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@@ -392,7 +392,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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private void RegisterSpecialData()
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{
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- if(Name != "CarrierRobot")
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+ if (Name != "CarrierRobot")
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{
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DATA.Subscribe($"{Name}.CurrentArm1Position", () => CurrentArm1Position);
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DATA.Subscribe($"{Name}.CurrentArm2Position", () => CurrentArm2Position);
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@@ -403,7 +403,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade5", () => IsWaferPresenceOnBlade5);
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}
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- DATA.Subscribe($"{Name}.TPStatus", () => _tpStatus != null&& _tpStatus.Value);
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+ DATA.Subscribe($"{Name}.TPStatus", () => _tpStatus != null && _tpStatus.Value);
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DATA.Subscribe($"{Name}.CurrentExtensionPosition", () => CurrentExtensionPosition);
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DATA.Subscribe($"{Name}.CurrentThetaPosition", () => CurrentThetaPosition);
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@@ -574,12 +574,12 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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{
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return ParsePositionAxisDataV2(rdata);
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}
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- if (rdata.Length ==7)
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+ if (rdata.Length == 7)
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{
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return ParsePositionAxisData(rdata);
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}
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// return (rdata.Length > 6 && ParseRegisteredPositionData(rdata));
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-
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+
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}
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if (_command == "RSTR") //Reference station item value
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{
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@@ -695,7 +695,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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LOG.Write(ex);
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return false;
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}
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- }
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+ }
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public bool ParsePositionAxisData(string[] pdata)
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{
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try
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@@ -1267,7 +1267,11 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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_isError = false;
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}
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- string strpara = "1,1,S";
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+ string strpara = "1,1,G";
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+ if (RobotModuleName == ModuleName.CarrierRobot)
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+ {
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+ strpara = "1,1,S";
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+ }
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_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
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if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
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_lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
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@@ -1328,7 +1332,11 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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_isError = false;
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}
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- string strpara = "1,1,S";
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+ string strpara = "1,1,G";
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+ if (RobotModuleName == ModuleName.CarrierRobot)
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+ {
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+ strpara = "1,1,S";
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+ }
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_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara, _timeLimitHome));
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if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
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_lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
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@@ -2087,7 +2095,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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protected override bool fPickComplete(object[] param)
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{
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- if(_isError)
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+ if (_isError)
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{
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OnError("RobotError");
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return true;
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@@ -2192,7 +2200,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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}
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var alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaFOUPRobotAlarm");
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- if(Name == "WaferRobot")
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+ if (Name == "WaferRobot")
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alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaWaferRobotAlarm");
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if (_isError || (alarmSignaRobotAlarm != null && alarmSignaRobotAlarm.Value))
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{
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@@ -2348,14 +2356,14 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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public override void NoteError(string errortext)
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{
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_isError = true;
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- if(!string.IsNullOrEmpty(errortext))
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+ if (!string.IsNullOrEmpty(errortext))
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OnError(errortext);
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//lock (_locker)
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{
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_lstHandlers.Clear();
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_connection.ForceClear();
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- if(_tpStatus != null && _tpStatus.Value)
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+ if (_tpStatus != null && _tpStatus.Value)
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{
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//true是TP状态
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//TP状态,不需要发
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