public bool MoveRetract(int nStage, int nSlot, ARM _Arm, UPDOWN_POS _UpDnPos)
{
RADIAL_POS _RadialPos = RADIAL_POS.RETRACTED;
_Main.GetVaccumTmData().Robot.Cmd_SendGoTo(nStage, nSlot, _Arm, _RadialPos, _UpDnPos);
//_Main.GetVaccumTmData().Robot.Cmd_Retract(nStage, nSlot, _Arm, _UpDnPos);
return(true);
}
public bool MoveExtend(int nStage, int nSlot, ARM _Arm, UPDOWN_POS _UpDnPos)
{
RADIAL_POS _RadialPos = RADIAL_POS.EXTENDED;
_Main.GetVaccumTmData().Robot.Cmd_SendGoTo(nStage, nSlot, _Arm, _RadialPos, _UpDnPos);
//_Main.GetVaccumTmData().Robot.Cmd_Extend(nStage, nSlot, _Arm, _UpDnPos);
return(true);
}
public bool Cmd_Retract(int nStage, int nSlot, ARM _Arm, UPDOWN_POS _UpDnPos)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("RETRACT {0} {1} {2} {3}\r"
, nStage
, _UpDnPos == UPDOWN_POS.UP ? "UP" : "DN"
, nSlot
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
public bool Cmd_SendZAxis(int nStage, int nSlot, ARM _Arm, UPDOWN_POS _UpDnPos)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("ZAXIS {0} SLOT {1} {2} ARM {3}\r"
, nStage
, nSlot
, _UpDnPos == UPDOWN_POS.UP ? "UP" : "DN"
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
public bool MoveStage(int nStage, int nSlot, ARM _Arm, RADIAL_POS _RadialPos, UPDOWN_POS _UpDnPos)
{
_Main.GetVaccumTmData().Robot.Cmd_SendGoTo(nStage, nSlot, _Arm, _RadialPos, _UpDnPos);
return(true);
}
public void MoveRobot_Stretch(VtmStage stage, ARM _Arm, UPDOWN_POS _UpDnPos)
{
int nSlot = 1;
VtmRobot.MoveExtend((int)stage, nSlot, _Arm, _UpDnPos);
}
public void MoveRobot_Fold(VtmStage stage, ARM _Arm, UPDOWN_POS _UpDnPos)
{
int nSlot = 1;
VtmRobot.MoveRetract((int)stage, nSlot, _Arm, _UpDnPos);
}
public bool Cmd_SendGoTo(int nStage, int nSlot, ARM _Arm, RADIAL_POS _RadialPos, UPDOWN_POS _UpDnPos)
{
_WorkStatus = WORK_STATUS.MOVING;
string strCmd = string.Format("GOTO N {0} R {1} Z {2} SLOT {3} ARM {4}\r"
, nStage
, _RadialPos == RADIAL_POS.EXTENDED ? "EX" : "RE"
, _UpDnPos == UPDOWN_POS.UP ? "UP" : "DN"
, nSlot
, _Arm == ARM.LOWER ? "A" : "B");
return(SendData(strCmd));
}
