Browse Source

upload some missing files

zhouhr 1 month ago
parent
commit
4d97d85c42

+ 1 - 0
FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HongHu/HongHuVR.cs

@@ -141,6 +141,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HongHu
             {"808" , "第4个伺服收敛异常,伺服没有在规定时间内运动到位置,或者停稳。"},
             {"1100" , "无法安全回 HOME 操作,检查机械臂是否在安全 HOME 半径内,常见于双臂机械臂,双臂同时伸出超过安全位"},
             {"1805" , "当前处于示教器模式,检查示教器档位,一般此时处于 Teach 档位"},
+            {"1806" , "手臂姿态不可控"},
             {"13004" , "PA报错,检查 PA 运行状态,PA 扫片结果等"},
 
         };

+ 19 - 1
FrameworkLocal/RTEquipmentLibrary/Unit/IoLiftPin.cs

@@ -504,7 +504,7 @@ namespace Aitex.Core.RT.Device.Unit
                 (_currentTarget == PositionType.Origin && _diOrigin.Value))
             {
                 EV.PostInfoLog(Module, $"Lift Pin 到达 {_currentTarget}");
-                Reset();
+                ClearAction();
                 return;
             }
 
@@ -519,6 +519,24 @@ namespace Aitex.Core.RT.Device.Unit
             _doReset.Value = false;
         }
 
+        public void ClearAction()
+        {
+            _currentTarget = PositionType.Invalid;
+            sw.Reset();
+            _doP1.Value = false;
+            _doP2.Value = false;
+            _doP3.Value = false;
+            _doP4.Value = false;
+            _doOrigin.Value = false;
+
+            _doUp.Value = false;
+            _doDown.Value = false;
+            _doStop.Value = false;
+            _bAlarmReported = false;
+
+        }
+
+
         public void Reset()
         {
             _doReset.Value = true;

+ 10 - 0
FrameworkLocal/RTModuleLibrary/SystemModules/EquipmentManager.cs

@@ -594,6 +594,14 @@ namespace MECF.Framework.RT.ModuleLibrary.SystemModules
             {
             }
 
+            if (FsmState == (int)RtState.AutoRunning)
+            {
+                _auto.Abort();
+                OP.DoOperation("VCEA.SetOffline");
+                OP.DoOperation("VCEB.SetOffline");
+            }
+
+
             return true;
         }
 
@@ -656,6 +664,8 @@ namespace MECF.Framework.RT.ModuleLibrary.SystemModules
 
         private bool fExitAutoTransfer(object[] objs)
         {
+            //Modules[ModuleName.VCEA]?.PostMsg(VceMSG.UnLoad);
+            //Modules[ModuleName.VCEB]?.PostMsg(VceMSG.UnLoad);
             return true;
         }
 

+ 3 - 0
FrameworkLocal/RTModuleLibrary/SystemModules/IAutoTransfer.cs

@@ -4,6 +4,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using Aitex.Core.RT.Routine;
+using MECF.Framework.Common.Equipment;
 
 namespace MECF.Framework.RT.ModuleLibrary.SystemModules.Routines
 {
@@ -25,6 +26,8 @@ namespace MECF.Framework.RT.ModuleLibrary.SystemModules.Routines
         bool ResumeJob(string cjName);
         bool PauseJob(string cjName);
         bool StartJob(string cjName);
+        
+
         void Clear();
         void ModuleError(string moduleName);
         void Map(string lpName);

+ 1 - 1
JetVirgoPM/Config/Recipe/JetVirgoPM/Process/RecipeFormat.xml

@@ -152,7 +152,7 @@
 			<Mfc MfcGas1 ="0" MfcGas2="0" MfcGas3="0" MfcGas4="0" MfcGas5="0"  MfcGas6="0"/>
       <EndPoint  EPD.SetConfig=""/>
 			<SoftTolerance MfcGas1.SoftTolerance ="5" MfcGas2.SoftTolerance="5" MfcGas3.SoftTolerance="5" MfcGas4.SoftTolerance="5" MfcGas5.SoftTolerance="5" MfcGas6.SoftTolerance="5"  PressureControl.SoftTolerance="0" Rf1.SoftTolerance="5"  Rf2.SoftTolerance="5" BiasRf1.SoftTolerance="5"  BiasRf2.SoftTolerance="5" />
-			<HardTolerance MfcGas1.HardTolerance ="10" MfcGas2.HardTolerance="10" MfcGas3.HardTolerance="10" MfcGas4.HardTolerance="10" MfcGas5.HardTolerance="10"  MfcGas6.HardTolerance="10" PressureControl.HardTolerance="0" Rf1.HardTolerance="10" Rf2.HardTolerance="10"  BiasRf1.HardTolerance="10"  BiasRf2.HardTolerance="10" />
+			<HardTolerance MfcGas1.HardTolerance ="0" MfcGas2.HardTolerance="10" MfcGas3.HardTolerance="10" MfcGas4.HardTolerance="10" MfcGas5.HardTolerance="10"  MfcGas6.HardTolerance="10" PressureControl.HardTolerance="0" Rf1.HardTolerance="10" Rf2.HardTolerance="10"  BiasRf1.HardTolerance="10"  BiasRf2.HardTolerance="10" />
 		</Step>
 	</TableRecipeData>
 	<TableRecipeSchema>

+ 1 - 1
JetVirgoPM/Config/Recipe/JetVirgoPM/Process/RecipeFormatPlus.xml

@@ -156,7 +156,7 @@
       <Mfc MfcGas1 ="0" MfcGas2="0" MfcGas3="0" MfcGas4="0" MfcGas5="0"  MfcGas6="0"/>
       <EndPoint  EPD.SetConfig=""/>
       <SoftTolerance MfcGas1.SoftTolerance ="5" MfcGas2.SoftTolerance="5" MfcGas3.SoftTolerance="5" MfcGas4.SoftTolerance="5" MfcGas5.SoftTolerance="5" MfcGas6.SoftTolerance="5"  PressureControl.SoftTolerance="0" Rf1.SoftTolerance="5"  Rf2.SoftTolerance="5" BiasRf1.SoftTolerance="5"  BiasRf2.SoftTolerance="5" />
-      <HardTolerance MfcGas1.HardTolerance ="10" MfcGas2.HardTolerance="10" MfcGas3.HardTolerance="10" MfcGas4.HardTolerance="10" MfcGas5.HardTolerance="10"  MfcGas6.HardTolerance="10" PressureControl.HardTolerance="0" Rf1.HardTolerance="10" Rf2.HardTolerance="10"  BiasRf1.HardTolerance="10"  BiasRf2.HardTolerance="10" />
+      <HardTolerance MfcGas1.HardTolerance ="0" MfcGas2.HardTolerance="10" MfcGas3.HardTolerance="10" MfcGas4.HardTolerance="10" MfcGas5.HardTolerance="10"  MfcGas6.HardTolerance="10" PressureControl.HardTolerance="0" Rf1.HardTolerance="10" Rf2.HardTolerance="10"  BiasRf1.HardTolerance="10"  BiasRf2.HardTolerance="10" />
     </Step>
   </TableRecipeData>
   <TableRecipeSchema>

+ 11 - 4
JetVirgoPM/PMs/PMModule.cs

@@ -2371,16 +2371,23 @@ namespace JetVirgoPM.PMs
                 }
                 else
                 {
-                    if (_chamber.IsSoftPumpOpened)
+                    if (_chamber.ChamberPressurePressure > SC.GetValue<int>($"{Module}.Pump.CrossPressure"))
                     {
-                        if (_chamber.IsFastPumpOpened)
-                            _chamber.OpenValve(ValveType.FAST_PUMP, false);
-
+                        if (!_chamber.IsSoftPumpOpened)
+                        {
+                            _chamber.OpenValve(ValveType.SOFT_PUMP, true);
+                        }
                     }
                     else
                     {
+                        if (_chamber.IsSoftPumpOpened)
+                        {
+                            _chamber.OpenValve(ValveType.SOFT_PUMP, false);
+                        }
+
                         if (!_chamber.IsFastPumpOpened)
                         {
+                            _chamber.FullOpenTV();
                             _chamber.OpenValve(ValveType.FAST_PUMP, true);
                             firstflag = true;
                         }

+ 1 - 1
Mars/EfemDualSchedulerLib/VCEDualAutoTransfer.cs

@@ -978,7 +978,7 @@ namespace EfemDualSchedulerLib
             //逻辑说明:最后一个cycle中出现complete将其vcemodule controljob等从中间剥离
             
             //未整体cycle 但是一边已经做完
-            if (!_isCycleMode && _lstControlJobs.Exists(x=> x.State == EnumControlJobState.Completed))
+            if (!_isCycleMode && CycleIndex == CycleNum && _lstControlJobs.Exists(x=> x.State == EnumControlJobState.Completed))
             {
                 _lstControlJobs.FindAll(x => x.State == EnumControlJobState.Completed).ForEach(ctrljob =>
                 {

+ 2 - 2
Mars/EfemDualSimulator/Views/Simu_HongHuVceView.xaml.cs

@@ -94,13 +94,13 @@ namespace EfemDualSimulator.Views
                         return;
                     case "00,R,MI,S":
                         //两侧全满
-                        //OnWriteMessage("00,X,MI,XXXXXXXXXX,XXXXXXXXXX,XXXXX?????,??????????,XXXXXXXXXX,XXXXXXXXXX,XXXXX?????,??????????" + EOF);
+                        OnWriteMessage("00,X,MI,XXXXXXXXXX,XXXXXXXXXX,XXXXX?????,??????????,XXXXXXXXXX,XXXXXXXXXX,XXXXX?????,??????????" + EOF);
                         //左侧全满
                         //OnWriteMessage("00,X,MI,XXXXXXXXXX,XXXXXXXXXX,XXXXX?????,??????????,0000000000,0000000000,00000?????,??????????" + EOF);
                         //右侧全满
                         //OnWriteMessage("00,X,MI,0000000000,0000000000,00000?????,??????????,XXXXXXXXXX,XXXXXXXXXX,XXXXX?????,??????????" + EOF);
                         //交叉片
-                        OnWriteMessage("00,X,MI,X0X0X0X0X0,X0X0X0X0X0,X0X0X?????,??????????,0X0X0X0X0X,0X0X0X0X0X,0X0X0?????,??????????" + EOF);
+                        //OnWriteMessage("00,X,MI,X0X0X0X0X0,X0X0X0X0X0,X0X0X?????,??????????,0X0X0X0X0X,0X0X0X0X0X,0X0X0?????,??????????" + EOF);
                         //OnWriteMessage("00,X,MI,0000000000,0000000000,XXXXX?????,??????????" + EOF);
                         Thread.Sleep(2000);
                         OnWriteMessage("_RDY" + EOF);