Modify Transporter related routine and UI;

CyberX8_MainPages/ViewModels/TransporterTeachViewModel.cs

@@ -267,8 +267,8 @@ namespace CyberX8_MainPages.ViewModels
                     TransporterData = CommonFunction.GetValue<TransporterData>(_rtDataValueDic, $"{Module}.{TRANSPORTER_DATA}");
                     if (TransporterData != null)
                     {
-                        Locked = TransporterData.Locked1 && TransporterData.Locked2;
-                        Unlocked = TransporterData.Unlocked1 && TransporterData.Unlocked2;
+                        Locked = TransporterData.Lock;
+                        Unlocked = !TransporterData.Lock;
                         Clamped = TransporterData.ImmobilizeExtended1 && TransporterData.ImmobilizeExtended2;
                         Unclamped = TransporterData.ImmobilizeRetracted1 && TransporterData.ImmobilizeRetracted2;
                     }

CyberX8_MainPages/Views/TransporterView.xaml

@@ -14,6 +14,7 @@
              d:DesignHeight="800" d:DesignWidth="1900">
     <UserControl.Resources>
         <converters:BoolToColor x:Key="boolToColor"></converters:BoolToColor>
+        <converters:BoolToBool x:Key="boolTobool"/>
     </UserControl.Resources>
     <Grid>
         <Grid.RowDefinitions>
@@ -29,8 +30,8 @@
             <ColumnDefinition Width="50"/>
         </Grid.ColumnDefinitions>
         <UserControls:TransporterDebugControl Grid.Row="1" Grid.Column="1" ModuleName="Transporter2" ModuleTitle="Loader Transporter" 
-                                              Lock1On="{Binding LoaderTransporterData.Lock}" Lock2On="{Binding LoaderTransporterData.Lock}" Unlock1On="{Binding LoaderTransporterData.Unlocked1}"
-                                              Unlock2On="{Binding LoaderTransporterData.Unlocked2}" Retract1On="{Binding LoaderTransporterData.ImmobilizeRetracted1}" Retract2On="{Binding LoaderTransporterData.ImmobilizeRetracted2}"
+                                              Lock1On="{Binding LoaderTransporterData.Lock}" Lock2On="{Binding LoaderTransporterData.Lock}" Unlock1On="{Binding LoaderTransporterData.Lock,Converter={StaticResource boolTobool}}"
+                                              Unlock2On="{Binding LoaderTransporterData.Lock,Converter={StaticResource boolTobool}}" Retract1On="{Binding LoaderTransporterData.ImmobilizeRetracted1}" Retract2On="{Binding LoaderTransporterData.ImmobilizeRetracted2}"
                                               Extend1On="{Binding LoaderTransporterData.ImmobilizeExtended1}" Extend2On="{Binding LoaderTransporterData.ImmobilizeExtended2}" 
                                               ReadyToLock1On="{Binding LoaderTransporterData.ReadyToLock1}" ReadyToLock2On="{Binding LoaderTransporterData.ReadyToLock2}" WHPresent1="{Binding LoaderTransporterData.WSHoldPresent}"
                                               WHPresent2="{Binding LoaderTransporterData.WSHoldPresent}" GantryMotorOn="{Binding LoaderGantryMotorOn}" GantryHomed="{Binding LoaderGantryHomed}"
@@ -42,8 +43,8 @@
                                               IsElevatorInUpPlace ="{Binding  LoaderElevatorIsInUpPlace}">
         </UserControls:TransporterDebugControl>
         <UserControls:TransporterDebugControl Grid.Row="1" Grid.Column="2" ModuleName="Transporter1" ModuleTitle="Process Transporter"
-                                       Lock1On="{Binding ProcessTransporterData.Lock}" Lock2On="{Binding ProcessTransporterData.Lock}" Unlock1On="{Binding ProcessTransporterData.Unlocked1}"
-                                       Unlock2On="{Binding ProcessTransporterData.Unlocked2}" Retract1On="{Binding ProcessTransporterData.ImmobilizeRetracted1}" Retract2On="{Binding ProcessTransporterData.ImmobilizeRetracted2}"
+                                       Lock1On="{Binding ProcessTransporterData.Lock}" Lock2On="{Binding ProcessTransporterData.Lock}" Unlock1On="{Binding ProcessTransporterData.Lock,Converter={StaticResource boolTobool}}"
+                                       Unlock2On="{Binding ProcessTransporterData.Lock,Converter={StaticResource boolTobool}}" Retract1On="{Binding ProcessTransporterData.ImmobilizeRetracted1}" Retract2On="{Binding ProcessTransporterData.ImmobilizeRetracted2}"
                                        Extend1On="{Binding ProcessTransporterData.ImmobilizeExtended1}" Extend2On="{Binding ProcessTransporterData.ImmobilizeExtended2}" 
                                        ReadyToLock1On="{Binding ProcessTransporterData.ReadyToLock1}" ReadyToLock2On="{Binding ProcessTransporterData.ReadyToLock2}" WHPresent1="{Binding ProcessTransporterData.WSHoldPresent}"
                                        WHPresent2="{Binding ProcessTransporterData.WSHoldPresent}" GantryMotorOn="{Binding ProcessGantryMotorOn}" GantryHomed="{Binding ProcessGantryHomed}"

CyberX8_RT/Devices/TransPorter/LoaderTransPorterElevatorAxisInterLock.cs

@@ -92,11 +92,11 @@ namespace CyberX8_RT.Devices.TransPorter
             }
             //Check Gantry at station
             double gantryPosition = gantryAxis.MotionData.MotorPosition;
-            if(gantryAxis.CheckPositionIsEmpty(gantryPosition))
-            {
-                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} Gantry is not in any station");
-                return false;
-            }
+            //if(gantryAxis.CheckPositionIsEmpty(gantryPosition))
+            //{
+            //    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} Gantry is not in any station");
+            //    return false;
+            //}
             //是否在Load位
             if (gantryAxis.CheckPositionIsInStation(gantryPosition, "Loader"))
             {

CyberX8_RT/Devices/TransPorter/ProcessTransporterElevatorAxisInterLock.cs

@@ -87,12 +87,12 @@ namespace CyberX8_RT.Devices.TransPorter
                 return false;
             }
             //Check Gantry at station
-            double gantryPosition = gantryAxis.MotionData.MotorPosition;
-            if (gantryAxis.CheckPositionIsEmpty(gantryPosition))
-            {
-                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} Gantry is not in any station");
-                return false;
-            }
+            //double gantryPosition = gantryAxis.MotionData.MotorPosition;
+            //if (gantryAxis.CheckPositionIsEmpty(gantryPosition))
+            //{
+            //    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} Gantry is not in any station");
+            //    return false;
+            //}
 
             return true;
         }

CyberX8_RT/Modules/Transporter/TransporterElevatorLowRoutine.cs

@@ -82,7 +82,7 @@ namespace CyberX8_RT.Modules.Transporter
         /// <returns></returns>
         private bool ElevatorPosition()
         {
-            return _elevatorAxis.PositionStation("LOW");
+            return _elevatorAxis.PositionStation("CELLTOP");
         }
         /// <summary>
         /// 检验Vertical移动状态
@@ -114,7 +114,7 @@ namespace CyberX8_RT.Modules.Transporter
             {
                 return RState.Failed;
             }
-            return Runner.Start(Module, "ElevatorLow");
+            return Runner.Start(Module, "ElevatorCellTop");
         }
         /// <summary>
         /// 启动校验条件

CyberX8_RT/Modules/Transporter/TransporterMoveToRoutine.cs

@@ -248,7 +248,6 @@ namespace CyberX8_RT.Modules.Transporter
             _loaderRotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
             _conflictRoutine = new TransporterConflictRoutine(Module);
             _transporterCommon = DEVICE.GetDevice<TransporterCommon>($"{Module}.Common");
-            //_waferHolderPresent = _transporterCommon.TransporterData.WhPresent1||_transporterCommon.TransporterData.WhPresent2;
             return Runner.Start(Module,$"MoveTo {_cellName}");
         }
         /// <summary>
@@ -261,21 +260,8 @@ namespace CyberX8_RT.Modules.Transporter
             if(!CheckPreCondition())
             {
                 return false;
-            }
-            //this Transporter Elevator在UP位
-            double elevatorPosition = _elevatorAxis.MotionData.MotorPosition;
-            if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "UP"))
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is not in Up station",-1);
-                return false;
-            }
-            //other Transporter Elevator在UP位
-            double otherElevatorPosition = _otherElevatorAxis.MotionData.MotorPosition;
-            if (!_otherElevatorAxis.CheckPositionIsInStation(otherElevatorPosition, "UP"))
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{_otherModule} elevator axis {otherElevatorPosition} is not in Up station", -1);
-                return false;
-            }
+            }            
+
             //若目标Cell为Loader, 则Loader应在TRNPA或TRNPB位
             if (_cellName == "Loader")
             {
@@ -287,7 +273,14 @@ namespace CyberX8_RT.Modules.Transporter
                     return false;
                 }
             }
-            
+
+            //检验Facilities
+            //var faciltiesResult = _facilities.CheckCDA();
+            //if (!faciltiesResult.result)
+            //{
+            //    NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
+            //    return false;
+            //}
             return true;
         }
 

CyberX8_RT/Modules/Transporter/TransporterParkRoutine.cs

@@ -95,15 +95,7 @@ namespace CyberX8_RT.Modules.Transporter
         /// <returns></returns>
         private bool ElevatorPosition()
         {
-            //存在Wafer 则运动至Up
-            if(_hasWaferHolder)
-            {
-                return _elevatorAxis.PositionStation("Up");
-            }
-            else//不存在Wafer,则运动至Low
-            {
-                return _elevatorAxis.PositionStation("LOW");
-            }
+            return _elevatorAxis.PositionStation("Up");
         }
         /// <summary>
         /// 检验Vertical移动状态

CyberX8_RT/Modules/Transporter/TransporterPickDownToRoutine.cs

@@ -32,54 +32,47 @@ namespace CyberX8_RT.Modules.Transporter
         private enum PutDownStep
         {
             CheckPreStatus,
-            TargetCellUnclamp,
-            TargetCellUnclampWait,
             ElevatorUp,
             ElevatorUpWait,
-            ImmobilizeExtend,
-            ImmobilizeExtendWait,
             SafeMoveTo,
             CheckMoveToStatus,
             GantryPosition,
             GantryPositiolWait,
             CalculatePlaceSpeed,
-            PlaceDelay,
-            ImmobilizeRetract,
-            ImmobilizeRetractWait,
-            ElevatorPosition,
-            ElevatorPositionWait,
-            UnlockClamp,
-            UnlockClampWait,
-            ElevatorLow,
-            ElevatorLowWait,
-            ConfirmWHPresent,
-            LockClamp,
-            LockClampWait,
+            PlaceDelay,            
+            ElevatorPositionToCellTop,
+            ElevatorPositionToCellTopWait,
+            Delay,
+            ElevatorPositionToCell,
+            ElevatorPositionToCellWait,
+            DropBlockLockoff,
+            ElevatorGotoUp,
+            ElevatorGotoUpWait,         
+            ConfirmWSPresent,
             UpdateWaferHolder,
             GantryPositionPark,
             GantryPositionParkWait,
-            End
+            End            
         }
 
         #region 内部变量
         private string _cellName;
+        private string _otherModule;
         private JetAxisBase _gantryAxis;
         private JetAxisBase _elevatorAxis;
+        private JetAxisBase _otherElevatorAxis;
         private LoaderEntity _loaderEntity;
         private JetAxisBase _loaderRotationAxis;
         private SystemFacilities _facilities;
-        private TransporterUnlockRoutine _unlockRoutine;
-        private TransporterLockRoutine _lockRoutine;
         private TransporterCommon _transporterCommon;
-        private TransporterExtendRoutine _extendRoutine;
-        private TransporterRetractRoutine _retractRoutine;
         private TransporterConflictRoutine _conflictRoutine;
-        private LoaderPreTransferUnclampRoutine _preTransferUnclampRoutine;
+        private LoaderCommonDevice _loaderCommonDevice;
         ProcessLayoutCellItem _cellItem;
         private int _placeTime;
         private int _placeDelayTime;
         private int _velocity;
         private int _acceleration;
+        private bool _bypassWaferHolderPresent;
         #endregion
         /// <summary>
         /// 构造函数
@@ -102,163 +95,42 @@ namespace CyberX8_RT.Modules.Transporter
         public RState Monitor()
         {
             Runner.Run(PutDownStep.CheckPreStatus,CheckStartPreConfition,_delay_1ms)
-                .Run(PutDownStep.TargetCellUnclamp, TargetCellUnclamp, _delay_1ms)
-                .WaitWithStopCondition(PutDownStep.TargetCellUnclampWait,TargetCellUnclampEndStatus,TargetCellUnclampStopStatus)
-                //1.1 Elevator Position Up
+                //1. Elevator 移动至Up
                 .Run(PutDownStep.ElevatorUp, ElevatorGotoUp, _delay_1ms)
-                .WaitWithStopCondition(PutDownStep.ElevatorUpWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
-                //1.2 Immobilized Extend
-                .Run(PutDownStep.ImmobilizeExtend, () => { return _extendRoutine.Start(null) == RState.Running; }, NullFun, _delay_1ms)
-                .WaitWithStopCondition(PutDownStep.ImmobilizeExtendWait, () => { return CommonFunction.CheckRoutineEndState(_extendRoutine); }, 
-                    CheckImmobilizeRoutineStopStatus)
-                //1.3 Move to 安全
+                .WaitWithStopCondition(PutDownStep.ElevatorUpWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
+                //2. other Transporter Safe Move 
                 .Run(PutDownStep.SafeMoveTo, SafeMoveTo, _delay_1ms)
                 .WaitWithStopCondition(PutDownStep.CheckMoveToStatus, () => CommonFunction.CheckRoutineEndState(_conflictRoutine),
                     CheckSafeMoveToStopStatus)
-                //1.3 Gantry 移动
+                //3. Gantry 移动
                 .Run(PutDownStep.GantryPosition, GantryPositionToCell, _delay_1ms)
                 .WaitWithStopCondition(PutDownStep.GantryPositiolWait, CheckGantryPositionStatus, CheckGantryPositionRunStop)
-                //1.4 确认Place 速度和加速度
+                //4. 确认Place 速度和加速度
                 .Run(PutDownStep.CalculatePlaceSpeed, CalculatePownDownSpeed, _delay_1ms)
-                //1.5 Pickup delay
-                .Delay(PutDownStep.PlaceDelay, _placeDelayTime * 1000)
-                //1.6 Immobilize Retract
-                .Run(PutDownStep.ImmobilizeRetract, () => { return _retractRoutine.Start(null) == RState.Running; }, NullFun, _delay_1ms)
-                .WaitWithStopCondition(PutDownStep.ImmobilizeRetractWait, ()=> CommonFunction.CheckRoutineEndState(_retractRoutine), 
-                    CheckRetractStopStatus)
-                //.WaitWithStopCondition(PutDownStep.CellRetractedWait, CheckCellRetractRoutineEndState, CheckCellRetractRoutineStopState)
-                //1.7 Elevator 移动至cell
-                .Run(PutDownStep.ElevatorPosition, () => { return VerticalPositionToCell(); }, NullFun, _delay_1ms)
-                .WaitWithStopCondition(PutDownStep.ElevatorPositionWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
-                //1.8 Unlock clamp
-                .Run(PutDownStep.UnlockClamp, () => { return _unlockRoutine.Start(null) == RState.Running; },_delay_1ms)
-                .WaitWithStopCondition(PutDownStep.UnlockClampWait,()=>CommonFunction.CheckRoutineEndState(_unlockRoutine),
-                    CheckUnlockRoutineStopStatus)
-                //1.9 Elevator Position Low
-                .Run(PutDownStep.ElevatorLow, ElevatorGotoLow, _delay_1ms)
-                .WaitWithStopCondition(PutDownStep.ElevatorLowWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
-                //2.0 确认WhPresent信号
-                .Wait(PutDownStep.ConfirmWHPresent,ConfirmWHPresentSensorOff,_delay_2s)
-                //2.1 Lock clamp
-                .Run(PutDownStep.LockClamp, () => { return _lockRoutine.Start(null) == RState.Running; },_delay_1ms)
-                .WaitWithStopCondition(PutDownStep.LockClampWait,()=>CommonFunction.CheckRoutineEndState(_lockRoutine),
-                    CheckLockRoutineStopStatus)
-                //2.2 Wafer Holder location update
+                //5. Pickup delay
+                .Delay(PutDownStep.PlaceDelay, _placeDelayTime * 1000)               
+                //6. Elevator 移动至cellTop
+                .Run(PutDownStep.ElevatorPositionToCellTop, ElevatorPositionToCellTop, _delay_1ms)
+                .WaitWithStopCondition(PutDownStep.ElevatorPositionToCellTopWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
+                .Delay(PutDownStep.Delay, 500)
+                //7. Elevator 移动至cell
+                .Run(PutDownStep.ElevatorPositionToCell, ElevatorPositionToCell, _delay_1ms)
+                .WaitWithStopCondition(PutDownStep.ElevatorPositionToCellWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
+                //8. DropBlockLock off
+                .Run(PutDownStep.DropBlockLockoff, DropBlockLockoff , _delay_1ms)
+                //9. Elevator移动至Up
+                .Run(PutDownStep.ElevatorGotoUp, ElevatorGotoUp, _delay_1ms)
+                .WaitWithStopCondition(PutDownStep.ElevatorGotoUpWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
+                //10. 确认WSPresent信号
+                .Wait(PutDownStep.ConfirmWSPresent,ConfirmWSPresentSensorOff,_delay_2s)                
+                //11. Wafer Holder location update
                 .Run(PutDownStep.UpdateWaferHolder,WaferHolderTransfer,_delay_1ms)
-                //2.3 Gantry Position To Park
-                .Run(PutDownStep.GantryPositionPark,GantryBackToPark,_delay_1ms)
-                .WaitWithStopCondition(PutDownStep.GantryPositionParkWait,CheckGantryParkPositionStatus,CheckGantryParkPositionRunStop)
+                //12. Gantry Position To Park
+                .Run(PutDownStep.GantryPositionPark, GantryBackToPark, _delay_1ms)
+                .WaitWithStopCondition(PutDownStep.GantryPositionParkWait, CheckGantryParkPositionStatus, CheckGantryParkPositionRunStop)
                 .End(PutDownStep.End,NullFun,100);
             return Runner.Status;
-        }
-        /// <summary>
-        /// 目标cell unclamp
-        /// </summary>
-        /// <returns></returns>
-        private bool TargetCellUnclamp()
-        {
-            if (_cellName == "Loader")
-            {
-                bool result= _preTransferUnclampRoutine.Start() == RState.Running;
-                if (!result)
-                {
-                    NotifyError(eEvent.ERR_TRANSPORTER, "Loader Unclamp failed", 0);
-                }
-                return result;
-            }
-            else
-            {
-                _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(_cellName);
-                if (_cellItem != null)
-                {
-                    if (Enum.TryParse(_cellItem.ModuleName, out ModuleName cellModuleName))
-                    {
-                        if (ModuleHelper.IsRinse(cellModuleName))
-                        {
-                            RinseDevice rinseDevice = DEVICE.GetDevice<RinseDevice>(_cellItem.ModuleName);
-                            if (rinseDevice != null)
-                            {
-                                bool result = rinseDevice.WaferHolderClampValveOff();
-                                if (!result)
-                                {
-                                    NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellItem.ModuleName} Clamp off failed", 0);
-                                }
-                                return result;
-                            }
-                        }
-                        else if (ModuleHelper.IsMetal(cellModuleName))
-                        {
-                            MetalCellDevice metalCellDevice = DEVICE.GetDevice<MetalCellDevice>(_cellItem.ModuleName);
-                            if (metalCellDevice != null)
-                            {
-                                bool result = metalCellDevice.WaferHolderClampOff();
-                                if (!result)
-                                {
-                                    NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellItem.ModuleName} Clamp off failed", 0);
-                                }
-                                return result;
-                            }
-                        }
-                    }
-                }
-            }
-            return true;
-        }
-        /// <summary>
-        /// 目标Cell Unclamp状态
-        /// </summary>
-        /// <returns></returns>
-        private bool TargetCellUnclampEndStatus()
-        {
-            if(_cellName=="Loader")
-            {
-                return CommonFunction.CheckRoutineEndState(_preTransferUnclampRoutine);
-            }
-            else
-            {
-                _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(_cellName);
-                if (_cellItem != null)
-                {
-                    if (Enum.TryParse(_cellItem.ModuleName, out ModuleName cellModuleName))
-                    {
-                        if (ModuleHelper.IsRinse(cellModuleName))
-                        {
-                            RinseDevice rinseDevice = DEVICE.GetDevice<RinseDevice>(_cellItem.ModuleName);
-                            if (rinseDevice != null)
-                            {
-                                return rinseDevice.RinseData.WaferHolderClamp==false;
-                            }
-                        }
-                        else if (ModuleHelper.IsMetal(cellModuleName))
-                        {
-                            MetalCellDevice metalCellDevice = DEVICE.GetDevice<MetalCellDevice>(_cellItem.ModuleName);
-                            if (metalCellDevice != null)
-                            {
-                                return metalCellDevice.ClampOff;
-                            }
-                        }
-                    }
-                }
-            }
-            return true;
-        }
-        /// <summary>
-        /// 目标Cell Unclamp运行中止状态
-        /// </summary>
-        /// <returns></returns>
-        private bool TargetCellUnclampStopStatus()
-        {
-            if (_cellName == "Loader")
-            {
-                bool result = CommonFunction.CheckRoutineStopState(_preTransferUnclampRoutine);
-                if (result)
-                {
-                    NotifyError(eEvent.ERR_TRANSPORTER, "Loader Unclamp failed", 0);
-                }
-                return result;
-            }
-            return false;
-        }
+        }       
         /// <summary>
         /// Elevator goto Up
         /// </summary>
@@ -381,10 +253,23 @@ namespace CyberX8_RT.Modules.Transporter
             }
         }
         /// <summary>
+        /// Elevator Position to cellTop
+        /// </summary>
+        /// <returns></returns>
+        private bool ElevatorPositionToCellTop()
+        {
+            bool result = _elevatorAxis.PositionStation("CELLTOP", false, _velocity, _acceleration, _acceleration);
+            if (!result)
+            {
+                NotifyError(eEvent.ERR_TRANSPORTER, "elevator goto CELLTOP failed", 0);
+            }
+            return result;
+        }
+        /// <summary>
         /// Elevator Position to cell
         /// </summary>
         /// <returns></returns>
-        private bool VerticalPositionToCell()
+        private bool ElevatorPositionToCell()
         {           
             bool result= false;
             if( _cellItem != null )
@@ -410,10 +295,10 @@ namespace CyberX8_RT.Modules.Transporter
             }
         }
         /// <summary>
-        /// 检验Vertical移动状态
+        /// 检验Elevator移动状态
         /// </summary>
         /// <returns></returns>
-        private bool CheckVerticalPositionStatus()
+        private bool CheckElevatorPositionEndStatus()
         {
             return _elevatorAxis.Status == RState.End;
         }
@@ -421,7 +306,7 @@ namespace CyberX8_RT.Modules.Transporter
         /// 检验Vertical是否还在运动
         /// </summary>
         /// <returns></returns>
-        private bool CheckVerticalPositionRunStop()
+        private bool CheckElevatorPositionStopStatus()
         {
             bool result= _elevatorAxis.Status == RState.Failed||_elevatorAxis.Status==RState.Timeout;
             if(result)
@@ -429,46 +314,7 @@ namespace CyberX8_RT.Modules.Transporter
                 NotifyError(eEvent.ERR_TRANSPORTER, "elevator axis motion failed", 0);
             }
             return result;
-        }
-        /// <summary>
-        /// 检验Immobile异常状态
-        /// </summary>
-        /// <returns></returns>
-        private bool CheckImmobilizeRoutineStopStatus()
-        {
-            bool result= CommonFunction.CheckRoutineStopState(_extendRoutine);
-            if (result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, "extend failed", 0);
-            }
-            return result;
-        }
-        /// <summary>
-        /// 检验unlock异常状态
-        /// </summary>
-        /// <returns></returns>
-        private bool CheckUnlockRoutineStopStatus()
-        {
-            bool result = CommonFunction.CheckRoutineStopState(_unlockRoutine);
-            if (result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, "unlock failed", 0);
-            }
-            return result;
-        }
-        /// <summary>
-        /// Elevator goto low
-        /// </summary>
-        /// <returns></returns>
-        private bool ElevatorGotoLow()
-        {
-            bool result= _elevatorAxis.PositionStation("LOW", false);
-            if(!result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, "elevator goto low failed", 0);
-            }
-            return result;
-        }
+        }                     
         /// <summary>
         /// 检验Gantry移动状态
         /// </summary>
@@ -537,20 +383,7 @@ namespace CyberX8_RT.Modules.Transporter
             _acceleration = _elevatorAxis.CalculateMultiplyAccelerationRatio(_elevatorAxis.CalculateValueMultiplyScale(tmpAccelaration));
             LOG.WriteBackgroundLog(eEvent.INFO_TRANSPORTER, Module, "adjust profile speed");
             return true;
-        }
-        /// <summary>
-        /// 检验Retract 异常状态
-        /// </summary>
-        /// <returns></returns>
-        private bool CheckRetractStopStatus()
-        {
-            bool result = CommonFunction.CheckRoutineStopState(_retractRoutine);
-            if (result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, "retract failed", 0);
-            }
-            return result;
-        }
+        }      
         /// <summary>
         /// 更新WaferHolder移动信息
         /// </summary>
@@ -580,28 +413,17 @@ namespace CyberX8_RT.Modules.Transporter
         /// 确认WH Present Sensor off
         /// </summary>
         /// <returns></returns>
-        private bool ConfirmWHPresentSensorOff()
+        private bool ConfirmWSPresentSensorOff()
         {
-            bool result= !_transporterCommon.TransporterData.WhPresent1 &&!_transporterCommon.TransporterData.WhPresent2;
+            if (_bypassWaferHolderPresent) return true;
+            bool result= !_transporterCommon.TransporterData.WSHoldPresent;
             if(!result)
             {
                 NotifyError(eEvent.ERR_TRANSPORTER, "confirm WS Present sensor failed",0);
             }
             return result;
         }
-        /// <summary>
-        /// 检验Lock异常状态
-        /// </summary>
-        /// <returns></returns>
-        private bool CheckLockRoutineStopStatus()
-        {
-            bool result = CommonFunction.CheckRoutineStopState(_lockRoutine);
-            if(result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, "lock failed", 0);
-            }
-            return result;
-        }
+       
         /// <summary>
         /// Gabtry是否需要回到
         /// </summary>
@@ -673,6 +495,18 @@ namespace CyberX8_RT.Modules.Transporter
             }
         }
         /// <summary>
+        /// 关闭DropBlockLock
+        /// </summary>
+        /// <returns></returns>
+        private bool DropBlockLockoff()
+        {
+            if (_transporterCommon.TransporterData.Lock)
+            {
+                return _transporterCommon.UnlockOperation("", null);
+            }
+            return true;
+        }
+        /// <summary>
         /// 启动
         /// </summary>
         /// <param name="objs"></param>
@@ -684,6 +518,7 @@ namespace CyberX8_RT.Modules.Transporter
             _acceleration = 0;
             InitializeParameters();
             string preConfig = SC.GetConfigPreContent(_cellName);
+            _bypassWaferHolderPresent = SC.GetValue<bool>("Transporter.BypassWaferHolderPresent");
             if (SC.ContainsItem($"{preConfig}.PlaceTimeSeconds"))
             {
                 _placeTime = SC.GetValue<int>($"{preConfig}.PlaceTimeSeconds");
@@ -692,6 +527,7 @@ namespace CyberX8_RT.Modules.Transporter
             {
                 _placeDelayTime = SC.GetValue<int>($"{preConfig}.PlaceDelaySeconds");
             }
+
             return Runner.Start(Module, $"Pun Down To {_cellName}");
         }
         /// <summary>
@@ -704,13 +540,11 @@ namespace CyberX8_RT.Modules.Transporter
             _loaderEntity = Singleton<RouteManager>.Instance.GetModule<LoaderEntity>(ModuleName.Loader1.ToString());
             _loaderRotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
             _facilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
-            _unlockRoutine = new TransporterUnlockRoutine(Module);
-            _lockRoutine = new TransporterLockRoutine(Module);
-            _extendRoutine = new TransporterExtendRoutine(Module);
-            _retractRoutine = new TransporterRetractRoutine(Module);
             _conflictRoutine = new TransporterConflictRoutine(Module);
             _transporterCommon = DEVICE.GetDevice<TransporterCommon>($"{Module}.Common");
-            _preTransferUnclampRoutine = new LoaderPreTransferUnclampRoutine(ModuleName.Loader1.ToString());
+            _otherModule = Module == "Transporter2" ? "Transporter1" : "Transporter2";
+            _otherElevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{_otherModule}.Elevator");
+            _loaderCommonDevice = DEVICE.GetDevice<LoaderCommonDevice>($"{ModuleName.Loader1}.Common");
         }
         /// <summary>
         /// 启动校验条件
@@ -718,23 +552,20 @@ namespace CyberX8_RT.Modules.Transporter
         /// <returns></returns>
         private bool CheckStartPreConfition()
         {
+            //所有轴上电并Homed
             bool result = CheckPreCondition();
             if(!result)
             {
                 return false;
             }
-            double elevatorPosition = _elevatorAxis.MotionData.MotorPosition;
-            if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "Up"))
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is not int Up station",-1);
-                return false;
-            }
-
+                     
+            //Loader is Home
             if (!_loaderEntity.IsHomed)
             {
                 NotifyError(eEvent.ERR_TRANSPORTER, $"{ModuleName.Loader1} is not homed", -1);
                 return false;
             }
+            //若目标Cell为Loader, 则Loader需在TRNA或TRANB位置且WaferShuttlePresent信号on
             if (_cellName == "Loader")
             {
                 double loaderRotationPosition = _loaderRotationAxis.MotionData.MotorPosition;
@@ -744,47 +575,44 @@ namespace CyberX8_RT.Modules.Transporter
                     NotifyError(eEvent.ERR_TRANSPORTER, $"{ModuleName.Loader1} rotation axis {loaderRotationPosition} is not int TRNPA or TRNPB station", -1);
                     return false;
                 }
+                if (_loaderCommonDevice.CommonData.WaferHolderPresent)
+                {
+                    NotifyError(eEvent.ERR_TRANSPORTER, $"{ModuleName.Loader1} WaferShuttlePresent is on", -1);
+                    return false;
+                }
             }
-
+            //Transporter应有WS信息
             if (!WaferHolderManager.Instance.HasWaferHolder(Module))
             {
                 NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} does not has wafer Shuttle",-1);
                 return false;
             }
+            //目标Cell没有WS信息
             if (WaferHolderManager.Instance.HasWaferHolder(_cellName))
             {
                 NotifyError(eEvent.ERR_TRANSPORTER, $"Cell {_cellName} already has wafer Shuttle", -1);
                 return false;
-            }
-            //检验Facilities
-            var faciltiesResult = _facilities.CheckCDA();
-            if (!faciltiesResult.result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
-                return false;
-            }
-            //检验Lock和WH Present Sensor
-            if (!_transporterCommon.TransporterData.Locked1)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} lock1 sensor is off ", -1);
-                return false;
-            }
-            if (!_transporterCommon.TransporterData.Locked2)
+            }         
+            //检验Lock
+            if (!_transporterCommon.TransporterData.Lock)
             {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} lock2 sensor is off ",-1);
+                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} Drop block lock is off ", -1);
                 return false;
             }
-            if (!_transporterCommon.TransporterData.WhPresent1)
+            //检验Wafer shuttle hold present
+            if (!_bypassWaferHolderPresent && !_transporterCommon.TransporterData.WSHoldPresent)
             {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} WS Present1 sensor is off ", -1);
-                return false;
-            }
-            if (!_transporterCommon.TransporterData.WhPresent2)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} WS Present2 sensor is off ",-1);
+                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} Wafer shuttle hold present sensor is off ",-1);
                 return false;
             }
 
+            //检验Facilities
+            //var faciltiesResult = _facilities.CheckCDA();
+            //if (!faciltiesResult.result)
+            //{
+            //    NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
+            //    return false;
+            //}
             return true;
         }
         /// <summary>

CyberX8_RT/Modules/Transporter/TransporterPickUpFromRoutine.cs

@@ -39,16 +39,11 @@ namespace CyberX8_RT.Modules.Transporter
             SafeMoveTo,
             CheckMoveToStatus,
             GantryPosition,
-            GantryPoisitionWait,
-            LoopPickupRetry,
-            LoopRetryLockoff,
-            LoopRetryElevatorBackToUp,
-            LoopRetryElevatorBackToUpWait,
+            GantryPoisitionWait,           
             ElevatorPositionToCell,
             ElevatorPositionToCellWait,
             Delay,
             DropBlockLockOn, 
-            LoopPickupRetryEnd,
             CalculateLiftupSpeed,
             PickupDelay,
             ElevatorPositionToUp,
@@ -99,7 +94,7 @@ namespace CyberX8_RT.Modules.Transporter
         {
             Runner.Run(PickUpStep.CheckPreCondition, CheckStartPreConfition, _delay_1ms)
                 //1. 确认DropBlockLock是否off
-                .Run(PickUpStep.DropBlockLockoff, DropBlockLockoff, NullFun, _delay_1ms)
+                .Run(PickUpStep.DropBlockLockoff, DropBlockLockoff, _delay_1ms)
                 //2. Elevator go to up
                 .Run(PickUpStep.ElevatorGotoUp, ElevatorGotoUP, _delay_1ms)
                 .WaitWithStopCondition(PickUpStep.ElevatorGotoUpWait, CheckElevatorPositionEndStatus, CheckElevatorPositionEndStatus)
@@ -109,30 +104,24 @@ namespace CyberX8_RT.Modules.Transporter
                 CheckSafeMoveToStopStatus)
                 //4. Gantry 移动到目标位置
                 .Run(PickUpStep.GantryPosition, GantryPositionToCell, _delay_1ms)
-                .WaitWithStopCondition(PickUpStep.GantryPoisitionWait, CheckGantryPositionStatus, CheckGantryPositionRunStop)
-                //5. Pick up Retry
-                .LoopRetryStart(PickUpStep.LoopPickupRetry,"Pick up loop retry",_pickMaxRetries,NullFun,_delay_1ms)
-                .LoopRetrySecondRun(PickUpStep.LoopRetryLockoff, DropBlockLockoff, NullFun, _delay_1ms)
-                .LoopRetrySecondRun(PickUpStep.LoopRetryElevatorBackToUp, ElevatorGotoUp, NullFun,_delay_1ms)
-                .LoopRetrySecondRunWithStopStatus(PickUpStep.LoopRetryElevatorBackToUpWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
-                //6. Elevator 移动至对应cell位
-                .LoopRetryRun(PickUpStep.ElevatorPositionToCell, ElevatorPositionToCell, NullFun, _delay_1ms)
-                .LoopRetryRunWithStopStatus(PickUpStep.ElevatorPositionToCellWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
-                .LoopRetryDelay(PickUpStep.Delay,500)
-                //7. Drop Block Lock on，抓取WS
-                .LoopRetryRun(PickUpStep.DropBlockLockOn, DropBlockLockon, NullFun, _delay_1ms)              
-                .LoopRetryEnd(PickUpStep.LoopPickupRetryEnd, _delay_1ms)
-                //8. 确认Elevator lift speed
+                .WaitWithStopCondition(PickUpStep.GantryPoisitionWait, CheckGantryPositionStatus, CheckGantryPositionRunStop)                
+                //5. Elevator 移动至对应cell位
+                .Run(PickUpStep.ElevatorPositionToCell, ElevatorPositionToCell, _delay_1ms)
+                .WaitWithStopCondition(PickUpStep.ElevatorPositionToCellWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
+                .Delay(PickUpStep.Delay,500)
+                //6. Drop Block Lock on，抓取WS
+                .Run(PickUpStep.DropBlockLockOn, DropBlockLockon, _delay_1ms)              
+                //7. 确认Elevator lift speed
                 .Run(PickUpStep.CalculateLiftupSpeed,CalculateLiftupSpeed,_delay_1ms)
-                //9. Pickup delay
+                //8. Pickup delay
                 .Delay(PickUpStep.PickupDelay,_pickupDelayTime * 1000)
-                //10. Elevator goto Up
+                //9. Elevator goto Up
                  .Run(PickUpStep.ElevatorPositionToUp, ElevatorGotoUP, 100)
                 .WaitWithStopCondition(PickUpStep.ElevatorPositionToUpWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
-                //11. Material Tracking Update
+                //10. Material Tracking Update
                 .Run(PickUpStep.UpdateWaferShuttle, WaferShuttleTransfer,_delay_1ms)
-                //12. 确认Transporter的Wafer shuttle hold present信号为on
-                .Wait(PickUpStep.CheckWSPresent,CheckWSPresent, _delay_2s)
+                //11. 确认Transporter的Wafer shuttle hold present信号为on
+                .Wait(PickUpStep.CheckWSPresent, CheckWSPresent, _delay_2s)
                 //13. Read Barcode 确认与Material Tracking的转移是否一致
                 //.Run(PickUpStep.ReadBarcodeConfirm,ReadBarcode,_delay_1ms)
                 .End(PickUpStep.End,NullFun,100);
@@ -163,19 +152,6 @@ namespace CyberX8_RT.Modules.Transporter
             return true;
         }
         /// <summary>
-        /// Elevator运动至UP
-        /// </summary>
-        /// <returns></returns>
-        private bool ElevatorGotoUp()
-        {
-            bool result = _elevatorAxis.PositionStation("UP");
-            if(!result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, "Elevator goto UP failed",0);
-            }
-            return result;
-        }
-        /// <summary>
         /// 安全避障移动
         /// </summary>
         /// <returns></returns>
@@ -525,16 +501,9 @@ namespace CyberX8_RT.Modules.Transporter
             if(!result)
             {
                 return false;
-            }
-            //Transporter Elevator在UP位
-            //double elevatorPosition = _elevatorAxis.MotionData.MotorPosition;
-            //if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "UP"))
-            //{
-            //    NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is not in Up station", -1);
-            //    return false;
-            //}           
+            }        
             //Transporter的Wafer shuttle hold present信号为off
-            if (_transporterCommon.TransporterData.WSHoldPresent)
+            if (!_bypassWaferHolderPresent && _transporterCommon.TransporterData.WSHoldPresent)
             {
                 NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} WaferShuttleHoldPresent is on", -1);
                 return false;
@@ -562,7 +531,7 @@ namespace CyberX8_RT.Modules.Transporter
                 }
             }
             //Transporter没有WS信息
-            if (!WaferHolderManager.Instance.HasWaferHolder(Module))
+            if (WaferHolderManager.Instance.HasWaferHolder(Module))
             {
                 NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} already has wafer Shuttle", -1);
                 return false;
@@ -573,7 +542,14 @@ namespace CyberX8_RT.Modules.Transporter
                 NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellName} does not has wafer shuttle", -1);
                 return false;
             }
-            
+
+            //检验Facilities
+            //var faciltiesResult = _facilities.CheckCDA();
+            //if (!faciltiesResult.result)
+            //{
+            //    NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
+            //    return false;
+            //}
             return true;
         }
         /// <summary>

CyberX8_RT/Modules/Transporter/TransporterPickUpMoveToRoutine.cs

@@ -202,10 +202,9 @@ namespace CyberX8_RT.Modules.Transporter
                 return false;
             }
             double elevatorPosition = _elevatorAxis.MotionData.MotorPosition;
-            if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "Up") && 
-                !_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "Low"))
+            if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "Up"))
             {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is no int Up or Low station",-1);
+                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is no int Up station",-1);
                 return false;
             }
 
@@ -241,12 +240,12 @@ namespace CyberX8_RT.Modules.Transporter
                 return false;
             }
             //检验Facilities
-            var faciltiesResult = _facilities.CheckCDA();
-            if (!faciltiesResult.result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
-                return false;
-            }
+            //var faciltiesResult = _facilities.CheckCDA();
+            //if (!faciltiesResult.result)
+            //{
+            //    NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
+            //    return false;
+            //}
             return true;
         }
         /// <summary>

CyberX8_RT/Modules/Transporter/TransporterTransferRoutine.cs

@@ -51,6 +51,8 @@ namespace CyberX8_RT.Modules.Transporter
         private TransporterPickUpFromRoutine _pickUpRoutine;
         private TransporterMoveToRoutine _moveToRoutine;
         private TransporterPickDownToRoutine _placeRoutine;
+        private TransporterCommon _transporterCommon;
+        private bool _bypassWaferHolderPresent;
         #endregion
 
         /// <summary>
@@ -77,7 +79,7 @@ namespace CyberX8_RT.Modules.Transporter
         public RState Monitor()
         {
             Runner.Run(TransferStep.CheckPreCondition,CheckStartPreConfition,_delay_1ms)
-            //1.1 PickupFrom
+                //1.1 PickupFrom
                 .Run(TransferStep.PickUpFrom, () => { return _pickUpRoutine.Start(_fromCellName) == RState.Running; }, _delay_1ms)
                 .WaitWithStopCondition(TransferStep.PickUpFromWait, ()=>CommonFunction.CheckRoutineEndState(_pickUpRoutine), 
                ()=> CheckRoutineStopStatus(_pickUpRoutine,"PickUp Routine", _pickUpRoutine.ErrorMsg,0))
@@ -179,6 +181,7 @@ namespace CyberX8_RT.Modules.Transporter
         {
             _fromCellName = objs[0].ToString();
             _toCellName = objs[1].ToString();
+            _bypassWaferHolderPresent = SC.GetValue<bool>("Transporter.BypassWaferHolderPresent");
             InitializeParameters();
             return Runner.Start(Module, $"Transfer from {_fromCellName} to {_toCellName}");
         }
@@ -192,6 +195,7 @@ namespace CyberX8_RT.Modules.Transporter
             _loaderEntity = Singleton<RouteManager>.Instance.GetModule<LoaderEntity>(ModuleName.Loader1.ToString());
             _loaderRotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
             _facilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
+            _transporterCommon = DEVICE.GetDevice<TransporterCommon>($"{Module}.Common");
         }
         /// <summary>
         /// 启动校验条件
@@ -204,12 +208,11 @@ namespace CyberX8_RT.Modules.Transporter
                 return false;
             }
             double elevatorPosition = _elevatorAxis.MotionData.MotorPosition;
-            if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "Up") && 
-                !_elevatorAxis.CheckPositionIsInStation(elevatorPosition,"Low"))
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is not in Up or Low station",-1);
-                return false;
-            }
+            //if (!_elevatorAxis.CheckPositionIsInStation(elevatorPosition, "Up"))
+            //{
+            //    NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} elevator axis {elevatorPosition} is not in Up station",-1);
+            //    return false;
+            //}
 
             if (!_loaderEntity.IsHomed)
             {
@@ -242,13 +245,7 @@ namespace CyberX8_RT.Modules.Transporter
                 NotifyError(eEvent.ERR_TRANSPORTER, $"{_toCellName} already has wafer shuttle",-1);
                 return false;
             }
-            //检验Facilities
-            var faciltiesResult = _facilities.CheckCDA();
-            if (!faciltiesResult.result)
-            {
-                NotifyError(eEvent.ERR_TRANSPORTER, faciltiesResult.reason, -1);
-                return false;
-            }
+            
             return true;
         }
         /// <summary>

CyberX8_Simulator/Views/GalilView.xaml

@@ -20,12 +20,6 @@
         <Grid  Grid.Row="1">
             <StackPanel Orientation="Horizontal" Width="1200">
                 <Button Content="Clear Log" Width="100" Height="35"   Command="{Binding ClearLogCommand}"></Button>
-                <StackPanel Orientation="Horizontal" Width="500" Height="50" Margin="100,0,0,0">
-                    <Label Content="DO:" VerticalAlignment="Center"></Label>
-                    <ComboBox  Width="250" Height="30" VerticalContentAlignment="Center" ItemsSource="{Binding DONameItems}" SelectedItem="{Binding DOSelectedItem}" />
-                    <ComboBox  Width="60" Height="30" Margin="5,0,0,0" VerticalContentAlignment="Center" ItemsSource="{Binding DigitalOutputSelected}" SelectedItem="{Binding DOInputValue}" HorizontalContentAlignment="Center"></ComboBox>
-                    <Button Content="DOInput" Height="30" Width="100" Margin="5,10,0,0" Command="{Binding SetDOCommand}"/>
-                </StackPanel>
             </StackPanel>
         </Grid>