC_LogInfo($"执行Profile-ND，参数[{alignmentProfile}]，Cycle {cycles}/5...");
Service.__SSC_DoProfileND(alignmentProfile);
var resp = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},0");
Service.__SSC_LogInfo($"响应度：{resp}/目标值: {Conditions.Resp_After_AccuracyAlign}");
if (resp >= Conditions.Resp_After_AccuracyAlign)
{
goodAlign = true;
break;
}
}
if (!goodAlign)
{
Service.__SSC_LogError("CH1响应度无法达到规格。");
return;
}
#endregion
#region 角度调整
cycles = 0;
goodAlign = false;
Service.__SSC_LogInfo("开始角度调整...");
while (cycles < 5)
{
cycles++;
alignmentProfile = "mercury";
Service.__SSC_LogInfo($"执行Angle Tuning，参数[{alignmentProfile}]，Cycle {cycles}/5...");
var diff = (double)Service.__SSC_DoAngleTuning(alignmentProfile);
Service.__SSC_LogInfo($"1-4通道峰值位置误差：{diff.ToString("F3")}um/目标值： {Conditions.Resp_After_AngleTuning_PeakPosDiff}");
if (Math.Abs(diff) <= Conditions.Resp_After_AngleTuning_PeakPosDiff)
{
goodAlign = true;
break;
}
}
if (!goodAlign)
{
Service.__SSC_LogError("1-4通道峰值位置误差无法达到规格！");
}
#endregion
#region 角度调整后精细耦合
cycles = 0;
goodAlign = false;
Service.__SSC_LogInfo("开始Final找光...");
while (cycles < 5)
{
cycles++;
alignmentProfile = "x&y_detailScan";
Service.__SSC_LogInfo($"执行Profile-ND，参数[{alignmentProfile}]，Cycle {cycles}/5...");
Service.__SSC_DoProfileND(alignmentProfile);
var resp = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},0");
Service.__SSC_LogInfo($"响应度：{resp}/目标值: {Conditions.Resp_Final}");
if (resp >= Conditions.Resp_Final)
{
goodAlign = true;
break;
}
}
if (!goodAlign)
{
Service.__SSC_LogError("CH1响应度无法达到规格。");
return;
}
#endregion
#region 检查四个通道响应度
double[] finalResp = new double[4];
for (int i = 0; i < 4; i++)
{
finalResp[i] = Service.__SSC_MeasurableDevice_Read($"{EQUIP_CAPTION},{i}");
}
if (finalResp.Min() < Conditions.Resp_Final)
{
Service.__SSC_LogError($"最小响应度低于规格，规格：{Conditions.Resp_Final}");
return;
}
else if (finalResp.Max() - finalResp.Min() > Conditions.Resp_Final_Diff)
{
Service.__SSC_LogError($"通道平衡无法达到规格，规格：{Conditions.Resp_Final_Diff}");
return;
}
else
{
Service.__SSC_LogInfo("耦合完成!");
}
#endregion
#region 保存当前位置
Service.__SSC_LogInfo("保存当前位置...");
var final_x = Service.__SSC_GetAbsPosition(Conditions.ALIGNER, "X");
var final_y = Service.__SSC_GetAbsPosition(Conditions.ALIGNER, "Y");
var final_z = Service.__SSC_GetAbsPosition(Conditions.ALIGNER, "Z");
Service.__SSC_LogInfo($"X: {final_x}, Y: {final_y}, Z: {final_z}");
#endregion
Console.WriteLine("请点胶");
Console.ReadKey();
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Z", SSC_MoveMode.REL, 100, -10000);
Thread.Sleep(100);
Console.WriteLine("点胶完成，按任意键继续");
Console.ReadKey();
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Z", SSC_MoveMode.REL, 100, 9500);
Thread.Sleep(100);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Z", SSC_MoveMode.REL, 20, 500);
Thread.Sleep(100);
return;
#region 点胶
Service.__SSC_LogInfo("开始点胶...");
// 上提Z轴，AWG退到安全位置
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Z", SSC_MoveMode.REL, 20, -1000);
// 移动到点胶位置
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "点胶位置");
Thread.Sleep(200);
// 降下针筒
Service.__SSC_WriteIO(Conditions.IO_INJECTOR, SSC_IOStatusEnum.Enabled);
Thread.Sleep(200);
// 启动点胶机
Service.__SSC_LogInfo("点胶...");
// 抬起针筒
Service.__SSC_WriteIO(Conditions.IO_INJECTOR, SSC_IOStatusEnum.Disabled);
#endregion
#region 恢复AWG位置，重新对准
Service.__SSC_LogInfo("恢复AWG位置...");
Service.__SSC_MoveAxis(Conditions.ALIGNER, "X", SSC_MoveMode.ABS, 100, final_x);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Y", SSC_MoveMode.ABS, 100, final_y);
Service.__SSC_MoveAxis(Conditions.ALIGNER, "Z", SSC_MoveMode.ABS, 100, final_z);
#endregion
}
catch (Exception ex)
{
Service.__SSC_LogError(ex.Message);
}
System.Threading.Thread.Sleep(100);
}