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@@ -1,6 +1,7 @@
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.Routine;
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+using Aitex.Core.RT.SCCore;
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using Aitex.Core.Util;
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using CyberX8_Core;
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using CyberX8_RT.Devices.AXIS;
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@@ -9,6 +10,8 @@ using CyberX8_RT.Devices.SRD;
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using MECF.Framework.Common.Beckhoff.AxisProvider;
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using MECF.Framework.Common.RecipeCenter;
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using MECF.Framework.Common.Routine;
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+using MECF.Framework.Common.Utilities;
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+using System;
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namespace CyberX8_RT.Modules.SRD
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{
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@@ -16,12 +19,30 @@ namespace CyberX8_RT.Modules.SRD
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{
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private enum SRDRunRecipeStep
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{
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- CloseDoor,
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- CheckDoorClosed,
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-
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+ RunRecipe_CloseDoor,
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+ RunRecipe_CheckOtherSRD,
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+ RunRecipe_CheckWaterPressure,
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+ RunRecipe_WaterOn,
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+ RunRecipe_CheckWaterFlow,
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+ RunRecipe_StartRotation,
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+ RunRecipe_MonitorWaterFlow,
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+ RunRecipe_WashingFinished,
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+ RunRecipe_ChangeDrySpeed,
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+ RunRecipe_Drying,
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+ RunRecipe_StopRotation,
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+ RunRecipe_CheckRotationStopped,
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+ RunRecipe_CheckRotationHomed,
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End
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}
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#region 常量
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+ /// <summary>
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+ /// 旋转增加时长
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+ /// </summary>
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+ private const int ROTATION_PLUS_TIME = 10;
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+ /// <summary>
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+ /// ROTATION电机转速比例
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+ /// </summary>
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+ private const int SPEED_RATIO = 10;
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#endregion
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#region 内部变量
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@@ -57,6 +78,18 @@ namespace CyberX8_RT.Modules.SRD
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/// SRD rotation Provider对象
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/// </summary>
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private BeckhoffProviderAxis _rotationProviderAxis;
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+ /// <summary>
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+ /// enterTime
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+ /// </summary>
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+ private int _enterTime;
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+ /// <summary>
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+ /// 转换增加的时间
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+ /// </summary>
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+ private int _rotationPlusSecond = ROTATION_PLUS_TIME;
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+ /// <summary>
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+ /// Dry速度
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+ /// </summary>
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+ private int _drySpeed;
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#endregion
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#region 属性
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@@ -87,7 +120,19 @@ namespace CyberX8_RT.Modules.SRD
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/// <returns></returns>
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public RState Monitor()
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{
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- Runner//.Run(SRDRunRecipeStep.CloseDoor, !_presenceTestFlag, CheckFacilities, _delay_1ms)
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+ Runner.Run(SRDRunRecipeStep.RunRecipe_CloseDoor, CloseDoor, CheckDoorClosedEndStatus, CheckDoorClosedStopStatus)
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+ .Wait(SRDRunRecipeStep.RunRecipe_CheckOtherSRD, CheckOtherSRD, _delay_60s)
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+ .Run(SRDRunRecipeStep.RunRecipe_CheckWaterPressure, CheckWaterPressure, _delay_1ms)
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+ .Run(SRDRunRecipeStep.RunRecipe_WaterOn, WaterOn, _delay_1ms)
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+ .WaitWithStopCondition(SRDRunRecipeStep.RunRecipe_CheckWaterFlow, CheckFlowEndStatus, CheckFlowStopStatus)
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+ .Run(SRDRunRecipeStep.RunRecipe_StartRotation, StartRotation, _delay_1ms)
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+ .WaitWithStopCondition(SRDRunRecipeStep.RunRecipe_MonitorWaterFlow, MonitorWaterFlowEndStatus, MonitorWaterFlowStopStatus)
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+ .Run(SRDRunRecipeStep.RunRecipe_WashingFinished, WashingFinished, _delay_1ms)
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+ .Run(SRDRunRecipeStep.RunRecipe_ChangeDrySpeed, ChangeSpeed, _delay_1ms)
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+ .Delay(SRDRunRecipeStep.RunRecipe_Drying, _srdRecipe.DryTime * 1000)
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+ .Run(SRDRunRecipeStep.RunRecipe_StopRotation, StopRotation, _delay_1ms)
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+ .Wait(SRDRunRecipeStep.RunRecipe_CheckRotationStopped, CheckRotationStopEndStatus, _delay_5s)
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+ .WaitWithStopCondition(SRDRunRecipeStep.RunRecipe_CheckRotationHomed, CheckRotationHomeEndStatus, CheckRotationHomedStopStatus)
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.End(SRDRunRecipeStep.End, NullFun, _delay_1ms);
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return Runner.Status;
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}
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@@ -104,16 +149,9 @@ namespace CyberX8_RT.Modules.SRD
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NotifyError(eEvent.ERR_SRD, "srd recipe is null", 0);
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return RState.Failed;
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}
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- _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
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- if (!_rotationAxis.IsHomed)
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- {
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- NotifyError(eEvent.ERR_SRD, "Rotation is not homed", 0);
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- return RState.Failed;
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- }
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+ _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
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_srdCommon = DEVICE.GetDevice<SrdCommonDevice>($"{Module}.Common");
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-
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_totalSRDDevice = DEVICE.GetDevice<TotalSRDDevice>("SRD");
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-
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_systemFacilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
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string otherSRD = Module == "SRD1" ? "SRD2" : "SRD1";
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_otherSrdEntity = Singleton<RouteManager>.Instance.GetModule<SRDEntity>(otherSRD);
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@@ -124,9 +162,370 @@ namespace CyberX8_RT.Modules.SRD
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NotifyError(eEvent.ERR_SRD, $"{Module}.Rotation Provider is not exist", 0);
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return RState.Failed;
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}
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+ if (!CheckPreCondition())
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+ {
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+ return RState.Failed;
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+ }
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+
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return Runner.Start(Module, "SRD Run Recipe Start");
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}
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+ /// <summary>
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+ /// Check Pre Condition
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckPreCondition()
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+ {
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+ //Check Rotation Home
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+ //if (!_rotationAxis.IsHomed)
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+ //{
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+ // NotifyError(eEvent.ERR_SRD, "Rotation is not homed", 0);
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+ // return false;
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+ //}
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+ //Check LiftUp
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+ if (_srdCommon.CommonData.LiftUp)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "LiftUp is on", 0);
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+ return false;
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+ }
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+ //Check LiftUp Status
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+ if (_srdCommon.CommonData.LiftUpStatus)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "LiftUp sensor is on", 0);
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+ return false;
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+ }
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+ //Check Wafer Present
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+ if (!_srdCommon.CommonData.WaferPresent)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "WaferPresent sensor is off", 0);
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+ return false;
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+ }
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+ //Check LoaderDI
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+ if (!_systemFacilities.LoaderDiEnable)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Load DI Is Disable", 0);
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+ return false;
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+ }
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+ //Check Vacuum
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+ int vacuumOnLimit = SC.GetValue<int>("SRD.ChuckVacuumOnLimit");
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+ if (!_srdCommon.CommonData.ChuckVacuum)
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+ {
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+ if (_srdCommon.CommonData.VacuumValue >= vacuumOnLimit)
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+ {
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+ LOG.WriteLog(eEvent.ERR_SRD, Module, $"VacuumValue:{_srdCommon.CommonData.VacuumValue}, VacuumOn Limit:{vacuumOnLimit}");
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+ return false;
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+ }
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+ }
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+ else
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+ {
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+ LOG.WriteLog(eEvent.ERR_SRD, Module, $"Chuck Vacuum is off");
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+ return false;
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+ }
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+ //Check Flippers
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+ if (_srdCommon.CommonData.FlippersIn150 || _srdCommon.CommonData.FlippersIn200) //|| _srdCommon.CommonData.FlippersIn100
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+ {
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+ NotifyError(eEvent.ERR_SRD, "FlippersIn is on", 0);
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+ return false;
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+ }
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+ if (!_srdCommon.CommonData.Flipper1Out150Status || !_srdCommon.CommonData.Flipper2Out150Status || !_srdCommon.CommonData.Flipper3Out150Status
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+ || !_srdCommon.CommonData.Flipper1Out200Status || !_srdCommon.CommonData.Flipper2Out200Status || !_srdCommon.CommonData.Flipper3Out200Status)
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+ //|| !_srdCommon.CommonData.Flipper1Out100Status || !_srdCommon.CommonData.Flipper2Out100Status || !_srdCommon.CommonData.Flipper3Out100Status
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Flippers are at In position", 0);
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+ return false;
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+ }
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+ return true;
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+ }
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+ /// <summary>
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+ /// Close Door
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool CloseDoor()
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+ {
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+ if (_srdCommon.CommonData.DoorOpened)
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+ {
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+ bool result = _srdCommon.DoorCloseAction("", null);
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+ if (!result)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Door Close Action is failed", 0);
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+ return result;
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+ }
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+ }
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+ return true;
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+ }
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+ /// <summary>
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+ /// 检验DoorClosed结束状态
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool CheckDoorClosedEndStatus()
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+ {
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+ return _srdCommon.Status == RState.End && _srdCommon.CommonData.DoorClosed;
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+ }
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+ /// <summary>
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+ /// 检验DoorClosed结束状态
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool CheckDoorClosedStopStatus()
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+ {
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+ if (_srdCommon.Status == RState.Failed || _srdCommon.Status == RState.Timeout)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Check Door Closed is failed", 0);
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+ return true;
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+ }
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+ return false;
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+ }
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+ /// <summary>
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+ /// 检验另外一个SRD是否在用水
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool CheckOtherSRD()
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+ {
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+ return (_otherSrdEntity == null || !_otherSrdEntity.IsUsingWater);
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+ }
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+ /// <summary>
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+ /// CheckWaterPressure
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckWaterPressure()
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+ {
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+ if (_srdCommon.CommonData.WaterPressure < _srdRecipe.MinWaterPressure)
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+ {
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+ NotifyError(eEvent.ERR_SRD, $"Water Pressure {_srdCommon.CommonData.WaterPressure} is less than recipe's MinWaterPressure {_srdRecipe.MinWaterPressure}", 0);
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+ return false;
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+ }
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+ else if(_srdCommon.CommonData.WaterPressure > _srdRecipe.MaxWaterPressure)
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+ {
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+ NotifyError(eEvent.ERR_SRD, $"Water Pressure {_srdCommon.CommonData.WaterPressure} is over recipe's MaxWaterPressure {_srdRecipe.MaxWaterPressure}", 0);
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+ return false;
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+ }
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+ return true;
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+ }
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+ /// <summary>
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+ /// Water On
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool WaterOn()
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+ {
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+ if (_srdRecipe.RinseTime > 0)
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+ {
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+ if (!_srdCommon.CommonData.WaterOn)
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+ {
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+ bool result = _srdCommon.WaterOn();
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+ if (result)
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+ {
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+ LOG.WriteLog(eEvent.INFO_SRD, Module, "Water On");
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+ _isUsingWater = true;
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+ _enterTime = Environment.TickCount;
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+ }
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+ else
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Water On is failed", 0);
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+ }
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+ return result;
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+ }
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+ return true;
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+ }
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+ return true;
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+ }
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+ /// <summary>
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+ /// Check Flow End
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckFlowEndStatus()
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+ {
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+ if (_srdRecipe.FlowCheckDelay == 0)
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+ {
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+ return true;
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+ }
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+ int ticks = Environment.TickCount - _enterTime;
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+ if (ticks >= _srdRecipe.FlowCheckDelay * 1000)
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+ {
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+ if (WaterFlowCheck()) return true;
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+ }
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+ return false;
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+ }
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+ /// <summary>
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+ /// Check Flow Stop
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool CheckFlowStopStatus()
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+ {
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+ int ticks = Environment.TickCount - _enterTime;
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+ if (ticks >= _srdRecipe.FlowCheckDelay * 1000)
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+ {
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+ if (!WaterFlowCheck()) return true;
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+ }
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+ return false;
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+ }
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+ /// <summary>
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+ /// WaterFlow检测
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool WaterFlowCheck()
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+ {
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+ if (_srdCommon.CommonData.WaterFlow > _srdRecipe.MaxSRDWaterFlow)
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+ {
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+ NotifyError(eEvent.ERR_SRD, $"{Module} Water Flow:{_srdCommon.CommonData.WaterFlow} is over recipe's MaxSRDWaterFlow:{_srdRecipe.MaxSRDWaterFlow}", 0);
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+ return false;
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+ }
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+ else if (_srdCommon.CommonData.WaterFlow < _srdRecipe.MinSRDWaterFlow)
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+ {
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+ NotifyError(eEvent.ERR_SRD, $"{Module} Water Flow:{_srdCommon.CommonData.WaterFlow} is less than recipe's MinSRDWaterFlow:{_srdRecipe.MinSRDWaterFlow}", 0);
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+ return false;
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+ }
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+ return true;
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+ }
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+ /// <summary>
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+ /// 开始旋转
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+ /// </summary>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ private bool StartRotation()
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+ {
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+ if (_srdCommon.CommonData.DoorOpened)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Door is not closed. Can't do rotation", 0);
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+ return false;
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+ }
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+ double _scale = _rotationProviderAxis.ScaleFactor;
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+ //rinse 目标位置
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+ double rinsePosition = _srdRecipe.RinseTime * BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(_srdRecipe.RinseSpeed);
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+ //dry目标位置
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+ double dryPosition = BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(_srdRecipe.DrySpeed) * _srdRecipe.DryTime;
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+ //为了让 rotation 不停止，增加了旋转时间（覆盖Arm运动时间）
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+ double plusPosition = BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(_srdRecipe.DrySpeed) * _rotationPlusSecond;
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+ int targetPosition = (int)Math.Round((rinsePosition + dryPosition + plusPosition) * _scale, 0);
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+ int rotationSpeed = (int)Math.Round(_scale * BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(_srdRecipe.RinseSpeed), 0);
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+ _drySpeed = (int)Math.Round(_scale * BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(_srdRecipe.DrySpeed * SPEED_RATIO), 0);
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+ bool result = _rotationAxis.ProfilePosition(targetPosition, rotationSpeed * SPEED_RATIO, 0, 0);
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+ if (!result)
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+ {
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+ NotifyError(eEvent.ERR_SRD, "Start Rotation is failed", 0);
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+ return false;
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+ }
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+ LOG.WriteLog(eEvent.INFO_SRD, Module, "Start Rotation");
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+ //Rinse开始时间
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+ _enterTime = Environment.TickCount;
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+ return true;
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+ }
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+ /// <summary>
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+ /// WaterFlow End Monitor
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool MonitorWaterFlowEndStatus()
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+ {
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+ int ticks = Environment.TickCount - _enterTime;
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+ if (ticks >= _srdRecipe.RinseTime * 1000)
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+ {
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+ return true;
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+ }
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+ return false;
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+ }
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+ /// <summary>
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+ /// WaterFlow Stop Monitor
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool MonitorWaterFlowStopStatus()
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+ {
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|
|
+ int ticks = Environment.TickCount - _enterTime;
|
|
|
+ if (ticks < _srdRecipe.RinseTime * 1000)
|
|
|
+ {
|
|
|
+ if (!WaterFlowCheck()) return true;
|
|
|
+ }
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// Washing Finished
|
|
|
+ /// </summary>
|
|
|
+ /// <returns></returns>
|
|
|
+ private bool WashingFinished()
|
|
|
+ {
|
|
|
+ if (_srdCommon.CommonData.WaterOn)
|
|
|
+ {
|
|
|
+ if (!_srdCommon.WaterOff())
|
|
|
+ {
|
|
|
+ NotifyError(eEvent.ERR_SRD, "Water Off is failed", 0);
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ _isUsingWater = false;
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// change Dry speed
|
|
|
+ /// </summary>
|
|
|
+ /// <returns></returns>
|
|
|
+ private bool ChangeSpeed()
|
|
|
+ {
|
|
|
+ //调整速度为 drySpeed
|
|
|
+ bool result = _rotationAxis.ChangeSpeed(_drySpeed);
|
|
|
+ if (!result)
|
|
|
+ {
|
|
|
+ NotifyError(eEvent.ERR_SRD, "Change Speed to Dry Speed is failed", 0);
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 停止旋转
|
|
|
+ /// </summary>
|
|
|
+ /// <returns></returns>
|
|
|
+ private bool StopRotation()
|
|
|
+ {
|
|
|
+ bool result = _rotationAxis.StopPositionOperation();
|
|
|
+ LOG.WriteLog(eEvent.INFO_SRD, Module, "Stop Rotation is done");
|
|
|
+ return result;
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 检验Rotation是否停止
|
|
|
+ /// </summary>
|
|
|
+ /// <returns></returns>
|
|
|
+ private bool CheckRotationStopEndStatus()
|
|
|
+ {
|
|
|
+ if (!_rotationAxis.IsRun && _rotationAxis.Status == RState.End)
|
|
|
+ {
|
|
|
+ bool homeResult = _rotationAxis.Home(false);
|
|
|
+ if (!homeResult)
|
|
|
+ {
|
|
|
+ NotifyError(eEvent.ERR_SRD, $"{Module}.Rotation home action is failed", 0);
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 检验RotationHome是否完成
|
|
|
+ /// </summary>
|
|
|
+ /// <returns></returns>
|
|
|
+ private bool CheckRotationHomeEndStatus()
|
|
|
+ {
|
|
|
+ if (_rotationAxis.IsHomed && _rotationAxis.Status == RState.End)
|
|
|
+ {
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ /// <summary>
|
|
|
+ /// 检验Rotation Home 停止状态
|
|
|
+ /// </summary>
|
|
|
+ /// <returns></returns>
|
|
|
+ private bool CheckRotationHomedStopStatus()
|
|
|
+ {
|
|
|
+ if(_rotationAxis.Status == RState.Failed || _rotationAxis.Status == RState.Timeout)
|
|
|
+ {
|
|
|
+ NotifyError(eEvent.ERR_SRD, $"{Module}.Rotation home is failed", 0);
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ return false;
|
|
|
+ }
|
|
|
}
|
|
|
+
|
|
|
}
|
