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@@ -4,6 +4,7 @@ using Aitex.Core.RT.Routine;
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using Aitex.Core.Util;
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using MECF.Framework.Common.Beckhoff.AxisProvider;
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using MECF.Framework.Common.Beckhoff.Station;
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+using MECF.Framework.Common.CommonData.PowerSupplier;
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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.SubstrateTrackings;
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@@ -13,9 +14,12 @@ using PunkHPX8_Core;
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using PunkHPX8_RT.Devices.AXIS;
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using PunkHPX8_RT.Devices.Facilities;
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using PunkHPX8_RT.Devices.PlatingCell;
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+using PunkHPX8_RT.Devices.PowerSupplier;
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using PunkHPX8_RT.Modules.Reservoir;
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+using SecsGem.Core.ItemModel;
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using System;
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using System.Collections.Generic;
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+using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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@@ -38,8 +42,12 @@ namespace PunkHPX8_RT.Modules.PlatingCell
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VerticalGotoPlate,
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WaitEntryCurrentProtectedFromRinse,
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WaitEntryCurrentProtectedFromHome,
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- EntryCurrentProtected,
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- CheckVertical,
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+ RunPowerStepWithEntryProtect,
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+ CheckVerticalGotoPlate,
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+ AngleVertical,
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+ WaitPlatingDelay,
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+ RunPowerStep,
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+ RunPowerStepWait,
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End
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}
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#region 常量
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@@ -101,7 +109,33 @@ namespace PunkHPX8_RT.Modules.PlatingCell
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/// <summary>
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/// run recipe 过程中电机会停的位置（需要根据recipe计算出来）
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/// </summary>
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- private List<int> _targetPositionList = new List<int>();
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+ private List<int> _targetPositionList = new List<int>();
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+
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+
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+ #region 电镀通电相关
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+ /// <summary>
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+ /// PlatingDelay计时
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+ /// </summary>
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+ private DateTime _hotPlatingRunTime;
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+ /// <summary>
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+ /// 不通电
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+ /// </summary>
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+ private bool _isZeroCurrent = false;
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+ /// <summary>
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+ /// 通电时长
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+ /// </summary>
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+ private int _totalMicrosecond = 0;
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+ /// <summary>
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+ /// Power 集合
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+ /// </summary>
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+ List<PowerSupplierStepPeriodData> _powerSupplierStepPeriodDatas = new List<PowerSupplierStepPeriodData>();
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+ /// <summary>
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+ /// 记录dep recipe中出现的最大电流，用于启动电源前切换挡位
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+ /// </summary>
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+ private double _maxCurrent = 0;
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+ #endregion
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+
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+
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#endregion
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/// <summary>
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/// 构造函数
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@@ -124,25 +158,77 @@ namespace PunkHPX8_RT.Modules.PlatingCell
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/// <returns></returns>
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public RState Monitor()
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{ //vertical去rinse位置
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- Runner.RunIf(RunRecipeStep.VerticalGotoRinse, _recipe.RinseBeforeEntryEnable, () => { return StartVertical("Rinse",_recipe.IntervalRinseZoffset); }, _delay_1ms)
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+ Runner.RunIf(RunRecipeStep.VerticalGotoRinse, _recipe.RinseBeforeEntryEnable, () => { return StartVertical("Rinse", _recipe.IntervalRinseZoffset); }, _delay_1ms)
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.WaitWithStopConditionIf(RunRecipeStep.CheckVerticalGotoRinse, _recipe.RinseBeforeEntryEnable, CheckVerticalEnd, CheckVerticalError)
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- //执行interval rinse
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+ //执行interval rinse
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.RunIf(RunRecipeStep.InterRinse, _recipe.RinseBeforeEntryEnable, () => { return _interRinseRoutine.Start(_recipe, _rotationAxis, _device, _rotationProviderAxis, _targetPositionList[0]) == RState.Running; })
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.WaitWithStopConditionIf(RunRecipeStep.CheckInterRinse, _recipe.RinseBeforeEntryEnable, CheckInterRinseEndStatus,
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() => CommonFunction.CheckRoutineStopState(_interRinseRoutine))
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- //启动Rotation/Rotation 设置为entry 转速
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- .RunIf(RunRecipeStep.RotationStartEntry, !_recipe.RinseBeforeEntryEnable, RotationStartEntry, _delay_1ms) //没有intercal rinse 在entry开始的时候启动rotation
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- .RunIf(RunRecipeStep.RotationChangeToEntrySpeed, _recipe.RinseBeforeEntryEnable, () => { return ChangeSpeed(_recipe.EntrySpinSpeed); }, _delay_1ms) //有intercal rinse 直接变速
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+ //启动Rotation/Rotation 设置为entry 转速 （没有intercal rinse 在entry开始的时候启动rotation）
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+ .RunIf(RunRecipeStep.RotationStartEntry, !_recipe.RinseBeforeEntryEnable, RotationStartEntry, _delay_1ms)
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+ //有intercal rinse 直接变速 （rotation在interval rinse的时候已经启动了）
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+ .RunIf(RunRecipeStep.RotationChangeToEntrySpeed, _recipe.RinseBeforeEntryEnable, () => { return ChangeSpeed(_recipe.EntrySpinSpeed); }, _delay_1ms)
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//Angle tilt 操作
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- .Run(RunRecipeStep.AngleTilt, _device.HeadtTiltAction, () => { return _device.PlatingCellDeviceData.HeadTilt; }, _delay_1s)
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+ .Run(RunRecipeStep.AngleTilt, _device.HeadtTiltAction, () => { return _device.PlatingCellDeviceData.IsHeadTilt; }, _delay_1s)
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+ //vertical goto plate
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.Run(RunRecipeStep.VerticalGotoPlate, () => { return StartVertical("Plate", _recipe.EntryZoffset); }, _delay_1ms)
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- .DelayIf(RunRecipeStep.WaitEntryCurrentProtectedFromRinse, !_recipe.RinseBeforeEntryEnable,CalculateVerticaMoveTime("Rinse","Entry") - 110 > 0 ? CalculateVerticaMoveTime("Rinse", "Entry"):0) //提前110ms，多10ms
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- .DelayIf(RunRecipeStep.WaitEntryCurrentProtectedFromHome, _recipe.RinseBeforeEntryEnable,CalculateVerticaMoveTime("Home","Entry") - 110 > 0 ? CalculateVerticaMoveTime("Home", "Entry") : 0)
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-
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+ //vertical 到达entry位置前110ms
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+ .DelayIf(RunRecipeStep.WaitEntryCurrentProtectedFromRinse, !_recipe.RinseBeforeEntryEnable, CalculateVerticaMoveTime("Rinse", "Entry") - 110 > 0 ? CalculateVerticaMoveTime("Rinse", "Entry") : 0) //提前110ms，多10ms
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+ .DelayIf(RunRecipeStep.WaitEntryCurrentProtectedFromHome, _recipe.RinseBeforeEntryEnable, CalculateVerticaMoveTime("Home", "Entry") - 110 > 0 ? CalculateVerticaMoveTime("Home", "Entry") : 0)
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+ //有上电保护，此刻给电
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+ .RunIf(RunRecipeStep.RunPowerStepWithEntryProtect, !_recipe.IsEntryTypeCold,StartPowerStep, _delay_1ms)
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+ //检查vertical到达plate位置
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+ .WaitWithStopCondition(RunRecipeStep.CheckVerticalGotoPlate, CheckVerticalEnd, CheckVerticalError)
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+ //Angle vertical操作
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+ .Run(RunRecipeStep.AngleVertical, _device.HeadtVerticalAction, () => { return _device.PlatingCellDeviceData.IsHeadVertical; }, _delay_1s)
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+ //如果不需要上电保护，执行plating delay
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+ .RunIf(RunRecipeStep.WaitPlatingDelay, _recipe.IsEntryTypeCold, NullFun, _recipe.PlatingDelay)
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+ //没有上电保护，此刻给电
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+ .RunIf(RunRecipeStep.RunPowerStep, _recipe.IsEntryTypeCold, StartPowerStep, _delay_1ms)
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+ .WaitWithStopCondition(RunRecipeStep.RunPowerStepWait, CheckRecipeStepEndStatus, CheckRecipeStepStopStatus, _delay_1ms)
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.End(RunRecipeStep.End, NullFun);
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return Runner.Status;
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}
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/// <summary>
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+ /// 启动PowerSupplier
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool StartPowerStep()
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+ {
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+ bool result = _device.PowerSupplier.StartSetStepPeriodNoWaitEnd(_powerSupplierStepPeriodDatas);
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+ if (!result)
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+ {
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+ _device.PowerSupplier.DisableOperation("", null);
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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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+ /// 检验Powerstep是否启动完成
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckRecipeStepEndStatus()
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+ {
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+ if (_isZeroCurrent)
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+ {
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+ return true;
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+ }
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+ return _device.PowerSupplier.Status == RState.End;
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+
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+ }
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+ /// <summary>
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+ /// 检验Powerstep是否启动失败
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckRecipeStepStopStatus()
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+ {
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+ if (_isZeroCurrent)
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+ {
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+ return false;
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+ }
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+ return _device.PowerSupplier.Status == RState.Failed || _device.PowerSupplier.Status == RState.Timeout;
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+ }
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+ /// <summary>
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/// 计算vertical 从一个位置移动到另一个位置用时
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/// </summary>
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/// <param name="sourceLocation"></param>
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@@ -279,12 +365,63 @@ namespace PunkHPX8_RT.Modules.PlatingCell
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return RState.Failed;
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}
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CalculatVerticalPosition(_recipe);
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+ UpdatePowerStepDatas();
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_currentCycle = 0;
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return Runner.Start(Module, "Run Recipe");
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}
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/// <summary>
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+ /// 初始化Power step步骤
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+ /// </summary>
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+ private bool UpdatePowerStepDatas()
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+ {
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+ _isZeroCurrent = false;
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+ double current = 0;
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+ _totalMicrosecond = 0;
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+ _powerSupplierStepPeriodDatas.Clear();
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+ if (!_recipe.IsEntryTypeCold)//如果entry带上电保护，那么把上电保护的部分加到步阶电流的第一步
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+ {
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+ PowerSupplierStepPeriodData step = new PowerSupplierStepPeriodData(); //上电保护时间（提前上电时间+延迟时间）
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+ step.Hour = 0;
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+ step.Minute = (ushort)((_recipe.PlatingDelay) / 60);
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+ step.Second = (ushort)(_recipe.PlatingDelay % 60);
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+ step.Microsecond = 110; //到达entry位置提前100ms上电，提前一丢丢
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+ step.Voltage = _recipe.DepMaxVoltageWarning;
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+ _powerSupplierStepPeriodDatas.Add(step);
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+
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+ }
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+ foreach (var item in _recipe.DepSteps)
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+ {
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+ PowerSupplierStepPeriodData step = new PowerSupplierStepPeriodData();
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+ step.Current = item.CurrentValue;
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+ if(item.CurrentValue > _maxCurrent)
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+ {
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+ _maxCurrent = item.CurrentValue;
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+ }
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+ step.Hour = (ushort)(item.DurartionSeconds / 3600);
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+ step.Minute = (ushort)((item.DurartionSeconds - step.Hour * 3600) / 60);
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+ step.Second = (ushort)(item.DurartionSeconds % 60);
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+ step.Microsecond = 0;
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+ step.Voltage = _recipe.DepMaxVoltageWarning;
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+ _powerSupplierStepPeriodDatas.Add(step);
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+ current += step.Current;
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+ _totalMicrosecond += item.DurartionSeconds * 1000;
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+ }
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+ if (current == 0)
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+ {
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+ _isZeroCurrent = true;
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+ }
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+ if(_maxCurrent > 0.6) //设置电源挡位，有超过0.6A的电流则用高档，否则用中挡
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+ {
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+ return _device.PowerSupplier.SetPowerGrade("set power grade high", new object[] { 2 });
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+ }
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+ else
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+ {
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+ return _device.PowerSupplier.SetPowerGrade("set power grade high", new object[] { 1 });
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+ }
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+ }
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+ /// <summary>
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/// 根据dep recipe计算出整个电镀过程中Rotation profile position可能去到的位置
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/// </summary>
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private void CalculatVerticalPosition(DepRecipe recipe)
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