public void OutSideLoadToInSideUnload()
{ // [假設 Tray 移到 In, 並已放入 盒子]
// 1. Tray 移到 Home,
// 2. 檢查有沒有 Box,
// 3. (1) 沒有盒子=> 退回In 並 警示
// (2) 有盒子=> 移到 Out
MacHalDrawerKjMachine testDrawer = null;
MacHalCabinet cabinet = null;
MacHalContext halContext = null;
try
{
halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real");
halContext.MvaCfLoad();
cabinet = halContext.HalDevices[EnumMacDeviceId.cabinet_assembly.ToString()] as MacHalCabinet;
testDrawer = cabinet.Hals[EnumMacDeviceId.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
testDrawer.HalConnect();
testDrawer.OnTrayMotionFailedHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotionFailedHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotionFailedHandler 事件");
};
testDrawer.OnTrayMotionOKHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotionOKHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotionOKHandler 事件");
};
testDrawer.OnTrayMotionSensorOFFHandler += (sender, e) =>
{
// vs 2013
IMacHalDrawer drawer = (IMacHalDrawer)sender;
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotionSensorOFFHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotionSensorOFFHandler 事件");
};
testDrawer.OnERRORErrorHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnERRORErrorHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnERRORErrorHandler 事件");
};
testDrawer.OnERRORREcoveryHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnERRORREcoveryHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnERRORREcoveryHandler 事件");
};
testDrawer.OnTrayMotioningHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 觸發 {nameof(drawer.OnTrayMotioningHandler)} 事件");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 觸發 drawer.OnTrayMotioningHandler 事件");
};
/**到逹 Home*/
testDrawer.OnTrayArriveHomeHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 檢查有沒有放盒子");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 檢查有沒有放盒子");
drawer.CommandBoxDetection();
};
/**檢查沒有盒子 */
testDrawer.OnDetectedEmptyBoxHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
/** // vs 2013
* Debug.WriteLine($"Index={drawer.DeviceIndex}, 沒有盒子");
* Debug.WriteLine($"Index={drawer.DeviceIndex}, 將 Drawer 送回 In");
*/
Debug.WriteLine("Index=" + drawer.DeviceId + ", 沒有盒子");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 將 Drawer 送回 In");
drawer.CommandTrayMotionIn();
};
/**檢查有盒子 */
testDrawer.OnDetectedHasBoxHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.Write($"Indexx={drawer.DeviceIndex}, 有放盒子, 將 Drawer 送往 Out");
Debug.Write("Index=" + drawer.DeviceId + ", 有放盒子, 將 Drawer 送往 Out");
drawer.CommandTrayMotionOut();
};
testDrawer.OnTrayArriveOutHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.WriteLine($"Index={drawer.DeviceIndex}, 已經到達 Out ");
Debug.WriteLine("Index=" + drawer.DeviceId + ", 已經到達 Out ");
};
testDrawer.OnTrayArriveInHandler += (sender, e) =>
{
IMacHalDrawer drawer = (IMacHalDrawer)sender;
// vs 2013
//Debug.Write($"Index={drawer.DeviceIndex}, Drawer沒有盒子, 已經退回 In , 請重新裝入盒子");
Debug.Write("Index=" + drawer.DeviceId + ", Drawer沒有盒子, 已經退回 In , 請重新裝入盒子");
};
testDrawer.CommandTrayMotionHome();
Repeat();
}
catch (Exception ex)
{
var deviceIndex = testDrawer == null ? "" : testDrawer.DeviceId;
// vs 2013
// Debug.WriteLine($"Index={deviceIndex}, Exception={ex.Message}");
Debug.WriteLine("Index=" + deviceIndex + ", Exception=" + ex.Message);
}
finally
{
if (halContext != null)
{
halContext.Dispose();
}
}
}
public void TestPathMove()
{
int boxStartIndex = default(int);
int boxEndIndex = default(int);
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var bt = halContext.HalDevices[MacEnumDevice.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
if (bt.HalConnect() != 0)
{
System.Diagnostics.Debug.WriteLine("Connect Fail");
}
bt.GotoStage1();
// [V] 回到 Cabinet 1 Home
bt.BackCabinet1Home();
// [ ] 前進到 Cabinet 1 的某個盒子
boxStartIndex = 1; boxEndIndex = 1;// boxEndIndex :最多 20
for (var boxIndex = boxStartIndex; boxIndex <= boxEndIndex; boxIndex++)
{
bt.ForwardToCabinet1(boxIndex);
System.Threading.Thread.Sleep(2000);
}
// [ ] 從 Cabinet 1 回到 Cabinet1 Home
bt.BackwardFromCabinet1();
// [ ] 轉到 Cabinet 2 方向
bt.ChangeDirectionToFaceCabinet2();
// [ ] 前到 Cabinet 2 某個盒子
boxStartIndex = 1; boxEndIndex = 1;// boxEndIndex :最多 15
for (var boxIndex = boxStartIndex; boxIndex <= boxEndIndex; boxIndex++)
{
bt.ForwardToCabinet2(boxIndex);
System.Threading.Thread.Sleep(2000);
}
// [ ] 從 Cabnet 2 回到 Cabinet2 Home
bt.BackwardFromCabinet2();
// [ ] 轉向面對Open Stage 方向
bt.ChangeDirectionToFaceOpenStage();
// [ ] 前進到 Open Stage
bt.ForwardToOpenStage();
// [ ] 從 Open Stage 回到 Open Stage
bt.BackwardFromOpenStage();
// [ ] 轉向 Cbinet 方向
bt.ChangeDirectionToFaceCabinet1();
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod1()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
bt.HalConnect();
ic.HalConnect();
os.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
#region Iron Box
//1. 光罩鐵盒(無光罩)放置於Open Stage上方
//2. Load Cell可以讀出光罩鐵盒(無光罩)重量, 確認鐵盒有放置好位置
var BoxWeight = os.ReadWeightOnStage();
if (BoxType == 1)
{
if ((BoxWeight < 560 || BoxWeight > 590) && (BoxWeight < 895 || BoxWeight > 925))
{
throw new Exception("Wrong iron box weight, box weight = " + BoxWeight.ToString());
}
}
else if (BoxType == 2)
{
if ((BoxWeight < 290 || BoxWeight > 320) && (BoxWeight < 625 || BoxWeight > 655))
{
throw new Exception("Wrong crystal box weight, box weight = " + BoxWeight.ToString());
}
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. Open Stage固定光罩鐵盒 by 整定棒
os.SetBoxType(BoxType);
os.SortClamp();
//6. Open Stage固定光罩鐵盒 by 吸盤
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. 透過Box Robot PIN, 開啟光罩鐵盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//9. 開盒機構正常開啟光罩鐵盒
os.Close();
os.Clamp();
os.Open();
//10. Fiber Sensor確認光罩鐵盒已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Unclamp();
os.Lock();
os.Vacuum(false);
#endregion Iron Box
//11. 重複1~10步驟, 再執行光罩鐵盒(有光罩) / 光罩水晶盒(無光罩) / 光罩水晶盒(有光罩)之情境
#region Iron Box with Mask
//1. 光罩鐵盒(有光罩)放置於Open Stage上方
//2. Load Cell可以讀出光罩鐵盒(有光罩)重量, 確認鐵盒有放置好位置
if (BoxType == 1)
{
if ((BoxWeight < 560 || BoxWeight > 590) && (BoxWeight < 895 || BoxWeight > 925))
{
throw new Exception("Wrong iron box weight, box weight = " + BoxWeight.ToString());
}
}
else if (BoxType == 2)
{
if ((BoxWeight < 290 || BoxWeight > 320) && (BoxWeight < 625 || BoxWeight > 655))
{
throw new Exception("Wrong crystal box weight, box weight = " + BoxWeight.ToString());
}
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. Open Stage固定光罩鐵盒 by 整定棒
os.SetBoxType(BoxType);
os.SortClamp();
//6. Open Stage固定光罩鐵盒 by 吸盤
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. 透過Box Robot PIN, 開啟光罩鐵盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//9. 開盒機構正常開啟光罩鐵盒
os.Close();
os.Clamp();
os.Open();
//10. Fiber Sensor確認光罩鐵盒已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Unclamp();
os.Lock();
os.Vacuum(false);
#endregion Iron Box with Mask
BoxType = 2;
//11. 重複1~10步驟, 再執行光罩水晶盒(無光罩) / 光罩水晶盒(有光罩)之情境
#region Crystal Box
//1. 光罩水晶盒(無光罩)放置於Open Stage上方
//2. Load Cell可以讀出光罩水晶盒(無光罩)重量, 確認水晶盒有放置好位置
BoxWeight = os.ReadWeightOnStage();
if (BoxType == 1)
{
if ((BoxWeight < 560 || BoxWeight > 590) && (BoxWeight < 895 || BoxWeight > 925))
{
throw new Exception("Wrong iron box weight, box weight = " + BoxWeight.ToString());
}
}
else if (BoxType == 2)
{
if ((BoxWeight < 290 || BoxWeight > 320) && (BoxWeight < 625 || BoxWeight > 655))
{
throw new Exception("Wrong crystal box weight, box weight = " + BoxWeight.ToString());
}
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. Open Stage固定光罩水晶盒 by 整定棒
os.SetBoxType(BoxType);
os.SortClamp();
//6. Open Stage固定光罩水晶盒 by 吸盤
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. 透過Box Robot PIN, 開啟光罩水晶盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//9. 開盒機構正常開啟光罩水晶盒
os.Close();
os.Clamp();
os.Open();
//10. Fiber Sensor確認光罩水晶盒已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Unclamp();
os.Lock();
os.Vacuum(false);
#endregion Crystal Box
//11. 重複1~10步驟, 再執光罩水晶盒(有光罩)之情境
#region Crystal Box with Mask
//1. 光罩水晶盒(有光罩)放置於Open Stage上方
//2. Load Cell可以讀出光罩水晶盒(有光罩)重量, 確認水晶盒有放置好位置
if (BoxType == 1)
{
if ((BoxWeight < 560 || BoxWeight > 590) && (BoxWeight < 895 || BoxWeight > 925))
{
throw new Exception("Wrong iron box weight, box weight = " + BoxWeight.ToString());
}
}
else if (BoxType == 2)
{
if ((BoxWeight < 290 || BoxWeight > 320) && (BoxWeight < 625 || BoxWeight > 655))
{
throw new Exception("Wrong crystal box weight, box weight = " + BoxWeight.ToString());
}
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. Open Stage固定光罩水晶盒 by 整定棒
os.SetBoxType(BoxType);
os.SortClamp();
//6. Open Stage固定光罩水晶盒 by 吸盤
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. 透過Box Robot PIN, 開啟光罩水晶盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.UnlockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//9. 開盒機構正常開啟光罩水晶盒
os.Close();
os.Clamp();
os.Open();
//10. Fiber Sensor確認光罩水晶盒已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Unclamp();
os.Lock();
os.Vacuum(false);
#endregion Crystal Box with Mask
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod3()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var lpa = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
lpa.HalConnect();
os.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
//1. 光罩放置於Open Stage上的鐵盒內
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
var BoxWeight = os.ReadWeightOnStage();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//2. Mask Robot從Home點移動至Open Stage上方
os.SetRobotIntrude(false, true);
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//3. Mask Robot在Open Stage進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Open Stage移動至Load Port B處 (不放置)
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//5. Mask Robot將光罩從Load Port B, 移回Open Stage
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//6. Mask Robot將光罩放置於Open Stage上
mt.Unclamp();
//7. Mask Robot (無夾持光罩) 從Open Stage移回Home點
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
mt.RobotMoving(false);
os.SetRobotIntrude(false, false);
os.Close();
os.Unclamp();
os.Vacuum(false);
os.Lock();
BoxType = 2;
//8. 重複1~7, 執行Open Stage上水晶盒的傳送測試
//1. 光罩放置於Open Stage上的水晶盒內
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
BoxWeight = os.ReadWeightOnStage();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//2. Mask Robot從Home點移動至Open Stage上方
os.SetRobotIntrude(false, true);
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//3. Mask Robot在Open Stage進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Open Stage移動至Load Port B處 (不放置)
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//5. Mask Robot將光罩從Load Port B, 移回Open Stage
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//6. Mask Robot將光罩放置於Open Stage上
mt.Unclamp();
//7. Mask Robot (無夾持光罩) 從Open Stage移回Home點
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
mt.RobotMoving(false);
os.SetRobotIntrude(false, false);
os.Close();
os.Unclamp();
os.Vacuum(false);
os.Lock();
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod2()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var lpb = halContext.HalDevices[EnumMacDeviceId.loadportB_assembly.ToString()] as MacHalLoadPort;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
lpb.HalConnect();
ic.HalConnect();
ic.Initial();
//1. 光罩放置於Inspection Chamber Stage上
//2. Mask Robot從Home點移動至Inspection Chamber
ic.SetRobotIntrude(true);
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//3. Mask Robot在Inspection Chamber 內進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Inspection Chamber移動至Load Port B處 (不放置)
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//5. Mask Robot將光罩從Load Port B, 移回Inspection Chamber
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//6. Mask Robot將光罩放置於Inspection Chamber Stage上
mt.Unclamp();
//7. Mask Robot (無夾持光罩) 從Inspection Chamber移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}
public void DrawerCommandTest()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvCfLoad();
var cabinet = halContext.HalDevices[MacEnumDevice.cabinet_assembly.ToString()] as MacHalCabinet;
var drawer_01_01 = cabinet.Hals[MacEnumDevice.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
var drawer_01_02 = cabinet.Hals[MacEnumDevice.cabinet_drawer_01_02.ToString()] as MacHalDrawerKjMachine;
var isConnected = drawer_01_01.HalConnect();
// vs 2013
// Debug.WriteLine($"IsConnected={isConnected}");
Debug.WriteLine("IsConnected=" + isConnected);
drawer_01_02.HalConnect();
BindEvents(drawer_01_01);
BindEvents(drawer_01_02);
/** CommandSetMotionSpeed */
drawer_01_01.CommandSetMotionSpeed(100);
drawer_01_02.CommandSetMotionSpeed(100);
/** CommandPositionRead
* drawer_01_02.CommandPositionRead();
* drawer_01_01.CommandPositionRead();
*/
/** CommandBoxDetection
* drawer_01_01.CommandBoxDetection();
* drawer_01_02.CommandBoxDetection();
*/
/**CommandBrightLEDAllOn()
* drawer_01_01.CommandBrightLEDAllOn();
* drawer_01_02.CommandBrightLEDAllOn();
*/
/**CommandBrightLEDAllOff()
* drawer_01_01.CommandBrightLEDAllOff();
* drawer_01_02.CommandBrightLEDAllOff();
*/
/** CommandBrightLEDGreenOn()
* drawer_01_01.CommandBrightLEDGreenOn();
* drawer_01_02.CommandBrightLEDGreenOn();
*/
/** CommandBrightLEDRedOn()
* drawer_01_01.CommandBrightLEDRedOn();
* drawer_01_02.CommandBrightLEDRedOn();
*/
/** CommandINI()
* drawer_01_01.CommandINI();
* drawer_01_02.CommandINI();
*/
/** CommandSetTimeOut()
* drawer_01_01.CommandSetTimeOut(100);
* drawer_01_02.CommandSetTimeOut(100);
*/
/** CommandTrayMotionHome()
* drawer_01_01.CommandTrayMotionHome();
* drawer_01_02.CommandTrayMotionHome();
*/
/** CommandTrayMotionHome()
* drawer_01_01.CommandTrayMotionIn();
* drawer_01_02.CommandTrayMotionIn();
*/
/** CommandTrayMotionHome()
* drawer_01_01.CommandTrayMotionOut();
* drawer_01_01.CommandTrayMotionOut();
*/
Repeat();
}
}
catch (Exception ex)
{
}
}
public void TestRobotOCAP()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
ic.HalConnect();
os.HalConnect();
bool BTIntrude = false;
bool MTIntrude = false;
ThreadStart GetAndOpenBoxThread = () =>
{
try
{
//TODO：Cabinet控制推出Box
bt.RobotMoving(true);
bt.ExePathMove(@"D:\Positions\BTRobot\Cabinet_01_Home.json");
bt.Unclamp();
bt.ExePathMove(@"D:\Positions\BTRobot\Cabinet_01_Home_Forward_Drawer_01_01_GET.json");
bt.Clamp(1);
bt.ExePathMove(@"D:\Positions\BTRobot\Drawer_01_01_Backward_Cabinet_01_Home_GET.json");
bt.RobotMoving(false);
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(true, false).Item1;
if (BTIntrude == true)
{
break;
}
else if (i == 1 && BTIntrude == false)
{
throw new Exception("Open Stage not allowed to be BT intrude!!");
}
else
{
os.Initial();
}
}
bt.RobotMoving(true);
bt.ExePathMove(@"D:\Positions\BTRobot\Cabinet1_Home_Forward_OpenStage_PUT.json");
bt.Unclamp();
bt.ExePathMove(@"D:\Positions\BTRobot\OpenStage_Backward_Cabinet1_Home_PUT.json");
bt.RobotMoving(false);
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(false, false).Item1;
if (i == 1 && BTIntrude == true || os.ReadRobotIntruded().Item1 == true || os.ReadRobotIntruded().Item2 == true)
{
throw new Exception("Open Stage has been BT intrude,can net execute command!!");
}
}
os.SetBoxType(1);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(true, false).Item1;
if (BTIntrude == true)
{
break;
}
else if (i == 1 && BTIntrude == false)
{
throw new Exception("Open Stage not allowed to be BT intrude!!");
}
else
{
os.Initial();
}
}
bt.RobotMoving(true);
bt.ExePathMove(@"D:\Positions\BTRobot\UnlockBox.json");
bt.RobotMoving(false);
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(false, false).Item1;
if (i == 1 && BTIntrude == true || os.ReadRobotIntruded().Item1 == true || os.ReadRobotIntruded().Item2 == true)
{
throw new Exception("Open Stage has been BT intrude,can net execute command!!");
}
}
os.Close();
os.Clamp();
os.Open();
}
catch (Exception ex)
{
throw ex;
}
};
ThreadStart CloseAndStoreBoxThread = () =>
{
try
{
//TODO：Cabinet控制推出抽屜
os.Close();
os.Unclamp();
os.Lock();
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(true, false).Item1;
if (BTIntrude == true)
{
break;
}
else if (i == 1 && BTIntrude == false)
{
throw new Exception("Open Stage not allowed to be BT intrude!!");
}
else
{
os.Initial();
}
}
bt.RobotMoving(true);
bt.ExePathMove(@"D:\Positions\BTRobot\Cabinet_01_Home.json");
bt.ExePathMove(@"D:\Positions\BTRobot\LockBox.json");
bt.RobotMoving(false);
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(false, false).Item1;
if (i == 1 && BTIntrude == true || os.ReadRobotIntruded().Item1 == true || os.ReadRobotIntruded().Item2 == true)
{
throw new Exception("Open Stage has been BT intrude,can net execute command!!");
}
}
os.Vacuum(false);
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(true, false).Item1;
if (BTIntrude == true)
{
break;
}
else if (i == 1 && BTIntrude == false)
{
throw new Exception("Open Stage not allowed to be BT intrude!!");
}
else
{
os.Initial();
}
}
bt.RobotMoving(true);
bt.Unclamp();
bt.ExePathMove(@"D:\Positions\BTRobot\Cabinet1_Home_Forward_OpenStage_GET.json");
bt.Clamp(1);
bt.ExePathMove(@"D:\Positions\BTRobot\OpenStage_Backward_Cabinet1_Home_GET.json");
bt.RobotMoving(false);
for (int i = 0; i < 2; i++)
{
BTIntrude = os.SetRobotIntrude(false, false).Item1;
if (i == 1 && BTIntrude == true || os.ReadRobotIntruded().Item1 == true || os.ReadRobotIntruded().Item2 == true)
{
throw new Exception("Open Stage has been BT intrude,can net execute command!!");
}
}
bt.RobotMoving(true);
bt.ExePathMove(@"D:\Positions\BTRobot\Cabinet_01_Home_Forward_Drawer_01_01_PUT.json");
bt.Unclamp();
bt.ExePathMove(@"D:\Positions\BTRobot\Drawer_01_01_Backward_Cabinet_01_Home_PUT.json");
bt.RobotMoving(false);
}
catch (Exception ex)
{
throw ex;
}
};
ThreadStart LPGetMaskToInspThread = () =>
{
try
{
mt.RobotMoving(true);
mt.ChangeDirection(@"D:\Positions\MTRobot\LoadPortHome.json");
mt.Unclamp();
mt.ExePathMove(@"D:\Positions\MTRobot\LPHomeToLP1.json");
mt.Clamp(0);
mt.ExePathMove(@"D:\Positions\MTRobot\LP1ToLPHome.json");
mt.RobotMoving(false);
//ic.XYPosition(100,200);
//ic.WPosition(51);
mt.RobotMoving(true);
mt.ChangeDirection(@"D:\Positions\MTRobot\InspChHome.json");
mt.ExePathMove(@"D:\Positions\MTRobot\ICHomeFrontSideToIC.json");
mt.Unclamp();
mt.ExePathMove(@"D:\Positions\MTRobot\ICFrontSideToICHome.json");
mt.RobotMoving(false);
mt.RobotMoving(true);
mt.ExePathMove(@"D:\Positions\MTRobot\ICHomeFrontSideToIC.json");
mt.Clamp(0);
mt.ExePathMove(@"D:\Positions\MTRobot\ICFrontSideToICHome.json");
mt.RobotMoving(false);
mt.RobotMoving(true);
mt.ExePathMove(@"D:\Positions\MTRobot\ICHomeBackSideToIC.json");
mt.Unclamp();
mt.ExePathMove(@"D:\Positions\MTRobot\ICBackSideToICHome.json");
mt.RobotMoving(false);
mt.RobotMoving(true);
mt.ExePathMove(@"D:\Positions\MTRobot\ICHomeBackSideToIC.json");
mt.Clamp(0);
mt.ExePathMove(@"D:\Positions\MTRobot\ICBackSideToICHome.json");
mt.RobotMoving(false);
}
catch (Exception ex)
{
throw ex;
}
};
ThreadStart MaskCleanThread = () =>
{
try
{
mt.RobotMoving(true);
mt.ExePathMove(@"D:\Positions\MTRobot\CCHomeFrontSideToCC.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCFrontSideToClean.json");
mt.ExePathMove(@"D:\Positions\MTRobot\FrontSideCleanFinishToCC.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCFrontSideToCapture.json");
mt.ExePathMove(@"D:\Positions\MTRobot\FrontSideCaptureFinishToCC.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCFrontSideToCCHome.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCHomeBackSideToCC.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCBackSideToClean.json");
mt.ExePathMove(@"D:\Positions\MTRobot\BackSideCleanFinishToCC.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCBackSideToCapture.json");
mt.ExePathMove(@"D:\Positions\MTRobot\BackSideCaptureFinishToCC.json");
mt.ExePathMove(@"D:\Positions\MTRobot\CCBackSideToCCHome.json");
mt.RobotMoving(false);
}
catch (Exception ex)
{
throw ex;
}
};
ThreadStart MaskToLPThread = () =>
{
try
{
mt.RobotMoving(true);
mt.ChangeDirection(@"D:\Positions\MTRobot\LoadPortHome.json");
mt.ExePathMove(@"D:\Positions\MTRobot\LPHomeToLP1.json");
mt.Unclamp();
mt.ExePathMove(@"D:\Positions\MTRobot\LP1ToLPHome.json");
mt.RobotMoving(false);
}
catch (Exception ex)
{
throw ex;
}
};
Thread BoxGet = new Thread(GetAndOpenBoxThread);
Thread BoxStore = new Thread(CloseAndStoreBoxThread);
Thread MaskInsp = new Thread(LPGetMaskToInspThread);
Thread MaskClean = new Thread(MaskCleanThread);
Thread MaskOut = new Thread(MaskToLPThread);
MaskInsp.Start();
MaskInsp.Join();
MaskClean.Start();
MaskClean.Join();
MaskOut.Start();
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod1()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
bt.HalConnect();
ic.HalConnect();
os.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
#region Iron Box
//1.光罩鐵盒(無光罩)放置於Open Stage上方且上蓋已是開啟狀態
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
//2. Fiber Sensor確認光罩鐵盒上蓋已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. 開關盒機構可正常闔上光罩鐵盒上蓋
os.Close();
os.Unclamp();
os.Lock();
//6. 透過Box Robot PIN, 關閉光罩鐵盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. Open Stage吸盤鬆開光罩鐵盒
os.Vacuum(false);
//9. Open Stage整定棒鬆開光罩鐵盒
os.SortUnclamp();
//10. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//11. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
#endregion Iron Box
//12. 重複1~11步驟, 再執行光罩鐵盒(有光罩) / 光罩水晶盒(無光罩) / 光罩水晶盒(有光罩)之情境
#region Iron Box with Mask
//1.光罩鐵盒(有光罩)放置於Open Stage上方且上蓋已是開啟狀態
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
//2. Fiber Sensor確認光罩鐵盒上蓋已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. 開關盒機構可正常闔上光罩鐵盒上蓋
os.Close();
os.Unclamp();
os.Lock();
//6. 透過Box Robot PIN, 關閉光罩鐵盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. Open Stage吸盤鬆開光罩鐵盒
os.Vacuum(false);
//9. Open Stage整定棒鬆開光罩鐵盒
os.SortUnclamp();
//10. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//11. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
#endregion Iron Box with Mask
BoxType = 2;
//12. 重複1~11步驟, 再執行光罩水晶盒(無光罩) / 光罩水晶盒(有光罩)之情境
#region Crystal Box
//1.光罩水晶盒(無光罩)放置於Open Stage上方且上蓋已是開啟狀態
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
//2. Fiber Sensor確認光罩水晶盒上蓋已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. 開關盒機構可正常闔上光罩水晶盒上蓋
os.Close();
os.Unclamp();
os.Lock();
//6. 透過Box Robot PIN, 關閉光罩水晶盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. Open Stage吸盤鬆開光罩水晶盒
os.Vacuum(false);
//9. Open Stage整定棒鬆開光罩水晶盒
os.SortUnclamp();
//10. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//11. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
#endregion Crystal Box
//12. 重複1~11步驟, 再執行光罩水晶盒(有光罩)之情境
#region Crystal Box with Mask
//1.光罩水晶盒(有光罩)放置於Open Stage上方且上蓋已是開啟狀態
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
//2. Fiber Sensor確認光罩水晶盒上蓋已開啟 & 辨識光罩盒種類
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//3. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//4. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//5. 開關盒機構可正常闔上光罩水晶盒上蓋
os.Close();
os.Unclamp();
os.Lock();
//6. 透過Box Robot PIN, 關閉光罩水晶盒鈕扣
if (BoxType == 1)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockIronBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
else if (BoxType == 2)
{
bt.RobotMoving(true);
os.SetRobotIntrude(true, null);
bt.ExePathMove(pathFileObj.LockCrystalBoxPathFile());
os.SetRobotIntrude(false, null);
bt.RobotMoving(false);
}
//7. Front CCD可以拍照取像(FOV正確)
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
//8. Open Stage吸盤鬆開光罩水晶盒
os.Vacuum(false);
//9. Open Stage整定棒鬆開光罩水晶盒
os.SortUnclamp();
//10. (編號10 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
os.LightForFrontBarDfsSetValue(0);
//11. (編號11 - CCD): 開啟光源->拍照(FOV正確)->關閉光源
os.LightForFrontBarDfsSetValue(6);
os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
os.LightForFrontBarDfsSetValue(0);
#endregion Crystal Box with Mask
}
}
catch (Exception ex) { throw ex; }
}
[DataRow(EnumMacMaskBoxType.IronBox, true, DrawerReplaceBoxPlace.In)] // 鐵盒
//[DataRow(BoxType.CrystalBox,true)] // 水晶盒
public void TestMethod1(EnumMacMaskBoxType boxType, bool autoConnect, DrawerReplaceBoxPlace drawerReplaceBoxPlace)
{
var BREAK_POINT = 0;
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
/** Index & array
* [0] [1] [2]
* 1-2, 1-3, 1-4 IP: 31~33
* ------------------
* [3] [4] [5]
* 2-2, 2-3, 2-4, IP: 41~43
* ------------------
* [6] [7] [8]
* 3-2, 3-3, 3-4, IP: 51~53
* ----------------
* [9] [10] [11]
* 4-2, 4-3, 4-4, IP: 61~63
* ------------------
* [12] [13] [14]
* 5-2, 5-3, 5-4, IP: 71~73
* ------------------
* [15] [16] [17]
* 6-2, 6-3, 6-4, IP: 81~83
*--------------------
* [18] [19]
* 7-2, 7-3, IP: 91~92
*/
halContext.MvaCfBootup();
halContext.MvaCfLoad();
try
{
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
string btMovePathFile = default(string);
uni.HalConnect();
bt.HalConnect();
os.HalConnect();
halContext.DrawersConnect();
//bt.Reset();
bt.Initial();
//bt.TurnToCB1Home();
int start = 8;
int end = 10;
for (var i = start; i < end; i++)
{
try
{
var drawerLocation = DrawerLocations[i];
var drawer = halContext.GetDrawer(DrawerKeys[i]);
IMacHalDrawer previousDrawer = null;
var drawerHome = drawerLocation.GetCabinetHomeCode().Item2;
/** 00 預先動作, 如有上一輪的 Drawer, 將上一輪的 Drawer 推回到 Out , 取出 Box, 將Box放到現在的 Drawer Tray中, 並將 Tray 放回 Home */
// 0.1 如有上一輪的 Drawer, 將其 Tray 移到 可抽換 box 的位置
if (i > start)
{
previousDrawer = halContext.GetDrawer(DrawerKeys[i - 1]);
previousDrawer.MoveTrayToHome();
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
previousDrawer.MoveTrayToIn();
}
else
{
previousDrawer.MoveTrayToOut();
}
}
// 0.2 將目前的 Drawer Tray Initial
drawer.Initial();
// 0.3 將 目前的 Drawer Tray 移回 可以置換 Drawer 的地方
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
drawer.MoveTrayToIn();
}
else
{
drawer.MoveTrayToOut();
}
/**1. 光罩盒置於 Drawer內*/
BREAK_POINT++; //[[[[[[[[[[[[[[[[[[一定要暫停]]]]]]]]]]]]]]]]]]]]]]]]]] 確認有 Box後往下執行
// 1.1 如有上一個 Drawer, 將上一個 Drawer 移到 Home
if (previousDrawer != null)
{ //
previousDrawer.MoveTrayToHome();;
}
// 1.2 Drawer Tray 往機台內部移動到可以取得光罩的位置
drawer.MoveTrayToHome();
drawer.MoveTrayToIn();
/** 02 Box Robot從Home點至Drawer entry處*/
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // Drawer 01-01 ~ Drawer 03-05
bt.TurnToCB1Home();
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)
{ // // Drawer 04-01 ~ Drawer 07-05
//Cabinet 2 Drawer 的 Path
bt.TurnToCB1Home();
bt.TurnToCB2Home();
btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
}
bt.Move(btMovePathFile);
/** 03 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
try
{
var lightValue = bt.GetCameraLightValue(boxType);
bt.LightForGripperSetValue(lightValue);
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
//bt.LightForGripper(0);
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
finally
{
bt.LightForGripperSetValue(0);
}
// bt.Clamp((uint)boxType);
//var lightValue = bt.GetCameraLightValue(boxType);
//var resultTemp=bt.CameraShot("D:/Image/BT/Gripper", "jpg",lightValue);
/** 04 Box Robot從Drawer Entry處移至Drawer內進行光罩鐵盒夾取*/
var resultTemp = bt.Clamp((uint)boxType);
/** 05 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
var Level = bt.ReadLevelSensor();
/** 06 Box Robot將光罩鐵盒從Drawer移動至Open Stage上方*/
// 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
bt.Move(btMovePathFile);
}
else // if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04_01~07~05 回到 Cabinet 1 Home
btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);// Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
bt.Move(btMovePathFile);
bt.TurnToCB1Home();
}
// 6.2 boxrobot 移到 OpenStage
os.SetRobotIntrude(true, null);
btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile(); // boxrobot 目前有盒子, 要到 Open Stage, 用PUT
bt.Move(btMovePathFile);
/** 07 光罩鐵盒放置前確認Box Robot是水平狀態 (by 水平儀)*/
Level = bt.ReadLevelSensor();
/** 08 Box Robot將光罩鐵盒放置於Open Stage上*/
bt.Unclamp();
/** 09 Box Robot退出Open Stage, 並回到Box Robot Home點*/
btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
bt.Move(btMovePathFile);
os.SetRobotIntrude(false, null);
/** 10 (編號9-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
/**
* os.LightForTopBarDfsSetValue(200);
* os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
* os.LightForTopBarDfsSetValue(0);
*/
try
{
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(140); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
Debug.WriteLine("Open Stage Camera Shot(Top) OK");
}
catch (Exception ex)
{
Debug.WriteLine("Open Stage Camera Shot(Top) Error=" + ex.Message);
}
finally
{
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
}
/** 11 (編號12-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
/**
* os.LightForSideBarDfsSetValue(200);
* os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
* os.LightForSideBarDfsSetValue(0);
*/
try
{
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(140); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
Debug.WriteLine("Open Stage Camera Shot OK");
}
catch (Exception ex)
{
Debug.WriteLine("Open Stage Camera Shot(Side) Error=" + ex.Message);
}
finally
{
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
}
/** 12 Box Robot(無夾持光罩鐵盒)從Home點移動進入Open Stage上方*/
os.SetRobotIntrude(true, null);
btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
bt.Move(btMovePathFile);
/** 13 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
Level = bt.ReadLevelSensor();
/** 14 Box Robot從Open Stage上方夾取光罩鐵盒*/
bt.Clamp((uint)boxType);
/** 15 Box Robot將光罩鐵盒移動至Drawer處*/
// 15.1 Boxrobot 移到 Cabitnet 1 Home
btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile(); // boxrobot 目前有盒子,要回到 Cabinet 1 Home, 用 GET
bt.Move(btMovePathFile);
os.SetRobotIntrude(false, null);
// 15.2
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // drawer 01-01 ~ drawer 03-05
btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
bt.Move(btMovePathFile);
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
// drawer 04-01 ~ drawer 07-05
bt.TurnToCB2Home();
btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
bt.Move(btMovePathFile);
}
/** 16 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
try
{
var lightValue = bt.GetCameraLightValue(boxType);
bt.LightForGripperSetValue(lightValue);
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
finally
{
bt.LightForGripperSetValue(0);
}
//lightValue = bt.GetCameraLightValue(boxType);
//resultTemp= bt.CameraShot("D:/Image/BT/Gripper", "jpg", lightValue);
/** 17 Box Robot將光罩鐵盒移動至Drawer內*/
bt.Unclamp();
/** 18 Box Robot (無夾持光罩鐵盒) 從Drawer移回Home點*/
// 18.1 Boxrobot 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
}
bt.Move(btMovePathFile);
// 18.2 Drawer 04-01 ~ Drawer 07-05 時 Boxrobot 轉回 Cabitnet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
bt.TurnToCB1Home();
}
// drawer.CommandINI();
/** 19 重複1~18步驟, 完成20個Drawer的光罩鐵盒測試*/
/** 20 重複1~19步驟, 完成20個Drawer的光罩水晶盒測試*/
BREAK_POINT++; // [一定要暫停] 這個 drawer 做好了, 準備下一個
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
public void TestMethod2()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
os.HalConnect();
ic.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
ic.Initial();
//1. 光罩放置於Inspection Chamber Stage上
//2. Mask Robot從Home點移動至Inspection Chamber
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//3. Mask Robot在Inspection Chamber 內進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Inspection Chamber移動至Open Stage處 (不放置)
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//5. Mask Robot將光罩從Open Stage, 移回Inspection Chamber
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ChangeDirection(pathFileObj.InspChHomePathFile());
ic.SetRobotIntrude(true);
mt.ExePathMove(pathFileObj.FromICHomeToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICStagePathFile());
mt.RobotMoving(false);
//6. Mask Robot將光罩放置於Inspection Chamber Stage上
mt.Unclamp();
//7.Mask Robot(無夾持光罩) 從Inspection Chamber移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromICStageToICFrontSidePathFile());
mt.ExePathMove(pathFileObj.FromICFrontSideToICHomePathFile());
ic.SetRobotIntrude(false);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod1()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
os.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
os.Initial();
os.SetBoxType(BoxType);
os.SortClamp();
os.Vacuum(true);
os.SortUnclamp();
os.Lock();
if (os.ReadCoverSensor().Item2 == false)
{
throw new Exception("Box status was not closed");
}
os.Close();
os.Clamp();
os.Open();
if (os.ReadCoverSensor().Item1 == false)
{
throw new Exception("Box status was not opened");
}
//1. Mask Robot (無夾持光罩) 從Home點移動至Open Stage
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
os.SetRobotIntrude(null, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(null, false);
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}
public void TestMethod3()//OK
{
try
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var lpa = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var lpb = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();//需要先將MacHalUniversal建立連線，各Assembly的Hal建立連線時，才能讓PLC的連線成功
mt.HalConnect();
os.HalConnect();
lpa.HalConnect();
lpb.HalConnect();
uint BoxType = 1;//1：鐵盒 , 2：水晶盒
//1.光罩放置於Load Port A的Pod內
//2. Mask Robot從Home點移動至Load Port A上方
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.ExePathMove(pathFileObj.FromLPHomeToLP1PathFile());
mt.RobotMoving(false);
//3. Mask Robot在Load Port A進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Load Port A移動至Open Stage處 (不放置)
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP1ToLPHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//5. Mask Robot將光罩從Open Stage, 移回Load Port A
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ExePathMove(pathFileObj.FromLPHomeToLP1PathFile());
mt.RobotMoving(false);
//6. Mask Robot將光罩放置於Load Port A的Pod內
mt.Unclamp();
//7. Mask Robot (無夾持光罩) 從Load Port A移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP1ToLPHomePathFile());
mt.RobotMoving(false);
//8. 重複1~7, 執行Load Port B至Open Stage的傳送測試
//1.光罩放置於Load Port B的Pod內
//2. Mask Robot從Home點移動至Load Port B上方
mt.RobotMoving(true);
mt.ChangeDirection(pathFileObj.LoadPortHomePathFile());
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//3. Mask Robot在Load Port B進行光罩夾取
mt.Clamp(1);
//4. Mask Robot將光罩從Load Port B移動至Open Stage處 (不放置)
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
os.SetRobotIntrude(false, true);
mt.ExePathMove(pathFileObj.FromLPHomeToOSPathFile());
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromOSToIronBoxPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromOSToCrystalBoxPathFile());
}
mt.RobotMoving(false);
//5. Mask Robot將光罩從Open Stage, 移回Load Port B
mt.RobotMoving(true);
if (BoxType == 1)
{
mt.ExePathMove(pathFileObj.FromIronBoxToOSPathFile());
}
else if (BoxType == 2)
{
mt.ExePathMove(pathFileObj.FromCrystalBoxToOSPathFile());
}
mt.ExePathMove(pathFileObj.FromOSToLPHomePathFile());
os.SetRobotIntrude(false, false);
mt.ExePathMove(pathFileObj.FromLPHomeToLP2PathFile());
mt.RobotMoving(false);
//6. Mask Robot將光罩放置於Load Port B的Pod內
mt.Unclamp();
//7. Mask Robot (無夾持光罩) 從Load Port B移回Home點
mt.RobotMoving(true);
mt.ExePathMove(pathFileObj.FromLP2ToLPHomePathFile());
mt.RobotMoving(false);
}
}
catch (Exception ex) { throw ex; }
}