public void LoadPortUnDock()
{
MacHalContext halContext = null;
MacHalLoadPort loportAssembly = null;
MacHalLoadPortGudeng TestLoadport = null;
try
{
halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real");
halContext.MvCfLoad();
loportAssembly = halContext.HalDevices[MacEnumDevice.loadportA_assembly.ToString()] as MacHalLoadPort;
TestLoadport = loportAssembly.Hals[MacEnumDevice.loadport_1.ToString()] as MacHalLoadPortGudeng;
TestLoadport.HalConnect();
BindLoadPortEvent(TestLoadport);
TestLoadport.CommandUndockRequest();
Repeat();
}
catch (Exception ex)
{
}
finally
{
if (halContext != null)
{
halContext.Dispose();
}
}
}
public void TestReadComponentValue()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var unv = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
var os = halContext.HalDevices[MacEnumDevice.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();
os.HalConnect();
os.ReadRobotIntrude(true, false);
os.ReadRobotIntrude(false, true);
os.ReadRobotIntrude(false, false);
os.ReadClampStatus();
os.ReadSortClampPosition();
os.ReadSliderPosition();
os.ReadCoverPos();
os.ReadCoverSensor();
os.ReadBoxDeform();
os.ReadWeightOnStage();
os.ReadBoxExist();
os.ReadOpenStageStatus();
os.ReadBeenIntruded();
}
}
catch (Exception ex)
{
throw ex;
}
}
public void LoadPortBasicTest()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var loportAssembly = halContext.HalDevices[MacEnumDevice.loadportA_assembly.ToString()] as MacHalLoadPort;
var testLoadPort = loportAssembly.Hals[MacEnumDevice.loadport_1.ToString()] as MacHalLoadPortGudeng;
var connected = testLoadPort.HalConnect();
if (connected == 0)
{
// vs 2013
//throw new Exception($"無法連接到 {testLoadPort.DeviceIndex} ");
throw new Exception("無法連接到 " + testLoadPort.DeviceIndex);
}
// BindLoadPortEvent(loadport1);
BindLoadPortEvent(testLoadPort);
Repeat();
}
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
}
public void TestReadParameter()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var mt = halContext.HalDevices[MacEnumDevice.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
mt.HalConnect();
mt.ReadClampTactileLimSetting();
mt.ReadLevelLimitSetting();
mt.ReadSixAxisSensorUpperLimitSetting();
mt.ReadSixAxisSensorLowerLimitSetting();
mt.ReadSpeedSetting();
mt.ReadStaticElecLimitSetting();
}
}
catch (Exception ex)
{
throw ex;
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var unv = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
}
}
public void TestReadComponentValue()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var unv = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
if (unv.HalConnect() != 0)
{
System.Diagnostics.Debug.WriteLine("Connect Fail");
}
unv.ReadCoverFanSpeed();
unv.ReadPowerON();
unv.ReadBCP_Maintenance();
unv.ReadCB_Maintenance();
unv.ReadBCP_EMO();
unv.ReadCB_EMO();
unv.ReadLP1_EMO();
unv.ReadLP2_EMO();
unv.ReadBCP_Door();
unv.ReadLP1_Door();
unv.ReadLP2_Door();
unv.ReadBCP_Smoke();
unv.ReadAlarm_General();
unv.ReadAlarm_Cabinet();
unv.ReadAlarm_CleanCh();
unv.ReadAlarm_BTRobot();
unv.ReadAlarm_MTRobot();
unv.ReadAlarm_OpenStage();
unv.ReadAlarm_InspCh();
unv.ReadAlarm_LoadPort();
unv.ReadAlarm_CoverFan();
unv.ReadAlarm_MTClampInsp();
unv.ReadWarning_General();
unv.ReadWarning_Cabinet();
unv.ReadWarning_CleanCh();
unv.ReadWarning_BTRobot();
unv.ReadWarning_MTRobot();
unv.ReadWarning_OpenStage();
unv.ReadWarning_InspCh();
unv.ReadWarning_LoadPort();
unv.ReadWarning_CoverFan();
unv.ReadWarning_MTClampInsp();
}
}
catch (Exception ex)
{
throw ex;
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var os = halContext.HalDevices[MacEnumDevice.openstage_assembly.ToString()] as MacHalOpenStage;
os.ReadBoxTypeSetting();
os.ReadSpeedSetting();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var cbn = halContext.HalDevices[MacEnumDevice.cabinet_assembly.ToString()] as MacHalCabinet;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cbn.HalConnect();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var lp = halContext.HalDevices[MacEnumDevice.loadportA_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
lp.HalConnect();
}
}
public void TestAssemblyWorkLight()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvCfLoad();
var cc = halContext.HalDevices[MacEnumDevice.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cc.HalConnect();
cc.InspectionSpotLight.TurnOn(255);
}
}
public void TestCamera()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var bt = halContext.HalDevices[MacEnumDevice.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
bt.HalConnect();
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
}
}
public void TestCamera()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvCfLoad();
var cc = halContext.HalDevices[MacEnumDevice.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cc.HalConnect();
cc.Camera_SideInsp_CapToSave("D:/Image/CC/Insp", "jpg");
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvCfLoad();
var cc = halContext.HalDevices[MacEnumDevice.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cc.HalConnect();
cc.GasValveBlow(50);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var lp = halContext.HalDevices[MacEnumDevice.loadportA_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
lp.HalConnect();
lp.ReadPressureDiffLimitSrtting();
}
}
public void TestReadComponentValue()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var cbn = halContext.HalDevices[MacEnumDevice.cabinet_assembly.ToString()] as MacHalCabinet;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cbn.HalConnect();
cbn.ReadPressureDiff();
cbn.ReadLightCurtain();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var unv = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
unv.ResetAllAlarm();
unv.SetSignalTower(true, false, false);
unv.SetBuzzer(1);
unv.CoverFanCtrl(1, 150);
unv.EMSAlarm(true, false, false, false);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var cbn = halContext.HalDevices[MacEnumDevice.cabinet_assembly.ToString()] as MacHalCabinet;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cbn.HalConnect();
cbn.ReadPressureDiffLimitSetting();
cbn.ReadExhaustFlowSetting();
}
}
public void TestCamera()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var os = halContext.HalDevices[MacEnumDevice.openstage_assembly.ToString()] as MacHalOpenStage;
os.HalConnect();
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
os.Camera_FrontNearLP_CapToSave("D:/Image/OS/NearLP", "jpg");
os.Camera_FrontNearCC_CapToSave("D:/Image/OS/NearCC", "jpg");
}
}
public void TestReadComponentValue()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var lp = halContext.HalDevices[MacEnumDevice.loadportA_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
lp.HalConnect();
lp.ReadPressureDiff();
lp.ReadLP_Light_Curtain();
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var ic = halContext.HalDevices[MacEnumDevice.inspection_assembly.ToString()] as MacHalInspectionCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
ic.HalConnect();
ic.ReadSpeedSetting();
ic.ReadRobotAboutLimitSetting();
ic.ReadRobotUpDownLimitSetting();
}
}
public void TestWork_Inspection()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var ic = halContext.HalDevices[MacEnumDevice.inspection_assembly.ToString()] as MacHalInspectionCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
ic.HalConnect();
ic.HalConnect();
//ic.Initial();
ic.InspectionSide();
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvCfLoad();
var cc = halContext.HalDevices[MacEnumDevice.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
cc.HalConnect();
cc.ReadParticleCntLimitSetting();
cc.ReadRobotAboutLimitSetting();
cc.ReadRobotUpDownLimitSetting();
cc.ReadPressureDiffLimitSetting();
cc.ReadPressureCtrlSetting();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var ic = halContext.HalDevices[MacEnumDevice.inspection_assembly.ToString()] as MacHalInspectionCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
ic.HalConnect();
ic.ReadRobotIntrude(false);
ic.Initial();
ic.XYPosition(200, 100);
ic.ZPosition(-30);
ic.WPosition(51);
}
}
public void TestReadComponentValue()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var ic = halContext.HalDevices[MacEnumDevice.inspection_assembly.ToString()] as MacHalInspectionCh;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
ic.HalConnect();
ic.ReadRobotIntrude(false);
ic.ReadXYPosition();
ic.ReadZPosition();
ic.ReadWPosition();
ic.ReadRobotPosAbout();
ic.ReadRobotPosUpDown();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var mt = halContext.HalDevices[MacEnumDevice.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
mt.HalConnect();
mt.Clamp(0);
mt.Unclamp();
mt.CCDSpin(2000);
mt.Initial();
mt.ReadMTRobotStatus();
mt.RobotMoving(false);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var bt = halContext.HalDevices[MacEnumDevice.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
bt.HalConnect();
bt.ReadSpeedSetting();
bt.ReadHandSpaceLimitSetting();
bt.ReadClampToCabinetSpaceLimitSetting();
bt.ReadLevelSensorLimitSetting();
bt.ReadSixAxisSensorUpperLimitSetting();
bt.ReadSixAxisSensorLowerLimitSetting();
}
}
public void TestSetParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var mt = halContext.HalDevices[MacEnumDevice.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
mt.HalConnect();
mt.SetClampTactileLim(50, 10);
mt.SetLevelLimit(10, 11, 12);
mt.SetSixAxisSensorUpperLimit(10.1, 20.2, 30.3, 40.4, 50.5, 60.6);
mt.SetSixAxisSensorLowerLimit(1.1, 2.2, 3.3, 4.4, 5.5, 6.6);
mt.SetSpeed(5, 1000);
mt.SetStaticElecLimit(50, 20);
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var bt = halContext.HalDevices[MacEnumDevice.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
bt.HalConnect();
bt.Clamp(1);
bt.Unclamp();
bt.LevelReset();
bt.ReadBTRobotStatus();
bt.RobotMoving(false);
bt.Initial();
}
}
public void TestSetParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var bt = halContext.HalDevices[MacEnumDevice.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
bt.HalConnect();
bt.SetSpeed(20);
bt.SetHandSpaceLimit(10, 20);
bt.SetClampToCabinetSpaceLimit(50);
bt.SetLevelSensorLimit(5, 6);
bt.SetSixAxisSensorUpperLimit(10.1, 20.2, 30.3, 40.4, 50.5, 60.6);
bt.SetSixAxisSensorLowerLimit(1.1, 2.2, 3.3, 4.4, 5.5, 6.6);
}
}
public void TestReadComponentValue()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var bt = halContext.HalDevices[MacEnumDevice.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[MacEnumDevice.universal_assembly.ToString()] as MacHalUniversal;
uni.HalConnect();
bt.HalConnect();
bt.ReadHandPos();
bt.ReadBoxDetect();
bt.ReadHandPosByLSR();
bt.ReadClampDistance();
bt.ReadLevelSensor();
bt.ReadSixAxisSensor();
bt.ReadHandVacuum();
}
}