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();
}
public void Test_Ut003_CB_ByOP(bool autoConnect)
{
try
{
using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
{
var universal = halContext.GetUniversalAssembly(autoConnect);
universal.HalConnect();
for (var i = 0; i < DrawerKeys.Count; i++)
{
var drawer = halContext.GetDrawer(DrawerKeys[i], true);
Debug.WriteLine("Drawer Initial, DeviceIndex=" + drawer.DeviceId);
try
{
#region command
drawer.CommandINI();
#endregion command
// drawer.CommandTrayMotionOut();
drawer.OnButtonEventHandler += (sender, e) =>
{
var rtnDrawer = ((IMacHalDrawer)sender);
Debug.WriteLine("(Ut003)Invoke OnButtonEventHandler, Drawer= " + rtnDrawer.DeviceId);
rtnDrawer.CommandPositionRead();
};
drawer.OnPositionStatusHandler += (sender, e) =>
{
var eventArgs = (OnReplyPositionEventArgs)e;
var rtnDrawer = ((IMacHalDrawer)sender);
Debug.WriteLine("(Ut003)Invoke OnPositionStatusHandler, Drawer= " + rtnDrawer.DeviceId + ", IHOStatus=" + eventArgs.IHOStatus);
if (eventArgs.IHOStatus == "111") //在Home, 往外推
{
rtnDrawer.CommandTrayMotionOut();
}
else
{
rtnDrawer.CommandTrayMotionHome();
}
};
}
catch (Exception ex)
{
Debug.WriteLine("Drawer Exception, Message=" + ex.Message);
}
}
Repeat();
}
}
catch (Exception ex)
{
Debug.WriteLine("MacHalContext Exception, Message=" + ex.Message);
}
}
[DataRow(EnumMacMaskBoxType.IronBox, false)]// 鐵盒
//[DataRow(BoxType.CrystalBox, false)]// 水晶盒
public void Test_Ut003_CB(EnumMacMaskBoxType boxType, bool autoConnect)
{
Debug.WriteLine("---------MI-CT02-ST-003-------");
Debug.WriteLine("BoxType=" + boxType.ToString());
try
{
var BREAK_POINT = 0;
using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
{
var universal = halContext.GetUniversalAssembly(autoConnect);
if (!autoConnect)
{
universal.HalConnect();
}
for (var i = 0; i < DrawerKeys.Count; i++)
{
var drawerKey = DrawerKeys[i];
var drawerLocation = DrawerLocations[i];
Debug.WriteLine("Drawer Location=" + drawerLocation);
try
{
var drawer = halContext.GetDrawer(drawerKey);
Debug.WriteLine("Drawer DeviceIndex=" + drawer.DeviceId);
drawer.Initial();
/** 1. 操作人員透過S/W開啟Drawer (從Cabinet退出至機台外部) */
drawer.MoveTrayToOut();
/** 2. 操作人員將光罩鐵盒放入Drawer內*/
BREAK_POINT = 0; // 確認
/** 3. 操作人員透過S/W將Drawer送回Cabinet內*/
drawer.MoveTrayToHome();
/** 3.1 如果需要, 讓 Drawer Tray 移出 取出Box*/
drawer.MoveTrayToOut();
BREAK_POINT = 0;
/** 3.2 如果 3.1 有操作, 也要將 Tray 移回 Home*/
drawer.MoveTrayToHome();
Debug.WriteLine("OK");
}
catch (Exception ex)
{
Debug.WriteLine("Drawer Exception, Message=" + ex.Message);
}
}
}
}
catch (Exception ex)
{
Debug.WriteLine("MacHalContext Exception, Message=" + ex.Message);
}
}
public void TestCreateDrawerInstance(bool autoConnect)
{
string str = System.Environment.CurrentDirectory;
using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
{
var universal = halContext.GetUniversalAssembly(autoConnect);
var boxTransfer = halContext.GetBoxTransferAssembly(autoConnect);
var cabinet = halContext.GetCabinetAssembly(autoConnect);
var openStage = halContext.GetOpenStageAssembly(autoConnect);
universal.HalConnect();
boxTransfer.HalConnect();
// boxTransfer.CameraShot("TTTTTTT");
// halContext.DrawersConnect();
// connect 所有 Drawer
// halContext.DrawersConnect();
for (var i = 0; i < 2; i++)
{
try
{
var drawer = halContext.GetDrawer(DrawerKeys[i], false);
drawer.CommandINI();
Debug.WriteLine(DrawerKeys[i] + ", OK");
}
catch (Exception ex)
{
Debug.WriteLine(DrawerKeys[i] + ", Error:" + ex.Message);
}
}
/*
* if (!autoConnect)
* {
* universal.HalConnect();
* boxTransfer.HalConnect();
* cabinet.HalConnect();
* openStage.HalConnect();
* }*/
// connect 所有 Drawer
// halContext.DrawersConnect();
/**
* var lpB = halContext.HalDevices[MacEnumDevice.loadportB_assembly.ToString()] as MacHalLoadPort;
* lpB.HalConnect();
* var lb = lpB.LoadPortUnit;
* var lpA = halContext.HalDevices[MacEnumDevice.loadportA_assembly.ToString()] as MacHalLoadPort;
* lpA.HalConnect();
* var la = lpA.LoadPortUnit;
*/
}
Repeat();
}
public void test()
{
using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
{
var boxTransfer = halContext.GetBoxTransferAssembly(false);
// boxTransfer.TurnToCB1Home();
// boxTransfer.TurnToCB2Home();
var path1 = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(BoxrobotTransferLocation.Drawer_01_05);
var path2 = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(BoxrobotTransferLocation.Drawer_04_05);
}
}
public void Test_Drawer()
{
try
{
using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
{
var universal = halContext.GetUniversalAssembly(true);
universal.HalConnect();
// get drawer
var drawer0 = halContext.GetDrawer(EnumMacDeviceId.cabinet_drawer_01_04, true);
// var drawer1 = halContext.GetDrawer(MacEnumDevice.cabinet_drawer_04_02, true);
//var drawer2 = halContext.GetDrawer(MacEnumDevice.cabinet_drawer_04_04, true);
//var drawer3 = halContext.GetDrawer(MacEnumDevice.cabinet_drawer_03_02, true);
//var drawer4 = halContext.GetDrawer(MacEnumDevice.cabinet_drawer_03_03, true);
//var drawer5 = halContext.GetDrawer(MacEnumDevice.cabinet_drawer_03_04, true);
// drawer0.CommandTrayMotionIn();
// drawer1.CommandTrayMotionIn();
// drawer2.CommandTrayMotionIn();
// drawer3.CommandTrayMotionIn();
// drawer4.CommandTrayMotionIn();
// drawer5.CommandTrayMotionIn();
//drawer0.MoveTrayToHome();
//drawer1.MoveTrayToHome();
//drawer2.MoveTrayToHome();
drawer0.CommandINI();
// drawer command
Repeat();
}
}
catch (Exception ex)
{
Debug.WriteLine("MacHalContext Exception, Message=" + ex.Message);
}
}
[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);
}
};
}
[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)
{
}
}
}