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 lpa = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
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
lpb.HalConnect();
lpa.HalConnect();
//1.POD內有光罩, 且放置於Load Port A stage上
//2~5 Load Poat A Dock
lpa.Dock();
//6. POD內有光罩, 且放置於Load Port B stage上
//7~10 Load Poat B Dock
lpb.Dock();
}
}
catch (Exception ex) { throw ex; }
}
public void TestReadParameter()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var mt = halContext.HalDevices[EnumMacDeviceId.masktransfer_assembly.ToString()] as MacHalMaskTransfer;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
mt.HalConnect();
mt.ReadClampTactileLimit();
mt.ReadLevelLimit();
mt.ReadSixAxisSensorUpperLimit();
mt.ReadSixAxisSensorLowerLimit();
mt.ReadSpeedVar();
mt.ReadStaticElecLimit();
}
}
catch (Exception ex)
{
throw ex;
}
}
public void LoadPortBasicTest()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var loportAssembly = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var testLoadPort = loportAssembly.Hals[EnumMacDeviceId.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.DeviceId);
}
// BindLoadPortEvent(loadport1);
BindLoadPortEvent(testLoadPort);
Repeat();
}
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
}
public void LoadPortUnDock()
{
MacHalContext halContext = null;
MacHalLoadPort loportAssembly = null;
MacHalLoadPortGudeng TestLoadport = null;
try
{
halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real");
halContext.MvaCfLoad();
loportAssembly = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
TestLoadport = loportAssembly.Hals[EnumMacDeviceId.loadport_1.ToString()] as MacHalLoadPortGudeng;
TestLoadport.HalConnect();
BindLoadPortEvent(TestLoadport);
TestLoadport.CommandUndockRequest();
Repeat();
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
finally
{
if (halContext != null)
{
halContext.Dispose();
}
}
}
public void TestReadComponentValue()
{
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 os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
unv.HalConnect();
os.HalConnect();
os.SetRobotIntrude(true, false);
os.SetRobotIntrude(false, true);
os.SetRobotIntrude(false, false);
os.ReadClampStatus();
os.ReadSortClampPosition();
os.ReadSliderPosition();
os.ReadCoverPos();
os.ReadCoverSensor();
os.ReadBoxDeform();
os.ReadWeightOnStage();
os.ReadBoxExist();
os.ReadOSStatus();
os.ReadRobotIntruded();
os.ReadParticleCount();
}
}
catch (Exception ex)
{
throw ex;
}
}
public void TestMethod1()
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var lpa = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var lpb = halContext.HalDevices[EnumMacDeviceId.loadportB_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
uni.HalConnect();
ic.HalConnect();
lpa.HalConnect();
lpb.HalConnect();
cc.HalConnect();
os.HalConnect();
bt.HalConnect();
lpa.LightForLoadPortASetValue(200); //bar 0~255
lpb.LightForLoadPortBSetValue(200); //bar 0~255
lpa.LightForBarcodeReaderSetValue(200); //bar 0~255
cc.LightForInspSetValue(200); //bar 0~999
os.LightForFrontBarDfsSetValue(200); //bar 0~255
os.LightForSideBarDfsSetValue(200); //bar 0~255
os.LightForTopBarDfsSetValue(200); //bar 0~255
bt.LightForGripperSetValue(200); //bar 0~255
ic.LightForBackLineSetValue(200); //bar 0~255(小線光-後)
ic.LightForLeftLineSetValue(200); //bar 0~255(小線光-左)
ic.LightForTopCrlDfsSetValue(200); //crl 0~255(小環光)
ic.LightForTopCrlInspSetValue(200); //crl 0~255(大環光)
ic.LightForLeftBarSetValue(200); //spot 0~999(大線光-左)
ic.LightForRightBarSetValue(200); //spot 0~999(大線光-右)
lpa.LightForLoadPortASetValue(0);
lpb.LightForLoadPortBSetValue(0);
lpa.LightForBarcodeReaderSetValue(0);
cc.LightForInspSetValue(0);
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
bt.LightForGripperSetValue(0);
ic.LightForBackLineSetValue(0);
ic.LightForLeftLineSetValue(0);
ic.LightForTopCrlDfsSetValue(0);
ic.LightForTopCrlInspSetValue(0);
ic.LightForLeftBarSetValue(0);
ic.LightForRightBarSetValue(0);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
}
}
public void TestReadComponentValue()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
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 TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var cbn = halContext.HalDevices[EnumMacDeviceId.cabinet_assembly.ToString()] as MacHalCabinet;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cbn.HalConnect();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var lp = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
lp.HalConnect();
}
}
public void TestAssemblyWorkLight()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvaCfLoad();
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cc.HalConnect();
cc.LightSideInsp.TurnOn(255);
}
}
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 ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
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
ic.HalConnect();
ic.Initial();
//1. 將光罩放置於Inspection Chamber Stage上
//2. 將光罩分以4 x 4, 16宮格方式, 移動Stage X &Y方向, 讓編號4 - CCD可以拍攝到每個宮格的影像
//3. 每個宮格內, 執行以下程序: 開啟線光源->拍照(FOV正確, 可看到particle)->關閉線光源
ic.LightForLeftBarSetValue(999); //bar 0~999
ic.LightForRightBarSetValue(999); //bar 0~999
for (int i = 158; i <= 296; i += 23)
{
for (int j = 123; j <= 261; j += 23)
{
ic.XYPosition(i, j);
ic.Camera_TopInsp_CapToSave("D:/Image/IC/TopInsp", "jpg");
Thread.Sleep(500);
}
}
ic.LightForLeftBarSetValue(0);
ic.LightForRightBarSetValue(0);
//4. 每個宮格內, 執行以下程序: 開啟環形光源->拍照(FOV正確, 可看到光罩pattern)->關閉環形光源
ic.LightForTopCrlInspSetValue(255);
for (int i = 158; i <= 296; i += 23)
{
for (int j = 123; j <= 261; j += 23)
{
ic.XYPosition(i, j);
ic.Camera_TopInsp_CapToSave("D:/Image/IC/TopInsp", "jpg");
Thread.Sleep(500);
}
}
ic.LightForTopCrlInspSetValue(0);
}
}
catch (Exception ex) { throw ex; }
}
public void TestCamera()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
bt.HalConnect();
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvaCfLoad();
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cc.HalConnect();
cc.SetGasValveTime(50);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var lp = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
lp.HalConnect();
lp.ReadChamberPressureDiffLimit();
}
}
public void TestCamera()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvaCfLoad();
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cc.HalConnect();
cc.Camera_Insp_CapToSave("D:/Image/CC/Insp", "jpg");
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
os.ReadBoxTypeVar();
os.ReadSpeedVar();
os.ReadParticleCntLimit();
}
}
public void TestMethod1()
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var lpa = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var lpb = halContext.HalDevices[EnumMacDeviceId.loadportB_assembly.ToString()] as MacHalLoadPort;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
uni.HalConnect();
ic.HalConnect();
cc.HalConnect();
lpa.HalConnect();
lpb.HalConnect();
os.HalConnect();
bt.HalConnect();
try
{
for (int i = 0; i < 2000; i++)
{
//ic.Camera_SideDfs_CapToSave("D:/Image/IC/SigeDfs", "jpg");
//ic.Camera_TopDfs_CapToSave("D:/Image/IC/TopDfs", "jpg");
//ic.Camera_SideInsp_CapToSave("D:/Image/IC/SideInsp", "jpg");
ic.Camera_TopInsp_CapToSave("D:/Image/IC/TopInsp", "jpg");//需要有介面卡的主機才能執行此動作
//cc.Camera_Insp_CapToSave("D:/Image/CC/Insp", "jpg");
//lpa.Camera_LoadPortA_CapToSave("D:/Image/LP/LPA/Insp", "jpg");
//lpa.Camera_Barcode_CapToSave("D:/Image/LP/LPA/Barcode", "jpg");
//lpb.Camera_LoadPortB_CapToSave("D:/Image/LP/LPB/Insp", "jpg");
//os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
//os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
//os.Camera_Left_CapToSave("D:/Image/OS/Left", "jpg");
//os.Camera_Right_CapToSave("D:/Image/OS/Right", "jpg");
//bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
Thread.Sleep(100);
}
}
catch (Exception ex)
{
throw ex;
}
}
}
public void TestCamera()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var os = halContext.HalDevices[EnumMacDeviceId.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_Left_CapToSave("D:/Image/OS/NearLP", "jpg");
os.Camera_Right_CapToSave("D:/Image/OS/NearCC", "jpg");
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
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.MvaCfLoad();
var cbn = halContext.HalDevices[EnumMacDeviceId.cabinet_assembly.ToString()] as MacHalCabinet;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cbn.HalConnect();
cbn.ReadChamberPressureDiffLimit();
cbn.ReadExhaustFlowVar();
}
}
public void TestReadComponentValue()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var lp = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
lp.HalConnect();
lp.ReadPressureDiff();
lp.ReadLP_Light_Curtain();
}
}
public void TestReadComponentValue()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var cbn = halContext.HalDevices[EnumMacDeviceId.cabinet_assembly.ToString()] as MacHalCabinet;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cbn.HalConnect();
cbn.ReadChamberPressureDiff();
cbn.ReadLightCurtain();
}
}
public void TestWork_Inspection()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
ic.HalConnect();
ic.HalConnect();
//ic.Initial();
ic.InspectionSide();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var ic = halContext.HalDevices[EnumMacDeviceId.inspectionch_assembly.ToString()] as MacHalInspectionCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
ic.HalConnect();
ic.SetRobotIntrude(false);
ic.Initial();
ic.XYPosition(200, 100);
ic.ZPosition(-30);
ic.WPosition(51);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvaCfLoad();
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cc.HalConnect();
cc.ReadParticleCntLimit();
cc.ReadRobotPosLeftRightLimit();
cc.ReadRobotPosUpDownLimit();
cc.ReadManometerPressureLimit();
cc.ReadGasValvePressureVar();
}
}
public void TestSetParameter()
{
using (var halContext = new MacHalContext(ManifestPath))
{
halContext.MvaCfLoad();
var cc = halContext.HalDevices[EnumMacDeviceId.clean_assembly.ToString()] as MacHalCleanCh;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
cc.HalConnect();
cc.SetParticleCntLimit(20, 30, 40);
cc.SetRobotLeftRightLimit(10, 50);
cc.SetRobotUpDownLimit(50, 10);
cc.SetManometerPressureLimit(40);
cc.SetGasValvePressurVar(90);
}
}
public void TestReadParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
bt.HalConnect();
bt.ReadClampSpeedVar();
bt.ReadClampSpacingLimit();
bt.ReadClampAndCabinetSpacingLimit();
bt.ReadLevelSensorLimit();
bt.ReadSixAxisSensorUpperLimit();
bt.ReadSixAxisSensorLowerLimit();
}
}
public void TestAssemblyWork()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
bt.HalConnect();
bt.Clamp(1);
bt.Unclamp();
bt.LevelReset();
bt.ReadBTStatus();
bt.RobotMoving(false);
bt.Initial();
}
}
public void TestSetParameter()
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
uni.HalConnect();
bt.HalConnect();
bt.SetClampSpeedVar(20);
bt.SetClampSpacingLimit(10, 20);
bt.SetClampAndCabinetSpacingLimit(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);
}
}