SimulatorSystem.cs 57 KB

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  1. using System;
  2. using System.Collections;
  3. using System.Collections.Generic;
  4. using System.Diagnostics;
  5. using System.Runtime.InteropServices;
  6. using System.Threading;
  7. using Aitex.Core.RT.DataCenter;
  8. using Aitex.Core.RT.IOCore;
  9. using Aitex.Core.RT.Log;
  10. using Aitex.Core.Util;
  11. using Aitex.Core.WCF;
  12. using FurnaceSimulator.Views;
  13. using MECF.Framework.Simulator.Core.Commons;
  14. namespace FurnaceSimulator.Instances
  15. {
  16. public class SimulatorSystem : Singleton<SimulatorSystem>
  17. {
  18. private PeriodicJob _thread;
  19. private int _shuttleServoStation;
  20. private int _robotServoStation;
  21. private bool _enableN2purge = true;
  22. Random _rd = new Random();
  23. private List<int> motionStationList;
  24. private Dictionary<string, int> currentStationDic = new Dictionary<string, int>();
  25. private Dictionary<string, int> currentPosDic = new Dictionary<string, int>();
  26. private Dictionary<string, int> targetStationPosDic = new Dictionary<string, int>();
  27. private Dictionary<string, bool> isAutoMoveDic = new Dictionary<string, bool>();
  28. private Dictionary<string, bool> logDic = new Dictionary<string, bool>();
  29. private Dictionary<string, DeviceTimer> timerDic = new Dictionary<string, DeviceTimer>();
  30. private RD_TRIG _smif1LoadTrig = new RD_TRIG();
  31. private RD_TRIG _smif2LoadTrig = new RD_TRIG();
  32. private RD_TRIG _smif1UnloadTrig = new RD_TRIG();
  33. private RD_TRIG _smif2UnloadTrig = new RD_TRIG();
  34. private RD_TRIG _smif1HomeTrig = new RD_TRIG();
  35. private RD_TRIG _smif2HomeTrig = new RD_TRIG();
  36. private Stopwatch _rAxisHomeTimer = new Stopwatch();
  37. public SimulatorSystem()
  38. {
  39. }
  40. public void Initialize()
  41. {
  42. motionStationList = new List<int>();
  43. for (int i = 0; i < 100; i++)
  44. {
  45. if (motionStationList.Count == 0)
  46. {
  47. motionStationList.Add(0);
  48. }
  49. else
  50. {
  51. motionStationList.Add(motionStationList[motionStationList.Count - 1] + 10000);
  52. }
  53. }
  54. Singleton<DataManager>.Instance.Initialize(false);
  55. WcfServiceManager.Instance.Initialize(new Type[]
  56. {
  57. typeof(SimulatorPlc1),
  58. typeof(SimulatorPlc2),
  59. typeof(SimulatorPlc3),
  60. typeof(SimulatorPlc4),
  61. typeof(SimulatorPlc5),
  62. typeof(SimulatorPlc6),
  63. typeof(SimulatorPlc7),
  64. typeof(SimulatorPlc8),
  65. //typeof(SimulatorPlc9),
  66. });
  67. SetDefaultValue();
  68. _thread = new PeriodicJob(200, OnMonitor, nameof(SimulatorSystem), true);
  69. }
  70. public static Int16 Pres2Phy901P(double pressure)
  71. {
  72. var voltage = Math.Log10(pressure) + 6;
  73. var raw = voltage / 10.0 * 0x7fff;
  74. if (raw < 0) raw = 0;
  75. else if (raw > 0x7fff) raw = 0x7fff;
  76. return Convert.ToInt16(raw);
  77. }
  78. public double Phy2Pres901P(byte low, byte high)
  79. {
  80. Int16 rawValue = BitConverter.ToInt16(new byte[] { low, high }, 0);
  81. var voltage = Converter.Phy2Logic(rawValue, 1, 9, 3276.7, 29490.3);
  82. return Math.Pow(10.0, voltage - 6.0);
  83. }
  84. public static Int16 Pres2Phy974B(double pressure)
  85. {
  86. var voltage = (Math.Log10(pressure) + 11) / 2;
  87. var raw = voltage / 10.0 * 0x7fff;
  88. if (raw < 0) raw = 0;
  89. else if (raw > 0x7fff) raw = 0x7fff;
  90. return Convert.ToInt16(raw);
  91. }
  92. public double Phy2Pres974B(byte low, byte high)
  93. {
  94. Int16 rawValue = BitConverter.ToInt16(new byte[] { low, high }, 0);
  95. var voltage = Converter.Phy2Logic(rawValue, 1.5, 7, 4915.05, 22936.9);
  96. return Math.Pow(10.0, 2 * voltage - 11.0);
  97. }
  98. private SimpleSocketDeviceSimulator _SimpleSocketDeviceSimulator;
  99. private void SetDefaultValue()
  100. {
  101. IO.DI[$"PM1.DI_POD1WaferOnRobot"].Value = true;
  102. IO.DI[$"PM1.DI_POD2WaferOnRobot"].Value = true;
  103. IO.DI[$"PM1.DI_FOUPRobotIsTPStatus"].Value = true;
  104. IO.DI[$"PM1.DI_WaferRobotIsHostStatus"].Value = true;
  105. IO.DI[$"PM1.DI_PwrBusyBoatZAxis"].Value = true;
  106. IO.DI[$"PM1.DI_LP1FOUPInPosition1"].Value = true;
  107. IO.DI[$"PM1.DI_LP1FOUPInPosition2"].Value = true;
  108. IO.DI[$"PM1.DI_LP1FOUPInPosition3"].Value = true;
  109. IO.DI[$"PM1.DI_LP1FOUPDetect"].Value = true;
  110. IO.DI[$"PM1.DI_LP2FOUPInPosition1"].Value = true;
  111. IO.DI[$"PM1.DI_LP2FOUPInPosition2"].Value = true;
  112. IO.DI[$"PM1.DI_LP2FOUPInPosition3"].Value = true;
  113. IO.DI[$"PM1.DI_LP2FOUPDetect"].Value = true;
  114. IO.DI[$"PM1.DI_LP3FOUPInPosition1"].Value = true;
  115. IO.DI[$"PM1.DI_LP3FOUPInPosition2"].Value = true;
  116. IO.DI[$"PM1.DI_LP3FOUPInPosition3"].Value = true;
  117. IO.DI[$"PM1.DI_LP3FOUPDetect"].Value = true;
  118. IO.DI[$"PM1.DI_LP4FOUPInPosition1"].Value = true;
  119. IO.DI[$"PM1.DI_LP4FOUPInPosition2"].Value = true;
  120. IO.DI[$"PM1.DI_LP4FOUPInPosition3"].Value = true;
  121. IO.DI[$"PM1.DI_LP4FOUPDetect"].Value = true;
  122. IO.DI[$"PM1.DI_WaferRobotEX1AxisHomePosition"].Value = true;
  123. IO.DI[$"PM1.DI_WaferRobotEX2AxisHomePosition"].Value = true;
  124. IO.DI[$"PM1.DI_BoatRAxisAlarm"].Value = false;
  125. IO.DI[$"PM1.DI_LP1FOUPLeftClamp"].Value = false;
  126. IO.DI[$"PM1.DI_LP1FOUPRightClamp"].Value = false;
  127. IO.DI[$"PM1.DI_LP1FOUPLeftRelease"].Value = true;
  128. IO.DI[$"PM1.DI_LP1FOUPRightRelease"].Value = true;
  129. IO.DI[$"PM1.DI_LP2FOUPLeftClamp"].Value = false;
  130. IO.DI[$"PM1.DI_LP2FOUPRightClamp"].Value = false;
  131. IO.DI[$"PM1.DI_LP2FOUPLeftRelease"].Value = true;
  132. IO.DI[$"PM1.DI_LP2FOUPRightRelease"].Value = true;
  133. IO.DI[$"PM1.DI_BufferInPositionA1"].Value = true;
  134. IO.DI[$"PM1.DI_BufferInPositionB1"].Value = true;
  135. IO.DI[$"PM1.DI_BufferInPositionC1"].Value = true;
  136. IO.DI[$"PM1.DI_BufferInPositionD1"].Value = true;
  137. IO.DI[$"PM1.DI_BufferInPositionA2"].Value = true;
  138. IO.DI[$"PM1.DI_BufferInPositionB2"].Value = true;
  139. IO.DI[$"PM1.DI_BufferInPositionC2"].Value = true;
  140. IO.DI[$"PM1.DI_BufferInPositionD2"].Value = true;
  141. IO.DI[$"PM1.DI_BufferInPositionA3"].Value = true;
  142. IO.DI[$"PM1.DI_BufferInPositionB3"].Value = true;
  143. IO.DI[$"PM1.DI_BufferInPositionC3"].Value = true;
  144. IO.DI[$"PM1.DI_BufferInPositionD3"].Value = true;
  145. IO.DI[$"PM1.DI_BufferInPositionA4"].Value = true;
  146. IO.DI[$"PM1.DI_BufferInPositionB4"].Value = true;
  147. IO.DI[$"PM1.DI_BufferInPositionC4"].Value = true;
  148. IO.DI[$"PM1.DI_BufferInPositionD4"].Value = true;
  149. IO.AI[$"PM1.AI_APCHomeStatus"].FloatValue = 2;
  150. for (int i = 1; i < 10; i++)
  151. {
  152. if (IO.DI[$"PM1.DI_VAC{i}"] != null)
  153. {
  154. IO.DI[$"PM1.DI_VAC{i}"].Value = true;
  155. }
  156. }
  157. IO.DI[$"PM1.DI_BoatUnloadInterlock"].Value = true;
  158. IO.DI[$"PM1.DI_PS13LStatus"].Value = false;
  159. IO.DI[$"PM1.DI_FurnaceShutterOpened"].Value = true;
  160. IO.DI[$"PM1.DI_MiddlePos1BoatZAxis"].Value = true;
  161. IO.DI[$"PM1.DI_MiddlePos2BoatZAxis"].Value = true;
  162. IO.DI[$"PM1.DI_MiddlePos3BoatZAxis"].Value = true;
  163. IO.AI[$"PM1.AI_N26PurgePressure"].FloatValue = 2;
  164. for (int i = 1; i < 200; i++)
  165. {
  166. if (IO.DI[$"PM1.DI_AV{i}ILK"] != null)
  167. {
  168. IO.DI[$"PM1.DI_AV{i}ILK"].Value = true;
  169. }
  170. }
  171. //_SimpleSocketDeviceSimulator = new SimpleSocketDeviceSimulator(12000, -1, "\r", ' ', false);
  172. }
  173. private bool OnMonitor()
  174. {
  175. //return true;
  176. //MonitorValve();
  177. MonitorLP("PM1", "LP1");
  178. MonitorLP("PM1", "LP2");
  179. MonitorFIMS("PM1", "FIMS1");
  180. MonitorFIMS("PM1", "FIMS2");
  181. MonitorBuffer();
  182. MonitorMFC();
  183. MonitorDoor();
  184. MonitorRAxis("PM1");
  185. MonitorZAxis("PM1");
  186. MonitorHeater();
  187. MonitorAPC();
  188. // MonitorHeaterBand();
  189. if (IO.DO[$"PM1.DO_ShutterOpen"].Value)
  190. {
  191. IO.DI[$"PM1.DI_FurnaceShutterOpened"].Value = IO.DO[$"PM1.DO_ShutterOpen"].Value;
  192. IO.DI[$"PM1.DI_FurnaceShutterClosed"].Value = IO.DO[$"PM1.DO_ShutterClose"].Value;
  193. }
  194. if (IO.DO[$"PM1.DO_ShutterClose"].Value)
  195. {
  196. IO.DI[$"PM1.DI_FurnaceShutterOpened"].Value = IO.DO[$"PM1.DO_ShutterOpen"].Value;
  197. IO.DI[$"PM1.DI_FurnaceShutterClosed"].Value = IO.DO[$"PM1.DO_ShutterClose"].Value;
  198. }
  199. IO.AI[$"PM1.AI_BufferTargetPosFb"].FloatValue = IO.AO[$"PM1.AO_TargetPositionBufferAxis"].FloatValue;
  200. IO.AI[$"PM1.AI_BoatTargetPosFb"].FloatValue = IO.AO[$"PM1.AO_BoatPosition"].FloatValue;
  201. IO.DI[$"PM1.DI_VaccumPumpBothOn"].Value = true;
  202. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_1RHCAirInOpened"] != null) { IO.DI[$"PM1.DI_AV91_1RHCAirInOpened"].Value = IO.DO[$"PM1.DO_ValveAV91"].Value; }
  203. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_2RHCAirInOpened"] != null) { IO.DI[$"PM1.DI_AV91_2RHCAirInOpened"].Value = IO.DO[$"PM1.DO_ValveAV91"].Value; }
  204. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_3RHCAirOutOpened"] != null) { IO.DI[$"PM1.DI_AV91_3RHCAirOutOpened"].Value = IO.DO[$"PM1.DO_ValveAV91"].Value; }
  205. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_4RHCAirOutOpened"] != null) { IO.DI[$"PM1.DI_AV91_4RHCAirOutOpened"].Value = IO.DO[$"PM1.DO_ValveAV91"].Value; }
  206. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_1RHCAirInClosed"] != null) { IO.DI[$"PM1.DI_AV91_1RHCAirInClosed"].Value = !IO.DO[$"PM1.DO_ValveAV91"].Value; }
  207. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_2RHCAirInClosed"] != null) { IO.DI[$"PM1.DI_AV91_2RHCAirInClosed"].Value = !IO.DO[$"PM1.DO_ValveAV91"].Value; }
  208. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_3RHCAirOutClosed"] != null) { IO.DI[$"PM1.DI_AV91_3RHCAirOutClosed"].Value = !IO.DO[$"PM1.DO_ValveAV91"].Value; }
  209. if (IO.DO[$"PM1.DO_ValveAV91"] != null && IO.DI[$"PM1.DI_AV91_4RHCAirOutClosed"] != null) { IO.DI[$"PM1.DI_AV91_4RHCAirOutClosed"].Value = !IO.DO[$"PM1.DO_ValveAV91"].Value; }
  210. if (IO.DO[$"PM1.DO_LAExhaustValveOpen"] != null && IO.DO[$"PM1.DO_LAExhaustValveClose"] != null &&
  211. (IO.DO[$"PM1.DO_LAExhaustValveOpen"].Value || IO.DO[$"PM1.DO_LAExhaustValveClose"].Value))
  212. {
  213. IO.DI[$"PM1.DI_AV66CommonExhaustOpened"].Value = IO.DO[$"PM1.DO_LAExhaustValveOpen"].Value;
  214. IO.DI[$"PM1.DI_AV66CommonExhaustClosed"].Value = IO.DO[$"PM1.DO_LAExhaustValveClose"].Value;
  215. }
  216. if (IO.DO[$"PM1.DO_FFUAirInValveOpen"] != null && IO.DO[$"PM1.DO_FFUAirInValveClose"] != null &&
  217. (IO.DO[$"PM1.DO_FFUAirInValveOpen"].Value || IO.DO[$"PM1.DO_FFUAirInValveClose"].Value))
  218. {
  219. // IO.DI[$"PM1.DI_AV65FFUAirInOpened"].Value = IO.DO[$"PM1.DO_FFUAirInValveOpen"].Value;
  220. //IO.DI[$"PM1.DI_AV65FFUAirInClosed"].Value = IO.DO[$"PM1.DO_FFUAirInValveClose"].Value;
  221. }
  222. if (IO.AI[$"PM1.AI_FOUPRobotActionCommand"] != null && IO.AO[$"PM1.AO_FOUPRobotActionCommand"] != null)
  223. {
  224. IO.AI[$"PM1.AI_FOUPRobotActionCommand"].FloatValue = IO.AO[$"PM1.AO_FOUPRobotActionCommand"].FloatValue;
  225. }
  226. if (IO.AI[$"PM1.AI_WaferRobotActionCommand"] != null && IO.AO[$"PM1.AO_WaferRobotActionCommand"] != null)
  227. {
  228. IO.AI[$"PM1.AI_WaferRobotActionCommand"].FloatValue = IO.AO[$"PM1.AO_WaferRobotActionCommand"].FloatValue;
  229. }
  230. return true;
  231. }
  232. public void Terminate()
  233. {
  234. _thread.Stop();
  235. }
  236. private void MonitorHeaterBand()
  237. {
  238. for (int i = 1; i < 20; i++)
  239. {
  240. if (IO.AI[$"PM1.AI_ForelineHeater{i}TempPV"] != null)
  241. {
  242. IO.DI[$"PM1.DI_ForelineHeater{i}ControlDoing"].Value = IO.DO[$"PM1.DO_ForelineHeater{i}Enable"].Value;
  243. IO.AI[$"PM1.AI_ForelineHeater{i}TempPV"].FloatValue = IO.AO[$"PM1.AO_ForelineHeater{i}TempSV"].FloatValue;
  244. IO.AI[$"PM1.AI_ForelineHeater{i}PBFeedback"].FloatValue = IO.AO[$"PM1.AO_ForelineHeater{i}PBSV"].FloatValue;
  245. IO.AI[$"PM1.AI_ForelineHeater{i}TIFeedback"].FloatValue = IO.AO[$"PM1.AO_ForelineHeater{i}TISV"].FloatValue;
  246. IO.AI[$"PM1.AI_ForelineHeater{i}TDFeedback"].FloatValue = IO.AO[$"PM1.AO_ForelineHeater{i}TDSV"].FloatValue;
  247. IO.AI[$"PM1.AI_ForelineHeater{i}ManualMVFeedback"].FloatValue = IO.AO[$"PM1.AO_ForelineHeater{i}TempSV"].FloatValue > 0 ? 100 : 0;
  248. }
  249. }
  250. if (IO.AI[$"PM1.AI_CapHeaterTempPV"] != null)
  251. {
  252. IO.DI[$"PM1.DI_CapHeaterControlDoing"].Value = IO.DO[$"PM1.DO_CapHeaterEnable"].Value;
  253. IO.AI[$"PM1.AI_CapHeaterTempPV"].FloatValue = IO.AO[$"PM1.AO_CapHeaterTempSV"].FloatValue;
  254. IO.AI[$"PM1.AI_CapHeaterPBFeedback"].FloatValue = IO.AO[$"PM1.AO_CapHeaterPBSV"].FloatValue;
  255. IO.AI[$"PM1.AI_CapHeaterTIFeedback"].FloatValue = IO.AO[$"PM1.AO_CapHeaterTISV"].FloatValue;
  256. IO.AI[$"PM1.AI_CapHeaterTDFeedback"].FloatValue = IO.AO[$"PM1.AO_CapHeaterTDSV"].FloatValue;
  257. IO.AI[$"PM1.AI_CapHeaterControlOutput"].FloatValue = IO.AO[$"PM1.AO_CapHeaterTempSV"].FloatValue > 0 ? 100 : 0;
  258. }
  259. if (IO.AI[$"PM1.AI_APCExternalHeaterTempPV"] != null)
  260. {
  261. IO.DI[$"PM1.DI_APCExternalHeaterControlDoing"].Value = IO.DO[$"PM1.DO_APCExternalHeaterEnable"].Value;
  262. IO.AI[$"PM1.AI_APCExternalHeaterTempPV"].FloatValue = IO.AO[$"PM1.AO_APCExternalHeaterTempSV"].FloatValue;
  263. IO.AI[$"PM1.AI_APCExternalHeaterPBFeedback"].FloatValue = IO.AO[$"PM1.AO_APCExternalHeaterPBSV"].FloatValue;
  264. IO.AI[$"PM1.AI_APCExternalHeaterTIFeedback"].FloatValue = IO.AO[$"PM1.AO_APCExternalHeaterTISV"].FloatValue;
  265. IO.AI[$"PM1.AI_APCExternalHeaterTDFeedback"].FloatValue = IO.AO[$"PM1.AO_APCExternalHeaterTDSV"].FloatValue;
  266. IO.AI[$"PM1.AI_APCExternalHeaterControlOutput"].FloatValue = IO.AO[$"PM1.AO_APCExternalHeaterTempSV"].FloatValue > 0 ? 100 : 0;
  267. }
  268. if (IO.AI[$"PM1.AI_APCRingHeaterTempPV"] != null)
  269. {
  270. IO.DI[$"PM1.DI_APCRingHeaterControlDoing"].Value = IO.DO[$"PM1.DO_APCRingHeaterEnable"].Value;
  271. IO.AI[$"PM1.AI_APCRingHeaterTempPV"].FloatValue = IO.AO[$"PM1.AO_APCRingHeaterTempSV"].FloatValue;
  272. IO.AI[$"PM1.AI_APCRingHeaterPBFeedback"].FloatValue = IO.AO[$"PM1.AO_APCRingHeaterPBSV"].FloatValue;
  273. IO.AI[$"PM1.AI_APCRingHeaterTIFeedback"].FloatValue = IO.AO[$"PM1.AO_APCRingHeaterTISV"].FloatValue;
  274. IO.AI[$"PM1.AI_APCRingHeaterTDFeedback"].FloatValue = IO.AO[$"PM1.AO_APCRingHeaterTDSV"].FloatValue;
  275. IO.AI[$"PM1.AI_APCRingHeaterControlOutput"].FloatValue = IO.AO[$"PM1.AO_APCRingHeaterTempSV"].FloatValue > 0 ? 100 : 0;
  276. }
  277. for (int i = 1; i < 80; i++)
  278. {
  279. for (int ch = 1; ch < 40; ch++)
  280. {
  281. if (IO.AO[$"PM1.AO_Unit{i}CH{ch}SV"] != null && IO.AI[$"PM1.AI_Unit{i}CH{ch}SV"] != null)
  282. {
  283. IO.AI[$"PM1.AI_Unit{i}CH{ch}EnableIn"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}EnableIn"].FloatValue;
  284. IO.AI[$"PM1.AI_Unit{i}CH{ch}SV"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}SV"].FloatValue;
  285. IO.AI[$"PM1.AI_Unit{i}CH{ch}PV"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}SV"].FloatValue;
  286. IO.AI[$"PM1.AI_Unit{i}CH{ch}PID_P"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}PID_P"].FloatValue;
  287. IO.AI[$"PM1.AI_Unit{i}CH{ch}PID_I"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}PID_I"].FloatValue;
  288. IO.AI[$"PM1.AI_Unit{i}CH{ch}PID_D"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}PID_D"].FloatValue;
  289. IO.AI[$"PM1.AI_Unit{i}CH{ch}UpRate"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}UpRate"].FloatValue;
  290. IO.AI[$"PM1.AI_Unit{i}CH{ch}DownRate"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}DownRate"].FloatValue;
  291. IO.AI[$"PM1.AI_Unit{i}CH{ch}AutotuneActivate"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}AutotuneActivate"].FloatValue;
  292. //IO.AI[$"PM1.AI_Unit{i}CH{ch}AlarmHigher"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}AlarmHigher"].FloatValue;
  293. //IO.AI[$"PM1.AI_Unit{i}CH{ch}AlarmLower"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}AlarmLower"].FloatValue;
  294. IO.AI[$"PM1.AI_Unit{i}CH{ch}WorkingOutput"].FloatValue = IO.AO[$"PM1.AO_Unit{i}CH{ch}SV"].FloatValue > 0 ? 100 : 0;
  295. }
  296. }
  297. }
  298. }
  299. private void MonitorAPC()
  300. {
  301. IO.AI[$"PM1.AI_APCSelectController"].FloatValue = IO.AO[$"PM1.AO_APCControllerModeSelect"].FloatValue;
  302. IO.AI[$"PM1.AI_APCControlModeStatus"].FloatValue = IO.AO[$"PM1.AO_APCSpecifyControlMode"].FloatValue;
  303. IO.AI[$"PM1.AI_APCPositionActualValue"].FloatValue = IO.AO[$"PM1.AO_APCSpecifyTargetOpeningForValveOpeningControl"].FloatValue;
  304. if (IO.AO[$"PM1.AO_APCSlowVacuumTargetPressure"].FloatValue > 0)
  305. {
  306. IO.AI[$"PM1.AI_APCValueSensorInput1"].FloatValue = IO.AO[$"PM1.AO_APCSlowVacuumTargetPressure"].FloatValue;
  307. IO.AI[$"PM1.AI_APCValueSensorInput2"].FloatValue = IO.AO[$"PM1.AO_APCSlowVacuumTargetPressure"].FloatValue;
  308. }
  309. else if (IO.AO[$"PM1.AO_APCSpecifyTargetVacuumPressureControl"].FloatValue > 0)
  310. {
  311. IO.AI[$"PM1.AI_APCValueSensorInput1"].FloatValue = IO.AO[$"PM1.AO_APCSpecifyTargetVacuumPressureControl"].FloatValue;
  312. IO.AI[$"PM1.AI_APCValueSensorInput2"].FloatValue = IO.AO[$"PM1.AO_APCSpecifyTargetVacuumPressureControl"].FloatValue;
  313. }
  314. }
  315. private void MonitorHeater()
  316. {
  317. IO.AI[$"Heater.AI_HeaterUCascadePV"].FloatValue = IO.AO[$"Heater.AO_HeaterUCascadeControlModeSV"].FloatValue;
  318. IO.AI[$"Heater.AI_HeaterUHeaterPV"].FloatValue = IO.AO[$"Heater.AO_HeaterUHeaterControlModeSV"].FloatValue;
  319. IO.AI[$"Heater.AI_HeaterUWorkingOutput"].FloatValue = IO.AO[$"Heater.AO_HeaterUCascadeControlModeSV"].FloatValue > 0 || IO.AO[$"Heater.AO_HeaterUHeaterControlModeSV"].FloatValue > 0 ? 100 : 0;
  320. IO.DI[$"Heater.DI_HeaterUEnableOutput"].Value = IO.DO[$"Heater.DO_HeaterUEnableIn"].Value;
  321. IO.AI[$"Heater.AI_HeaterCUCascadePV"].FloatValue = IO.AO[$"Heater.AO_HeaterCUCascadeControlModeSV"].FloatValue;
  322. IO.AI[$"Heater.AI_HeaterCUHeaterPV"].FloatValue = IO.AO[$"Heater.AO_HeaterCUHeaterControlModeSV"].FloatValue;
  323. IO.AI[$"Heater.AI_HeaterCUWorkingOutput"].FloatValue = IO.AO[$"Heater.AO_HeaterCUCascadeControlModeSV"].FloatValue > 0 || IO.AO[$"Heater.AO_HeaterCUHeaterControlModeSV"].FloatValue > 0 ? 100 : 0;
  324. IO.DI[$"Heater.DI_HeaterCUEnableOutput"].Value = IO.DO[$"Heater.DO_HeaterCUEnableIn"].Value;
  325. IO.AI[$"Heater.AI_HeaterCCascadePV"].FloatValue = IO.AO[$"Heater.AO_HeaterCCascadeControlModeSV"].FloatValue;
  326. IO.AI[$"Heater.AI_HeaterCHeaterPV"].FloatValue = IO.AO[$"Heater.AO_HeaterCHeaterControlModeSV"].FloatValue;
  327. IO.AI[$"Heater.AI_HeaterCWorkingOutput"].FloatValue = IO.AO[$"Heater.AO_HeaterCCascadeControlModeSV"].FloatValue > 0 || IO.AO[$"Heater.AO_HeaterCHeaterControlModeSV"].FloatValue > 0 ? 100 : 0;
  328. IO.DI[$"Heater.DI_HeaterCEnableOutput"].Value = IO.DO[$"Heater.DO_HeaterCEnableIn"].Value;
  329. IO.AI[$"Heater.AI_HeaterCLCascadePV"].FloatValue = IO.AO[$"Heater.AO_HeaterCLCascadeControlModeSV"].FloatValue;
  330. IO.AI[$"Heater.AI_HeaterCLHeaterPV"].FloatValue = IO.AO[$"Heater.AO_HeaterCLHeaterControlModeSV"].FloatValue;
  331. IO.AI[$"Heater.AI_HeaterCLWorkingOutput"].FloatValue = IO.AO[$"Heater.AO_HeaterCLCascadeControlModeSV"].FloatValue > 0 || IO.AO[$"Heater.AO_HeaterCLHeaterControlModeSV"].FloatValue > 0 ? 100 : 0;
  332. IO.DI[$"Heater.DI_HeaterCLEnableOutput"].Value = IO.DO[$"Heater.DO_HeaterCLEnableIn"].Value;
  333. IO.AI[$"Heater.AI_HeaterLCascadePV"].FloatValue = IO.AO[$"Heater.AO_HeaterLCascadeControlModeSV"].FloatValue;
  334. IO.AI[$"Heater.AI_HeaterLHeaterPV"].FloatValue = IO.AO[$"Heater.AO_HeaterLHeaterControlModeSV"].FloatValue;
  335. IO.AI[$"Heater.AI_HeaterLWorkingOutput"].FloatValue = IO.AO[$"Heater.AO_HeaterLCascadeControlModeSV"].FloatValue > 0 || IO.AO[$"Heater.AO_HeaterLHeaterControlModeSV"].FloatValue > 0 ? 100 : 0;
  336. IO.DI[$"Heater.DI_HeaterLEnableOutput"].Value = IO.DO[$"Heater.DO_HeaterLEnableIn"].Value;
  337. }
  338. public void MonitorCylinder()
  339. {
  340. //var valveList = new List<Tuple<string, string, string, string>>
  341. // {
  342. // new Tuple<string, string, string, string>(
  343. // $"PMA.DO_LiftPinUp",
  344. // $"PMA.DO_LiftPinDown",
  345. // $"PMA.DI_LiftPinUp",
  346. // $"PMA.DI_LiftPinDown"
  347. // ),
  348. // new Tuple<string, string, string, string>(
  349. // $"PMB.DO_LiftPinUp",
  350. // $"PMB.DO_LiftPinDown",
  351. // $"PMB.DI_LiftPinUp",
  352. // $"PMB.DI_LiftPinDown"
  353. // ),
  354. // new Tuple<string, string, string, string>(
  355. // $"PMC.DO_LiftPinUp",
  356. // $"PMC.DO_LiftPinDown",
  357. // $"PMC.DI_LiftPinUp",
  358. // $"PMC.DI_LiftPinDown"
  359. // ),
  360. // new Tuple<string, string, string, string>(
  361. // $"MF.DO_SlitDoorPMAOpen",
  362. // $"MF.DO_SlitDoorPMAClose",
  363. // $"MF.DI_SlitDoorPMAOpen",
  364. // $"MF.DI_SlitDoorPMAClose"
  365. // ),
  366. // new Tuple<string, string, string, string>(
  367. // $"MF.DO_SlitDoorPMBOpen",
  368. // $"MF.DO_SlitDoorPMBClose",
  369. // $"MF.DI_SlitDoorPMBOpen",
  370. // $"MF.DI_SlitDoorPMBClose"
  371. // ),
  372. // new Tuple<string, string, string, string>(
  373. // $"MF.DO_SlitDoorPMCOpen",
  374. // $"MF.DO_SlitDoorPMCClose",
  375. // $"MF.DI_SlitDoorPMCOpen",
  376. // $"MF.DI_SlitDoorPMCClose"
  377. // ),
  378. // new Tuple<string, string, string, string>(
  379. // $"MF.DO_CassDoorOpen",
  380. // $"MF.DO_CassDoorClose",
  381. // $"MF.DI_CassetteDoorOpen",
  382. // $"MF.DI_CassetteDoorClose"
  383. // ),
  384. // };
  385. //foreach (var valve in valveList)
  386. //{
  387. // if (IO.DO[valve.Item1].Value != IO.DO[valve.Item2].Value)
  388. // {
  389. // IO.DI[valve.Item3].Value = IO.DO[valve.Item1].Value;
  390. // IO.DI[valve.Item4].Value = IO.DO[valve.Item2].Value;
  391. // }
  392. //}
  393. //if(IO.DO[$"MF.DO_CassSliderOut"].Value)
  394. //{
  395. // IO.DI[$"MF.DI_CassSliderCylinderOut"].Value = true;
  396. // IO.DI[$"MF.DI_CassSliderCylinderIn"].Value = false;
  397. // IO.DI[$"MF.DI_CassetteNestOutSW"].Value = true;
  398. //}
  399. //if (IO.DO[$"MF.DO_CassSliderIn"].Value)
  400. //{
  401. // IO.DI[$"MF.DI_CassSliderCylinderOut"].Value = false;
  402. // IO.DI[$"MF.DI_CassSliderCylinderIn"].Value = true;
  403. // IO.DI[$"MF.DI_CassetteNestOutSW"].Value = false;
  404. //}
  405. }
  406. private void MonitorSMIF()
  407. {
  408. _smif1LoadTrig.CLK = IO.DO[$"SMIF.DO_LoadSmif1"].Value;
  409. _smif1UnloadTrig.CLK = IO.DO[$"SMIF.DO_UnLoadSmif1"].Value;
  410. _smif1HomeTrig.CLK = IO.DO[$"SMIF.DO_InitSmif1"].Value;
  411. _smif2LoadTrig.CLK = IO.DO[$"SMIF.DO_LoadSmif2"].Value;
  412. _smif2UnloadTrig.CLK = IO.DO[$"SMIF.DO_UnLoadSmif2"].Value;
  413. _smif2HomeTrig.CLK = IO.DO[$"SMIF.DO_InitSmif2"].Value;
  414. if (_smif1LoadTrig.R)
  415. {
  416. IO.DI[$"SMIF.DI_Smif1Ready"].Value = false;
  417. }
  418. if (_smif1LoadTrig.T)
  419. {
  420. IO.DI[$"SMIF.DI_Smif1Ready"].Value = true;
  421. IO.DI[$"SMIF.DI_Smif1ZAxisLoadPositionSensor"].Value = true;
  422. IO.DI[$"SMIF.DI_Smif1SlideAxisExtendSensor"].Value = true;
  423. IO.DI[$"SMIF.DI_Smif1ZAxisUnloadPositionSensor"].Value = false;
  424. IO.DI[$"SMIF.DI_Smif1SlideAxisRetractSensor"].Value = false;
  425. }
  426. if (_smif1UnloadTrig.R)
  427. {
  428. IO.DI[$"SMIF.DI_Smif1Ready"].Value = false;
  429. }
  430. if (_smif1UnloadTrig.T)
  431. {
  432. IO.DI[$"SMIF.DI_Smif1Ready"].Value = true;
  433. IO.DI[$"SMIF.DI_Smif1ZAxisUnloadPositionSensor"].Value = true;
  434. IO.DI[$"SMIF.DI_Smif1SlideAxisRetractSensor"].Value = true;
  435. IO.DI[$"SMIF.DI_Smif1ZAxisLoadPositionSensor"].Value = false;
  436. IO.DI[$"SMIF.DI_Smif1SlideAxisExtendSensor"].Value = false;
  437. }
  438. if (_smif1HomeTrig.R)
  439. {
  440. IO.DI[$"SMIF.DI_Smif1Ready"].Value = false;
  441. IO.DI[$"SMIF.DI_Smif1Homed"].Value = false;
  442. }
  443. if (_smif1HomeTrig.T)
  444. {
  445. IO.DI[$"SMIF.DI_Smif1Ready"].Value = true;
  446. IO.DI[$"SMIF.DI_Smif1Homed"].Value = true;
  447. }
  448. if (_smif2LoadTrig.R)
  449. {
  450. IO.DI[$"SMIF.DI_Smif2Ready"].Value = false;
  451. }
  452. if (_smif2LoadTrig.T)
  453. {
  454. IO.DI[$"SMIF.DI_Smif2Ready"].Value = true;
  455. IO.DI[$"SMIF.DI_Smif2ZAxisLoadPositionSensor"].Value = true;
  456. IO.DI[$"SMIF.DI_Smif2SlideAxisExtendSensor"].Value = true;
  457. IO.DI[$"SMIF.DI_Smif2ZAxisUnloadPositionSensor"].Value = false;
  458. IO.DI[$"SMIF.DI_Smif2SlideAxisRetractSensor"].Value = false;
  459. }
  460. if (_smif2UnloadTrig.R)
  461. {
  462. IO.DI[$"SMIF.DI_Smif2Ready"].Value = false;
  463. }
  464. if (_smif2UnloadTrig.T)
  465. {
  466. IO.DI[$"SMIF.DI_Smif2Ready"].Value = true;
  467. IO.DI[$"SMIF.DI_Smif2ZAxisUnloadPositionSensor"].Value = true;
  468. IO.DI[$"SMIF.DI_Smif2SlideAxisRetractSensor"].Value = true;
  469. IO.DI[$"SMIF.DI_Smif2ZAxisLoadPositionSensor"].Value = false;
  470. IO.DI[$"SMIF.DI_Smif2SlideAxisExtendSensor"].Value = false;
  471. }
  472. if (_smif2HomeTrig.R)
  473. {
  474. IO.DI[$"SMIF.DI_Smif2Ready"].Value = false;
  475. IO.DI[$"SMIF.DI_Smif2Homed"].Value = false;
  476. }
  477. if (_smif2HomeTrig.T)
  478. {
  479. IO.DI[$"SMIF.DI_Smif2Ready"].Value = true;
  480. IO.DI[$"SMIF.DI_Smif2Homed"].Value = true;
  481. }
  482. }
  483. private void MonitorMotion()
  484. {
  485. //MonitorModule("Shuttle", "Z");
  486. //MonitorModule("Shuttle", "R");
  487. //MonitorModule("TM", "Z");
  488. //MonitorModule("TM", "E");
  489. //MonitorModule("TM", "R");
  490. //IO.AI[$"Motion.AI_ShuttleRStatus"].Value = IO.AO[$"Motion.AO_ShuttleRMotionStationSet"].Value;
  491. //IO.AI[$"Motion.AI_TMEStatus"].Value = IO.AO[$"Motion.AO_TMEMotionStationSet"].Value;
  492. //IO.AI[$"Motion.AI_TMRStatus"].Value = IO.AO[$"Motion.AO_TMRMotionStationSet"].Value;
  493. //IO.AI[$"Motion.AI_TMEMotionDirection"].Value = IO.AO[$"Motion.AO_TMEMotionDirectionSet"].Value;
  494. //IO.AI[$"Motion.AI_TMRMotionDirection"].Value = IO.AO[$"Motion.AO_TMRMotionDirectionSet"].Value;
  495. //IO.AI[$"Motion.AI_ShuttleRMotionDirection"].Value = IO.AO[$"Motion.AO_ShuttleRMotionDirectionSet"].Value;
  496. MonitorRobot();
  497. MonitorShuttle();
  498. }
  499. private void MonitorRobot()
  500. {
  501. //short valueL = IO.AO[$"MF.AO_RobotServoTargetStationL"].Value;
  502. //short valueH = (short)IO.AO[$"MF.AO_RobotServoTargetStationH"].Value;
  503. //UInt32 tmp = (ushort)valueL + (UInt32)(((ushort)valueH) << 16);
  504. //int station = tmp > Int32.MaxValue ? (int)((~tmp + 1) * -1) : (int)tmp;
  505. //IO.AI[$"MF.AI_RobotServoTargetStationL"].Value = IO.AO[$"MF.AO_RobotServoTargetStationL"].Value > 0 ? IO.AO[$"MF.AO_RobotServoTargetStationL"].Value : IO.AI[$"MF.AI_RobotServoTargetStationL"].Value;
  506. //IO.AI[$"MF.AI_RobotServoTargetStationH"].Value = IO.AO[$"MF.AO_RobotServoTargetStationH"].Value > 0 ? IO.AO[$"MF.AO_RobotServoTargetStationH"].Value : IO.AI[$"MF.AI_RobotServoTargetStationH"].Value;
  507. //IO.AI[$"MF.AI_RobotDCMotor1TargetStationL"].Value = IO.AO[$"MF.AO_RobotDCMotor1TargetStationL"].Value > 0 ? IO.AO[$"MF.AO_RobotDCMotor1TargetStationL"].Value : IO.AI[$"MF.AI_RobotDCMotor1TargetStationL"].Value;
  508. //IO.AI[$"MF.AI_RobotDCMotor1TargetStationH"].Value = IO.AO[$"MF.AO_RobotDCMotor1TargetStationH"].Value > 0 ? IO.AO[$"MF.AO_RobotDCMotor1TargetStationH"].Value : IO.AI[$"MF.AI_RobotDCMotor1TargetStationH"].Value;
  509. //IO.AI[$"MF.AI_RobotDCMotor2TargetStationL"].Value = IO.AO[$"MF.AO_RobotDCMotor2TargetStationL"].Value > 0 ? IO.AO[$"MF.AO_RobotDCMotor2TargetStationL"].Value : IO.AI[$"MF.AI_RobotDCMotor2TargetStationL"].Value;
  510. //IO.AI[$"MF.AI_RobotDCMotor2TargetStationH"].Value = IO.AO[$"MF.AO_RobotDCMotor2TargetStationH"].Value > 0 ? IO.AO[$"MF.AO_RobotDCMotor2TargetStationH"].Value : IO.AI[$"MF.AI_RobotDCMotor2TargetStationH"].Value;
  511. //IO.AI[$"MF.AI_RobotStatus"].Value = (short)((IO.DO[$"MF.DO_RobotServoOn"].Value ? 1 : 0) +
  512. // ((_robotServoStation == station ? 1 : 0) << 1) + (1 << 10) + ((IO.DO[$"MF.DO_RobotServoPinSearch"].Value ? 1:0) << 11));
  513. //_robotServoStation = station;
  514. }
  515. private void MonitorShuttle()
  516. {
  517. //short valueL = IO.AO[$"MF.AO_ShuttleServoTargetStationL"].Value;
  518. //short valueH = (short)IO.AO[$"MF.AO_ShuttleServoTargetStationH"].Value;
  519. //UInt32 tmp = (ushort)valueL + (UInt32)(((ushort)valueH) << 16);
  520. //int station = tmp > Int32.MaxValue ? (int)((~tmp + 1) * -1) : (int)tmp;
  521. //if(station == 1)
  522. //{
  523. // IO.DI["MF.DI_ShuttleUp"].Value = false;
  524. // IO.DI["MF.DI_ShuttleDown"].Value = false;
  525. //}
  526. //else if(station == 2)
  527. //{
  528. // IO.DI["MF.DI_ShuttleUp"].Value = true;
  529. // IO.DI["MF.DI_ShuttleDown"].Value = true;
  530. //}
  531. //else
  532. //{
  533. // IO.DI["MF.DI_ShuttleUp"].Value = true;
  534. // IO.DI["MF.DI_ShuttleDown"].Value = false;
  535. //}
  536. //IO.AI[$"MF.AI_ShuttleServoTargetStationL"].Value = IO.AO[$"MF.AO_ShuttleServoTargetStationL"].Value > 0 ? IO.AO[$"MF.AO_ShuttleServoTargetStationL"].Value : IO.AI[$"MF.AI_ShuttleServoTargetStationL"].Value;
  537. //IO.AI[$"MF.AI_ShuttleServoTargetStationH"].Value = IO.AO[$"MF.AO_ShuttleServoTargetStationH"].Value > 0 ? IO.AO[$"MF.AO_ShuttleServoTargetStationH"].Value : IO.AI[$"MF.AI_ShuttleServoTargetStationH"].Value;
  538. //IO.AI[$"MF.AI_ShuttleDCMotor1TargetStationL"].Value = IO.AO[$"MF.AO_ShuttleDCMotor1TargetStationL"].Value != 0 ? IO.AO[$"MF.AO_ShuttleDCMotor1TargetStationL"].Value : IO.AI[$"MF.AI_ShuttleDCMotor1TargetStationL"].Value;
  539. //IO.AI[$"MF.AI_ShuttleDCMotor1TargetStationH"].Value = IO.AO[$"MF.AO_ShuttleDCMotor1TargetStationH"].Value != 0 ? IO.AO[$"MF.AO_ShuttleDCMotor1TargetStationH"].Value : IO.AI[$"MF.AI_ShuttleDCMotor1TargetStationH"].Value;
  540. //IO.AI[$"MF.AI_ShuttleStatus"].Value = (short)((IO.DO[$"MF.DO_RobotServoOn"].Value ? 1 : 0) +
  541. // ((_shuttleServoStation == station ? 1 : 0) << 1) + (1 << 10));
  542. //_shuttleServoStation = station;
  543. //IO.DI["MF.DI_CassNestAIn"].Value = IO.AI[$"MF.AI_ShuttleDCMotor1TargetStationL"].Value == 1;
  544. //IO.DI["MF.DI_CassNestBIn"].Value = IO.AI[$"MF.AI_ShuttleDCMotor1TargetStationL"].Value != 1;
  545. //IO.DI["MF.DI_ShuttleUp"].Value = IO.AO[$"MF.AO_ShuttleServoTargetStationL"].Value == 2;//opposite
  546. //IO.DI["MF.DI_ShuttleDown"].Value = IO.AO[$"MF.AO_ShuttleServoTargetStationL"].Value == 1;//opposite
  547. }
  548. private void MonitorValve()
  549. {
  550. IO.DI[$"MF.DI_ASOpenPosition"].Value = IO.DO[$"MF.DO_ASOpenPosition"].Value;
  551. IO.DI[$"MF.DI_ASClosePosition"].Value = IO.DO[$"MF.DO_ASClosePosition"].Value;
  552. IO.DI[$"MF.DI_ASUpPosition"].Value = IO.DO[$"MF.DO_ASUpPosition"].Value;
  553. IO.DI[$"MF.DI_ASDownPosition"].Value = IO.DO[$"MF.DO_ASDownPosition"].Value;
  554. if (IO.DO[$"MF.DO_BoatElevatorZAxisStop"].Value)
  555. {
  556. IO.DI[$"MF.DI_Zone1Sensor"].Value = false;
  557. IO.DI[$"MF.DI_Zone2Sensor"].Value = false;
  558. IO.DI[$"MF.DI_CapCloseSensor"].Value = false;
  559. IO.DI[$"MF.DI_HomePosition"].Value = false;
  560. }
  561. if (IO.DO[$"MF.DO_MoveToP1Position"].Value)
  562. {
  563. IO.DI[$"MF.DI_Zone1Sensor"].Value = IO.DO[$"MF.DO_MoveToP1Position"].Value;
  564. IO.DI[$"MF.DI_Zone2Sensor"].Value = false;
  565. IO.DI[$"MF.DI_CapCloseSensor"].Value = false;
  566. IO.DI[$"MF.DI_HomePosition"].Value = false;
  567. }
  568. if (IO.DO[$"MF.DO_MoveToP2Position"].Value)
  569. {
  570. IO.DI[$"MF.DI_Zone2Sensor"].Value = IO.DO[$"MF.DO_MoveToP2Position"].Value;
  571. IO.DI[$"MF.DI_Zone1Sensor"].Value = false;
  572. IO.DI[$"MF.DI_CapCloseSensor"].Value = false;
  573. IO.DI[$"MF.DI_HomePosition"].Value = false;
  574. }
  575. if (IO.DO[$"MF.DO_MoveToPPPosition"].Value)
  576. {
  577. IO.DI[$"MF.DI_CapCloseSensor"].Value = IO.DO[$"MF.DO_MoveToPPPosition"].Value;
  578. IO.DI[$"MF.DI_Zone1Sensor"].Value = false;
  579. IO.DI[$"MF.DI_Zone2Sensor"].Value = false;
  580. IO.DI[$"MF.DI_HomePosition"].Value = false;
  581. }
  582. if (IO.DO[$"MF.DO_HomePosition"].Value)
  583. {
  584. IO.DI[$"MF.DI_HomePosition"].Value = IO.DO[$"MF.DO_HomePosition"].Value;
  585. IO.DI[$"MF.DI_Zone1Sensor"].Value = false;
  586. IO.DI[$"MF.DI_Zone2Sensor"].Value = false;
  587. IO.DI[$"MF.DI_CapCloseSensor"].Value = false;
  588. }
  589. IO.DI[$"MF.DI_ZAxisMoving"].Value = IO.DO[$"MF.DO_HomePosition"].Value || IO.DO[$"MF.DO_MoveToPPPosition"].Value ||
  590. IO.DO[$"MF.DO_MoveToP2Position"].Value || IO.DO[$"MF.DO_MoveToP1Position"].Value;
  591. if (IO.DO[$"MF.DO_BoatElevatorRotateStop"].Value)
  592. {
  593. IO.DI[$"MF.DI_RotationAxisHomed"].Value = false;
  594. }
  595. if (IO.DO[$"MF.DO_BoatElevatorRotateHome"].Value)
  596. {
  597. IO.DI[$"MF.DI_RotationAxisHomed"].Value = IO.DO[$"MF.DO_BoatElevatorRotateHome"].Value;
  598. }
  599. if (IO.DO[$"MF.DO_BoatElevatorRotateContinuous"].Value || IO.DO[$"MF.DO_BoatElevatorRotateInterval"].Value)
  600. {
  601. IO.DI[$"MF.DI_RotationAxisHomed"].Value = false;
  602. }
  603. IO.DI[$"MF.DI_RotationAxisMoving"].Value = IO.DO[$"MF.DO_BoatElevatorRotateHome"].Value ||
  604. IO.DO[$"MF.DO_BoatElevatorRotateContinuous"].Value || IO.DO[$"MF.DO_BoatElevatorRotateInterval"].Value;
  605. IO.DI[$"EFEM.DI_Valve1EX"].Value = IO.DO[$"EFEM.DO_Valve1EX"].Value;
  606. IO.DI[$"EFEM.DI_Valve1RE"].Value = IO.DO[$"EFEM.DO_Valve1RE"].Value;
  607. IO.DI[$"EFEM.DI_Valve2EX"].Value = IO.DO[$"EFEM.DO_Valve2EX"].Value;
  608. IO.DI[$"EFEM.DI_Valve2RE"].Value = IO.DO[$"EFEM.DO_Valve2RE"].Value;
  609. //IO.DI[$"PM1.DI_M21REALOUT"].Value = IO.DO[$"PM1.DO_M21ValveOpen"].Value;
  610. //IO.DI[$"PM1.DI_D11REALOUT"].Value = IO.DO[$"PM1.DO_D11ValveOpen"].Value;
  611. //IO.DI[$"PM1.DI_M11REALOUT"].Value = IO.DO[$"PM1.DO_M11ValveOpen"].Value;
  612. //IO.DI[$"PM1.DI_J11REALOUT"].Value = IO.DO[$"PM1.DO_J11ValveOpen"].Value;
  613. //IO.DI[$"PM1.DI_VV2REALOUT"].Value = IO.DO[$"PM1.DO_VV2ValveOpen"].Value;
  614. //IO.DI[$"PM1.DI_IV2REALOUT"].Value = IO.DO[$"PM1.DO_IV2ValveOpen"].Value;
  615. }
  616. bool increasing = true;
  617. int start = 0;
  618. int end = 50;
  619. private void MonitorMFC()
  620. {
  621. for (int i = 1; i < 52; i++)
  622. {
  623. if (IO.AO[$"PM1.AO_MFC{i}AirFlowSV"] != null)
  624. {
  625. IO.AI[$"PM1.AI_MFC{i}AirFlowPV"].FloatValue = IO.AO[$"PM1.AO_MFC{i}AirFlowSV"].FloatValue;
  626. }
  627. }
  628. if (IO.AO[$"PM1.AO_MFM57AirFlowSV"] != null && IO.AI[$"PM1.AI_MFM57AirFlowPV"] != null)
  629. IO.AI[$"PM1.AI_MFM57AirFlowPV"].FloatValue = IO.AO[$"PM1.AO_MFM57AirFlowSV"].FloatValue;
  630. Random random = new Random();
  631. IO.AI[$"PM1.AI_MFM57AirFlowPV"].FloatValue = random.Next(1, 3);
  632. //if (increasing)
  633. //{
  634. // for (int i = start; i <= end; i++)
  635. // {
  636. // IO.AI[$"PM1.AI_O2Concentration"].FloatValue = i;
  637. // if (_enableN2purge)
  638. // {
  639. // System.Threading.Thread.Sleep(300);
  640. // }
  641. // }
  642. // increasing = false; // 切换方向
  643. //}
  644. //else
  645. //{
  646. // for (int i = end; i >= start; i--)
  647. // {
  648. // IO.AI[$"PM1.AI_O2Concentration"].FloatValue = i;
  649. // if (_enableN2purge)
  650. // {
  651. // System.Threading.Thread.Sleep(300); // 延迟500毫秒以便观察输出
  652. // }
  653. // }
  654. // increasing = true; // 切换方向
  655. //}
  656. //IO.AI[$"PM1.AI_APCFeedback"].Value = IO.AO[$"PM1.AO_APCSetpoint"].Value;
  657. }
  658. private void MonitorModule(string module, string submodule)
  659. {
  660. //string uniqueModule = module + submodule;
  661. //string AO_MotionServoStop = $"Motion.AO_{uniqueModule}MotionServoStop";
  662. //string AO_MotionJogN = $"Motion.AO_{uniqueModule}MotionJogN";
  663. //string AO_MotionJogP = $"Motion.AO_{uniqueModule}MotionJogP";
  664. //string AO_MotionJogSpeedL = $"Motion.AO_{uniqueModule}MotionJogSpeedL";
  665. //string AO_MotionJogSpeedH = $"Motion.AO_{uniqueModule}MotionJogSpeedH";
  666. //string AO_MotionPositionSet = $"Motion.AO_{uniqueModule}MotionPositionSet";
  667. //string AO_MotionAutoSpeedL = $"Motion.AO_{uniqueModule}MotionAutoSpeedL";
  668. //string AO_MotionAutoSpeedH = $"Motion.AO_{uniqueModule}MotionAutoSpeedH";
  669. //string AO_MotionServoOn = $"Motion.AO_{module}MotionServoOn";
  670. //string AO_MotionAutoMove = $"Motion.AO_{module}MotionAutoMove";
  671. //string AO_MotionAbort = $"Motion.AO_{module}MotionAbort";
  672. //string AI_MotionSystemStatus = $"Motion.AI_{uniqueModule}MotionSystemStatus";
  673. //string AI_MotionServoStatus = $"Motion.AI_{uniqueModule}MotionServoStatus";
  674. //string AI_MotionPositionL = $"Motion.AI_{uniqueModule}MotionPositionL";
  675. //string AI_MotionPositionH = $"Motion.AI_{uniqueModule}MotionPositionH";
  676. //string AI_MotionTargetPositionL = $"Motion.AI_{uniqueModule}MotionTargetPositionL";
  677. //string AI_MotionTargetPositionH = $"Motion.AI_{uniqueModule}MotionTargetPositionH";
  678. //string AI_MotionSpeedL = $"Motion.AI_{uniqueModule}MotionSpeedL";
  679. //string AI_MotionSpeedH = $"Motion.AI_{uniqueModule}MotionSpeedH";
  680. //string AI_MotionPositionSet = $"Motion.AI_{uniqueModule}MotionPositionSet";
  681. //if (!currentStationDic.ContainsKey(uniqueModule))
  682. //{
  683. // currentStationDic.Add(uniqueModule, 0);
  684. //}
  685. //if (!currentPosDic.ContainsKey(uniqueModule))
  686. //{
  687. // currentPosDic.Add(uniqueModule, 0);
  688. //}
  689. //if (!targetStationPosDic.ContainsKey(uniqueModule))
  690. //{
  691. // targetStationPosDic.Add(uniqueModule, 0);
  692. //}
  693. //if (!isAutoMoveDic.ContainsKey(module))
  694. //{
  695. // isAutoMoveDic.Add(module, false);
  696. //}
  697. //if (!logDic.ContainsKey(uniqueModule))
  698. //{
  699. // logDic.Add(uniqueModule, false);
  700. //}
  701. //if (!timerDic.ContainsKey(uniqueModule))
  702. //{
  703. // timerDic.Add(uniqueModule, new DeviceTimer());
  704. //}
  705. //if (IO.AO[AO_MotionJogN].Value > 1 || IO.AO[AO_MotionJogP].Value > 1)
  706. //{
  707. // short valueL = (short)IO.AO[AO_MotionJogSpeedL].Value;
  708. // short valueH = (short)IO.AO[AO_MotionJogSpeedH].Value;
  709. // valueH = valueH > Int16.MaxValue ? (short)((~valueH + 1) * -1) : (short)valueH;
  710. // int jogSpeed = valueL + ((valueH + 1) << 16);
  711. // currentPosDic[uniqueModule] = IO.AO[AO_MotionJogN].Value > 1 ? motionStationList[currentStationDic[uniqueModule]] - jogSpeed : motionStationList[currentStationDic[uniqueModule]] + jogSpeed;
  712. // IO.AI[AI_MotionPositionL].Value = (short)(currentPosDic[uniqueModule] & 0xFFFF);
  713. // IO.AI[AI_MotionPositionH].Value = (short)((currentPosDic[uniqueModule] >> 16) & 0xFFFF);
  714. //}
  715. ////station
  716. //targetStationPosDic[uniqueModule] = IO.AO[AO_MotionPositionSet].Value;
  717. //var targetPos = motionStationList[targetStationPosDic[uniqueModule]];
  718. //IO.AI[AI_MotionTargetPositionL].Value = (short)(targetPos & 0xFFFF);
  719. //IO.AI[AI_MotionTargetPositionH].Value = (short)((targetPos >> 16) & 0xFFFF);
  720. //if (!isAutoMoveDic[module] && IO.AO[AO_MotionAutoMove].Value == 1)
  721. //{
  722. // currentPosDic[uniqueModule] = motionStationList[currentStationDic[uniqueModule]];
  723. //}
  724. //int MotionServoStatusValue = 0;
  725. //if (isAutoMoveDic[module])
  726. //{
  727. // IO.AI[AI_MotionTargetPositionL].Value = (short)(targetPos & 0xFFFF);
  728. // IO.AI[AI_MotionTargetPositionH].Value = (short)((targetPos >> 16) & 0xFFFF);
  729. // IO.AI[AI_MotionSpeedL].Value = IO.AO[AO_MotionAutoSpeedL].Value;
  730. // IO.AI[AI_MotionSpeedH].Value = IO.AO[AO_MotionAutoSpeedH].Value;
  731. // short valueLow = (short)IO.AO[AO_MotionAutoSpeedL].Value;
  732. // short valueHigh = (short)IO.AO[AO_MotionAutoSpeedH].Value;
  733. // valueHigh = valueHigh > Int16.MaxValue ? (short)((~valueHigh + 1) * -1) : (short)valueHigh;
  734. // int moveSpeed = valueLow + ((valueHigh + 1) << 16);
  735. // int status = (IO.AI[AI_MotionServoStatus].Value & 0xBF);
  736. // if (targetPos == currentPosDic[uniqueModule])
  737. // {
  738. // if (logDic[uniqueModule])
  739. // {
  740. // LOG.Write(String.Format("Scheduler axis move stop uniqueModule={0} target={1},time span {2}", uniqueModule, targetStationPosDic[uniqueModule], timerDic[uniqueModule].GetElapseTime()));
  741. // logDic[uniqueModule] = false;
  742. // timerDic[uniqueModule].Stop();
  743. // }
  744. // status += 0x40;
  745. // }
  746. // else
  747. // {
  748. // if (timerDic[uniqueModule].IsIdle())
  749. // {
  750. // LOG.Write(String.Format("Scheduler axis move start uniqueModule={0} target={1}", uniqueModule, targetStationPosDic[uniqueModule]));
  751. // timerDic[uniqueModule].Start(500000);
  752. // logDic[uniqueModule] = true;
  753. // }
  754. // }
  755. // if (targetPos > currentPosDic[uniqueModule])
  756. // {
  757. // currentPosDic[uniqueModule] += 5000;
  758. // if (currentPosDic[uniqueModule] >= targetPos)
  759. // {
  760. // currentStationDic[uniqueModule] = targetStationPosDic[uniqueModule];
  761. // targetPos = currentPosDic[uniqueModule];
  762. // status += 0x40;
  763. // }
  764. // }
  765. // if (targetPos < currentPosDic[uniqueModule])
  766. // {
  767. // currentPosDic[uniqueModule] -= 5000;
  768. // if (currentPosDic[uniqueModule] <= targetPos)
  769. // {
  770. // currentStationDic[uniqueModule] = targetStationPosDic[uniqueModule];
  771. // targetPos = currentPosDic[uniqueModule];
  772. // status += 0x40;
  773. // }
  774. // }
  775. // //position done. bit 6
  776. // MotionServoStatusValue = status | MotionServoStatusValue;
  777. // IO.AI[AI_MotionPositionL].Value = (short)(currentPosDic[uniqueModule] & 0xFFFF);
  778. // IO.AI[AI_MotionPositionH].Value = (short)((currentPosDic[uniqueModule] >> 16) & 0xFFFF);
  779. //}
  780. //int systemStatus = 0;
  781. //if (IO.AO[AO_MotionServoOn].Value == 1)
  782. // systemStatus = 2 + (isAutoMoveDic[module] ? 16 : 32) + (IO.AO[AO_MotionAbort].Value == 1 ? 4 : 0); ;
  783. //IO.AI[AI_MotionSystemStatus].Value = (short)systemStatus;
  784. //isAutoMoveDic[module] = IO.AO[AO_MotionAutoMove].Value == 1;
  785. ////servo on. bit 5
  786. //MotionServoStatusValue = MotionServoStatusValue | (IO.AO[AO_MotionServoOn].Value == 1 ? 0x20 : 0);
  787. ////ready. Servo stop. bit 6
  788. //MotionServoStatusValue = MotionServoStatusValue | (IO.AO[AO_MotionServoStop].Value == 0 ? 0x40 : 0);
  789. ////servo normal. bit 1
  790. //MotionServoStatusValue = MotionServoStatusValue | 2;
  791. //IO.AI[AI_MotionServoStatus].Value = (short)MotionServoStatusValue;
  792. //IO.AI[AI_MotionPositionSet].Value = IO.AO[AO_MotionPositionSet].Value;
  793. }
  794. private void MonitorRAxis(string module)
  795. {
  796. if (IO.DO[$"{module}.DO_BoatRAxisRotationForward"].Value)
  797. {
  798. IO.DI[$"{module}.DI_Direction"].Value = false;
  799. }
  800. if (IO.DO[$"{module}.DO_BoatRAxisRotationReverse"].Value)
  801. {
  802. IO.DI[$"{module}.DI_Direction"].Value = true;
  803. }
  804. if (IO.DI[$"{module}.DI_BoatRAxisHomeBusy"].Value != IO.DO[$"{module}.DO_BoatRAxisHomeCmd"].Value &&
  805. IO.DO[$"{module}.DO_BoatRAxisHomeCmd"].Value)
  806. {
  807. IO.DI[$"{module}.DI_BoatRAxisHomeDone"].Value = false;
  808. if (!_rAxisHomeTimer.IsRunning)
  809. _rAxisHomeTimer.Restart();
  810. }
  811. if (_rAxisHomeTimer.IsRunning && _rAxisHomeTimer.ElapsedMilliseconds > 3000)
  812. {
  813. IO.DI[$"{module}.DI_BoatRAxisHomeDone"].Value = true;
  814. _rAxisHomeTimer.Stop();
  815. }
  816. //IO.DI[$"{module}.DI_BoatRAxisM0"].Value = IO.DO[$"{module}.DO_BoatRAxisM0"].Value;
  817. //IO.DI[$"{module}.DI_BoatRAxisM1"].Value = IO.DO[$"{module}.DO_BoatRAxisM1"].Value;
  818. //IO.DI[$"{module}.DI_BoatRAxisM2"].Value = IO.DO[$"{module}.DO_BoatRAxisM2"].Value;
  819. //IO.DI[$"{module}.DI_BoatRAxisM3"].Value = IO.DO[$"{module}.DO_BoatRAxisM3"].Value;
  820. //IO.DI[$"{module}.DI_BoatRAxisM4"].Value = IO.DO[$"{module}.DO_BoatRAxisM4"].Value;
  821. //IO.DI[$"{module}.DI_BoatRAxisM5"].Value = IO.DO[$"{module}.DO_BoatRAxisM5"].Value;
  822. IO.DI[$"{module}.DI_BoatRAxisHomeBusy"].Value = IO.DO[$"{module}.DO_BoatRAxisHomeCmd"].Value;
  823. IO.DI[$"{module}.DI_BoatRAxisRotationBusy"].Value = IO.DO[$"{module}.DO_BoatRAxisRotationForward"].Value || IO.DO[$"{module}.DO_BoatRAxisRotationReverse"].Value;
  824. }
  825. private void MonitorZAxis(string module)
  826. {
  827. if ((int)(IO.AO[$"{module}.AO_BoatPosition"].FloatValue + 0.00001) == 1)
  828. {
  829. IO.DI[$"{module}.DI_HmPosBoatZAxis"].Value = false;
  830. IO.DI[$"{module}.DI_MiddlePos1BoatZAxis"].Value = true;
  831. IO.DI[$"{module}.DI_MiddlePos2BoatZAxis"].Value = false;
  832. IO.DI[$"{module}.DI_MiddlePos3BoatZAxis"].Value = false;
  833. }
  834. if ((int)(IO.AO[$"{module}.AO_BoatPosition"].FloatValue + 0.00001) == 2)
  835. {
  836. IO.DI[$"{module}.DI_HmPosBoatZAxis"].Value = false;
  837. IO.DI[$"{module}.DI_MiddlePos1BoatZAxis"].Value = false;
  838. IO.DI[$"{module}.DI_MiddlePos2BoatZAxis"].Value = true;
  839. IO.DI[$"{module}.DI_MiddlePos3BoatZAxis"].Value = false;
  840. }
  841. if ((int)(IO.AO[$"{module}.AO_BoatPosition"].FloatValue + 0.00001) == 3)
  842. {
  843. IO.DI[$"{module}.DI_HmPosBoatZAxis"].Value = true;
  844. IO.DI[$"{module}.DI_MiddlePos1BoatZAxis"].Value = false;
  845. IO.DI[$"{module}.DI_MiddlePos2BoatZAxis"].Value = false;
  846. IO.DI[$"{module}.DI_MiddlePos3BoatZAxis"].Value = true;
  847. }
  848. IO.AI[$"{module}.AI_BoatTargetPosFb"].FloatValue = IO.AO[$"{module}.AO_BoatPosition"].FloatValue;
  849. }
  850. private void MonitorLP(string module, string lp)
  851. {
  852. if (IO.DO[$"{module}.DO_{lp}FOUPClamp"].Value)
  853. {
  854. IO.DI[$"{module}.DI_{lp}FOUPLeftClamp"].Value = true;
  855. IO.DI[$"{module}.DI_{lp}FOUPRightClamp"].Value = true;
  856. IO.DI[$"{module}.DI_{lp}FOUPLeftRelease"].Value = false;
  857. IO.DI[$"{module}.DI_{lp}FOUPRightRelease"].Value = false;
  858. }
  859. else
  860. //(IO.DO[$"{module}.DO_{lp}FOUPRelease"].Value)
  861. {
  862. IO.DI[$"{module}.DI_{lp}FOUPLeftClamp"].Value = false;
  863. IO.DI[$"{module}.DI_{lp}FOUPRightClamp"].Value = false;
  864. IO.DI[$"{module}.DI_{lp}FOUPLeftRelease"].Value = true;
  865. IO.DI[$"{module}.DI_{lp}FOUPRightRelease"].Value = true;
  866. }
  867. }
  868. private void MonitorFIMS(string module, string fims)
  869. {
  870. IO.DI[$"{module}.DI_{fims}LoadComplete"].Value = IO.DO[$"{module}.DO_{fims}LoadCommand"].Value;
  871. IO.DI[$"{module}.DI_{fims}UnloadComplete"].Value = IO.DO[$"{module}.DO_{fims}UnloadCommand"].Value;
  872. IO.DI[$"{module}.DI_{fims}HomeComplete"].Value = IO.DO[$"{module}.DO_{fims}HomeCommand"].Value;
  873. if (IO.DI[$"{module}.DI_{fims}FOUPDock"] != null && IO.DO[$"{module}.DO_{fims}Dock"] != null) IO.DI[$"{module}.DI_{fims}FOUPDock"].Value = IO.DO[$"{module}.DO_{fims}Dock"].Value;
  874. if (IO.DI[$"{module}.DI_{fims}FOUPUndock"] != null && IO.DO[$"{module}.DO_{fims}Undock"] != null) IO.DI[$"{module}.DI_{fims}FOUPUndock"].Value = IO.DO[$"{module}.DO_{fims}Undock"].Value;
  875. if (IO.DI[$"{module}.DI_{fims}Seal"] != null && IO.DO[$"{module}.DO_{fims}Seal"] != null) IO.DI[$"{module}.DI_{fims}Seal"].Value = IO.DO[$"{module}.DO_{fims}Seal"].Value;
  876. if (IO.DI[$"{module}.DI_{fims}Release"] != null && IO.DO[$"{module}.DO_{fims}Release"] != null) IO.DI[$"{module}.DI_{fims}Release"].Value = IO.DO[$"{module}.DO_{fims}Release"].Value;
  877. if (IO.DI[$"{module}.DI_{fims}DoorClosed"] != null && IO.DO[$"{module}.DO_{fims}DoorClose"] != null) IO.DI[$"{module}.DI_{fims}DoorClosed"].Value = IO.DO[$"{module}.DO_{fims}DoorClose"].Value;
  878. if (IO.DI[$"{module}.DI_{fims}DoorOpened"] != null && IO.DO[$"{module}.DO_{fims}DoorOpen"] != null) IO.DI[$"{module}.DI_{fims}DoorOpened"].Value = IO.DO[$"{module}.DO_{fims}DoorOpen"].Value;
  879. if (IO.DI[$"{module}.DI_{fims}LatchOn"] != null && IO.DO[$"{module}.DO_{fims}Latch1On"] != null) IO.DI[$"{module}.DI_{fims}LatchOn"].Value = IO.DO[$"{module}.DO_{fims}Latch1On"].Value || IO.DO[$"{module}.DO_{fims}Latch2On"].Value;
  880. if (IO.DI[$"{module}.DI_{fims}LatchOff"] != null && IO.DO[$"{module}.DO_{fims}Latch1Off"] != null) IO.DI[$"{module}.DI_{fims}LatchOff"].Value = IO.DO[$"{module}.DO_{fims}Latch1Off"].Value || IO.DO[$"{module}.DO_{fims}Latch2Off"].Value;
  881. if (IO.DI[$"{module}.DI_{fims}CollisionAvoidanceUp"] != null && IO.DO[$"{module}.DO_{fims}CollisionAvoidanceUp"] != null) IO.DI[$"{module}.DI_{fims}CollisionAvoidanceUp"].Value = IO.DO[$"{module}.DO_{fims}CollisionAvoidanceUp"].Value;
  882. if (IO.DI[$"{module}.DI_{fims}CollisionAvoidanceDown"] != null && IO.DO[$"{module}.DO_{fims}CollisionAvoidanceDown"] != null) IO.DI[$"{module}.DI_{fims}CollisionAvoidanceDown"].Value = IO.DO[$"{module}.DO_{fims}CollisionAvoidanceDown"].Value;
  883. if (IO.DI[$"{module}.DI_{fims}N2PurgeValveOpened"] != null && IO.DO[$"{module}.DO_{fims}N2PurgeValveOpen"] != null) IO.DI[$"{module}.DI_{fims}N2PurgeValveOpened"].Value = IO.DO[$"{module}.DO_{fims}N2PurgeValveOpen"].Value;
  884. if (IO.DI[$"{module}.DI_{fims}N2PurgeValveClosed"] != null && IO.DO[$"{module}.DO_{fims}N2PurgeValveClose"] != null) IO.DI[$"{module}.DI_{fims}N2PurgeValveClosed"].Value = IO.DO[$"{module}.DO_{fims}N2PurgeValveClose"].Value;
  885. }
  886. private void MonitorBuffer()
  887. {
  888. switch (IO.AO[$"PM1.AO_TargetPositionBufferAxis"].FloatValue)
  889. {
  890. case 1:
  891. case 9:
  892. IO.DI[$"PM1.DI_L1Position"].Value = true;
  893. break;
  894. case 2:
  895. case 10:
  896. IO.DI[$"PM1.DI_L2Position"].Value = true;
  897. break;
  898. case 3:
  899. case 11:
  900. IO.DI[$"PM1.DI_L3Position"].Value = true;
  901. break;
  902. case 4:
  903. case 12:
  904. IO.DI[$"PM1.DI_L4Position"].Value = true;
  905. break;
  906. case 5:
  907. case 13:
  908. IO.DI[$"PM1.DI_H1Position"].Value = true;
  909. break;
  910. case 6:
  911. case 14:
  912. IO.DI[$"PM1.DI_H2Position"].Value = true;
  913. break;
  914. case 7:
  915. case 15:
  916. IO.DI[$"PM1.DI_H3Position"].Value = true;
  917. break;
  918. case 8:
  919. case 16:
  920. IO.DI[$"PM1.DI_H4Position"].Value = true;
  921. break;
  922. }
  923. IO.AI[$"PM1.AI_BufferTargetPosFb"].FloatValue = IO.AO[$"PM1.AO_TargetPositionBufferAxis"].FloatValue;
  924. }
  925. private void MonitorDoor()
  926. {
  927. if (IO.DI[$"PM1.DI_AGVDoorOpened"] != null && IO.DO[$"PM1.DO_AGVDoorSwitchOpen"] != null) IO.DI[$"PM1.DI_AGVDoorOpened"].Value = IO.DO[$"PM1.DO_AGVDoorSwitchOpen"].Value;
  928. if (IO.DI[$"PM1.DI_AGVDoorClosed"] != null && IO.DO[$"PM1.DO_AGVDoorSwitchClose"] != null) IO.DI[$"PM1.DI_AGVDoorClosed"].Value = IO.DO[$"PM1.DO_AGVDoorSwitchClose"].Value;
  929. }
  930. }
  931. }