public fn VtmRobot_Unload_PMC()
{
if (!isAcceptRun())
{
return(fn.busy);
}
nPreSeqNo = nSeqNo;
//PMC Load시 Low핸드 고정
VtmRobot_Arm = CJ_Controls.Communication.QuadraVTM4.ARM.LOWER;
switch (nSeqNo)
{
case 0:
break;
case 10:
break;
case 20:
if (GlobalSeq.autoRun.prcVTM.Unload_PMC(VtmRobot_Arm) != fn.success)
{
return(fn.busy);
}
break;
case 50:
nSeqNo = 0;
return(fn.success);
}
//wrong seq check
if (nSeqNo > 10000)
{
//error occur
return(fn.err);
}
nSeqNo++;
return(fn.busy);
}
public fn VtmRobot_Place_Loadlock()
{
if (!isAcceptRun())
{
return(fn.busy);
}
nPreSeqNo = nSeqNo;
//VTM은 Up핸드로만 LL플레이스 고정
VtmRobot_Arm = CJ_Controls.Communication.QuadraVTM4.ARM.LOWER;
VtmStage stage = GlobalVariable.manualInfo.mnlStageVTM; //매뉴얼에서 선택한 Stage 연결
switch (nSeqNo)
{
case 0:
break;
case 10:
//BD Place -> Unload
//GlobalSeq.autoRun.procLoadlock.Move(MotionPos.Pos1);
GlobalSeq.autoRun.procLoadlock.MoveExit((int)MotionPos.Pos1);
break;
case 15:
//if (GlobalSeq.autoRun.procLoadlock.CheckComplete() != fn.success) return fn.busy;
if (GlobalSeq.autoRun.procLoadlock.CheckMoveDone((int)MotionPos.Pos1) == false)
{
return(fn.busy);
}
break;
case 20:
GlobalSeq.autoRun.prcVTM.MoveRobot(stage, VtmRobot_Arm);
break;
case 30:
if (GlobalSeq.autoRun.prcVTM.CheckComplete() != fn.success)
{
return(fn.busy);
}
break;
case 35:
GlobalSeq.autoRun.prcVTM.MoveRobot(stage, VtmRobot_Arm, true);
break;
case 40:
if (GlobalSeq.autoRun.prcVTM.CheckComplete() != fn.success)
{
return(fn.busy);
}
break;
case 50:
nSeqNo = 0;
return(fn.success);
}
//wrong seq check
if (nSeqNo > 10000)
{
//error occur
return(fn.err);
}
nSeqNo++;
return(fn.busy);
}