ITransferRobot.cs 1.5 KB

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  1. using Aitex.Sorter.Common;
  2. using MECF.Framework.Common.Equipment;
  3. using Venus_Core;
  4. using MECF.Framework.Common.CommonData;
  5. namespace Venus_RT.Devices
  6. {
  7. public interface ITransferRobot
  8. {
  9. RState Status { get;}
  10. RobotMoveInfo TMRobotMoveInfo { get; }
  11. bool IsHomed { get; }
  12. double Offset_X { get; }
  13. double Offset_Y { get; }
  14. double Offset_D { get; }
  15. string WithWaferSpeed { get; }
  16. string NoWaferSpeed { get; }
  17. bool Home();
  18. bool Halt();
  19. bool CheckLoad(Hand hand = Hand.Blade1);
  20. bool ReQueryLoadA();
  21. bool ReQueryLoadB();
  22. bool QueryAwc();
  23. bool Goto(ModuleName station, int slot, Hand hand);
  24. bool MoveTo(ModuleName stnFrom, ModuleName stnTo, Hand hand);
  25. bool PickExtend(ModuleName chamber, int slot, Hand hand);
  26. bool PickRetract(ModuleName chamber, int slot, Hand hand);
  27. bool PlaceExtend(ModuleName chamber, int slot, Hand hand);
  28. bool PlaceRetract(ModuleName chamber, int slot, Hand hand);
  29. bool Pick(ModuleName station, int slot, Hand hand);
  30. bool PickWithOffset(ModuleName station, int slot, Hand hand,int Roffset, int Toffset);
  31. bool Place(ModuleName station, int slot, Hand hand);
  32. bool SetSpeed(string withwafer, float speed);
  33. bool SaveSpeed(string withwafer);
  34. bool QuerySpeed(string withwafer);
  35. void SetRobotMovingInfo(RobotAction action, Hand hand, ModuleName target);
  36. }
  37. }