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@@ -1,19 +1,18 @@
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-using Aitex.Core.RT.DataCenter;
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-using Aitex.Core.RT.Device;
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+using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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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 EFEM.RT.Modules;
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using MECF.Framework.Common.Equipment;
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-using MECF.Framework.Common.SubstrateTrackings;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
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namespace EFEM.RT.Devices
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{
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public class EquipmentMonitor : BaseDevice, IDevice
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- {
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+ {
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private readonly RD_TRIG _trigMaintenance = new RD_TRIG();
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private readonly RD_TRIG _airForRobotTrig = new RD_TRIG();
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private readonly RD_TRIG _airForLoadPortTrig = new RD_TRIG();
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@@ -41,7 +40,10 @@ namespace EFEM.RT.Devices
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private readonly bool _MaintenanceMode = DeviceDefineManager.Instance.GetValue<bool>("MaintenanceSignal") ?? false;
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private readonly bool _EfemDoorOpen = DeviceDefineManager.Instance.GetValue<bool>("EfemDoorOpenSignal") ?? false;
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-
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+
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+ private static readonly bool LoadPort1IsDisable = SC.ContainsItem("LoadPort.LP1.Disable") ? SC.GetValue<bool>("LoadPort.LP1.Disable") : true;
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+ private static readonly bool LoadPort2IsDisable = SC.ContainsItem("LoadPort.LP2.Disable") ? SC.GetValue<bool>("LoadPort.LP2.Disable") : true;
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+
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private readonly RD_TRIG _trigWaterLeakNormalTOPM = new RD_TRIG();
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private readonly RD_TRIG _trigCDAPressureOKTOPM = new RD_TRIG();
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@@ -54,14 +56,16 @@ namespace EFEM.RT.Devices
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private uint data2;
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private int _fFUSettingKnob;
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- private readonly int[] _speedTable = new[] { 0,200,300,400,500,550,600,650,700,750,800 };
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+ private readonly int[] _speedTable = new[] { 0, 200, 300, 400, 500, 550, 600, 650, 700, 750, 800 };
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+
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public int IONCDAPressureSWHandler
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{
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- get
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+ get
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{
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return SC.GetValue<int>("System.IONCDAPressureSWHandler");
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}
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}
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+
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public int IONAlarmSIGNALHandler
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{
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get
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@@ -69,6 +73,7 @@ namespace EFEM.RT.Devices
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return SC.GetValue<int>("System.IONAlarmSIGNALHandler");
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}
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}
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+
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public int WaterFlowSWHandler
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{
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get
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@@ -76,6 +81,7 @@ namespace EFEM.RT.Devices
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return SC.GetValue<int>("System.WaterFlowSWHandler");
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}
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}
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+
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public RD_TRIG TrigMaintenance
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{
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get
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@@ -124,7 +130,6 @@ namespace EFEM.RT.Devices
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}
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}
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-
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public RD_TRIG SensorFlowWarning
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{
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get
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@@ -132,6 +137,7 @@ namespace EFEM.RT.Devices
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return _flowWarningTrig;
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}
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}
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+
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public RD_TRIG LeakWarningTrig
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{
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get
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@@ -140,7 +146,6 @@ namespace EFEM.RT.Devices
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}
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}
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-
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public R_TRIG SignalTowerTrig
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{
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get
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@@ -148,12 +153,14 @@ namespace EFEM.RT.Devices
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return signalTowerTrig;
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}
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}
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+
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public enum HandlerState
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{
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ByPass,
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ON,
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OFF
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}
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+
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public EquipmentMonitor() :
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base("System", "EquipmentMonitor", "EquipmentMonitor", "EquipmentMonitor")
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{
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@@ -165,81 +172,64 @@ namespace EFEM.RT.Devices
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//{
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// DeviceModel.TrigLEDLight.SetTrigger(true, out _);
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//}
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-
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- Subscriptions();
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+
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+ Subscriptions();
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return true;
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}
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private bool _StopIonizerWork;
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+
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public bool StopIonizerWork
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{
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get
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- {
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- if(SC.ContainsItem("System.StopIonizerWorkingEnable"))
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- return SC.GetValue<bool>("System.StopIonizerWorkingEnable");
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+ {
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+ if (SC.ContainsItem("System.StopIonizerWorkingEnable"))
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+ return SC.GetValue<bool>("System.StopIonizerWorkingEnable");
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return false;
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}
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set
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- {
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- _StopIonizerWork = value;
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+ {
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+ _StopIonizerWork = value;
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}
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}
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private readonly R_TRIG _trigStopIonizerAtFirst = new R_TRIG();
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+
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public void Monitor()
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{
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- if (!_noMaintenanceSignal && !_noNoDoorOpenSignal)
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- {
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- _trigMaintenance.CLK = (_MaintenanceMode ? DeviceModel.SensorMaintenanceMode.Value : !DeviceModel.SensorMaintenanceMode.Value)
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- || (_EfemDoorOpen ? DeviceModel.SensorEFEMSideDoorClosed.Value : !DeviceModel.SensorEFEMSideDoorClosed.Value)
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- /*|| DeviceModel.SensorTeachingPendantInUse.Value*/;
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- }
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-
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if (_flowWarningTrig.T) EV.PostMessage("System", EventEnum.DefaultAlarm, "Flow Warning");
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if (_leakWarningTrig.R) EV.PostMessage("System", EventEnum.DefaultAlarm, "Leak Warning");
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-
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if (_airForRobotTrig.R) EV.PostMessage("System", EventEnum.DefaultAlarm, "Air supply for Robot pressure error");
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if (_airForLoadPortTrig.R) EV.PostMessage("System", EventEnum.DefaultAlarm, "Air supply for Load Port pressure error");
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if (_vacuumErrorTrig.R) EV.PostMessage("System", EventEnum.DefaultAlarm, "Vacuum supply for system pressure error");
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+ if (_airForRobotTrig.R || _airForLoadPortTrig.R || _vacuumErrorTrig.R)
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+ Singleton<RouteManager>.Instance.PostMsg(RouteManager.MSG.ERROR);
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//if (_ffu1ErrorTrig.R) EV.PostMessage("System", EventEnum.DefaultAlarm, "FFU1 error");
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//if (_ffu2ErrorTrig.R) EV.PostMessage("System", EventEnum.DefaultAlarm, "FFU1 error");
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- if(_airForRobotTrig.R || _airForLoadPortTrig.R || _vacuumErrorTrig.R)
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- Singleton<RouteManager>.Instance.PostMsg(RouteManager.MSG.ERROR);
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-
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- if (_trigMaintenance.R) Singleton<RouteManager>.Instance.PostMsg(RouteManager.MSG.SetMaintenanceMode);
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+ //_fFUSettingKnob = SC.ContainsItem("System.FFUSpeedSet") ? SC.GetValue<int>("System.FFUSpeedSet") : 3;
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+ //DeviceModel.TrigRobotAndPreAlignerHold.SetTrigger(!_trigMaintenance.M, out _);
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+ //_trigRobotWafer.CLK = DeviceModel.SensorRobotFork1WaferOn.Value;
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- if (_trigMaintenance.T) Singleton<RouteManager>.Instance.PostMsg(RouteManager.MSG.SetManualMode);
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+ #region Seperate Monitor for EFEM Num
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- if (SC.GetStringValue("System.EFEMNUM") == "005")
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- {
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- _trigWaterLeakNormalTOPM.CLK = DeviceModel.SensorEFEMPowerON.Value && DeviceModel.SensorWaterLeakSW.Value;
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- if (_trigWaterLeakNormalTOPM.R)
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- {
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- DeviceModel.TrigWaterLeakOkToPM.SetTrigger(true, out _);
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- }
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- if (_trigWaterLeakNormalTOPM.T)
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- {
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- DeviceModel.TrigWaterLeakOkToPM.SetTrigger(false, out _);
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- }
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+ string efemNum = SC.GetStringValue("System.EFEMNUM") ?? "";
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+ MonitorByEfemNum(efemNum);
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- _trigCDAPressureOKTOPM.CLK = DeviceModel.SensorEFEMPowerON.Value && DeviceModel.SensorCDAPressureSW.Value;
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- if (_trigCDAPressureOKTOPM.R)
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- {
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- DeviceModel.TrigCDAPressureOkToPM.SetTrigger(true, out _);
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- }
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- if (_trigCDAPressureOKTOPM.T)
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- {
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- DeviceModel.TrigCDAPressureOkToPM.SetTrigger(false, out _);
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- }
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- }
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+ #endregion Seperate Monitor for EFEM Num
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- _fFUSettingKnob = SC.ContainsItem("System.FFUSpeedSet") ? SC.GetValue<int>("System.FFUSpeedSet") : 3;
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+ #region Common Monitor
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- //DeviceModel.TrigRobotAndPreAlignerHold.SetTrigger(!_trigMaintenance.M, out _);
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- //_trigRobotWafer.CLK = DeviceModel.SensorRobotFork1WaferOn.Value;
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-
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- _trigStopIonizerAtFirst.CLK = true;
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+ //Maintance Mode监控
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+ if (!_noMaintenanceSignal && !_noNoDoorOpenSignal)
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+ {
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+ _trigMaintenance.CLK = (_MaintenanceMode ? DeviceModel.SensorMaintenanceMode.Value : !DeviceModel.SensorMaintenanceMode.Value)
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+ || (_EfemDoorOpen ? DeviceModel.SensorEFEMSideDoorClosed.Value : !DeviceModel.SensorEFEMSideDoorClosed.Value)
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+ /*|| DeviceModel.SensorTeachingPendantInUse.Value*/;
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+ }
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+ if (_trigMaintenance.R) Singleton<RouteManager>.Instance.PostMsg(RouteManager.MSG.SetMaintenanceMode);
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+ if (_trigMaintenance.T) Singleton<RouteManager>.Instance.PostMsg(RouteManager.MSG.SetManualMode);
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+ _trigStopIonizerAtFirst.CLK = true;
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if (_trigStopIonizerAtFirst.Q)
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{
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//if (DeviceModel.TrigIonizerInterrupt!=null&& SC.ContainsItem("System.StopIonizerWorkingEnable"))
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@@ -247,7 +237,7 @@ namespace EFEM.RT.Devices
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// if (DeviceModel.TrigIonizerInterrupt.Value != SC.GetValue<bool>("System.StopIonizerWorkingEnable"))
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// SC.SetItemValue("System.StopIonizerWorkingEnable", DeviceModel.TrigIonizerInterrupt.Value);
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//}
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- if (SC.GetValue<int>("LoadPort.LP1.CstType")==1)
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+ if (SC.GetValue<int>("LoadPort.LP1.CstType") == 1)
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{
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if (DeviceModel.SensorCstDoorClosed.Value && !DEVICE.GetDevice<LoadPortBaseDevice>(ModuleName.LP1.ToString()).IsWaferProtrude)
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{
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@@ -256,7 +246,7 @@ namespace EFEM.RT.Devices
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}
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}
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-
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+ //IonizerInterrupt 监控
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if (DeviceModel.TrigIonizerInterrupt != null && !DeviceModel.TrigIonizerInterrupt.Value)
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{
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//_trigIONAlarmSIGNAL.CLK = DeviceModel.SensorIONAlarmSIGNAL == null ? false : !DeviceModel.SensorIONAlarmSIGNAL.Value;
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@@ -275,6 +265,7 @@ namespace EFEM.RT.Devices
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}
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}
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break;
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+
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case (int)HandlerState.OFF:
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{
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_trigIONAlarmSIGNALON.CLK = !DeviceModel.SensorIONAlarmSIGNAL.Value;
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@@ -285,20 +276,16 @@ namespace EFEM.RT.Devices
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}
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break;
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}
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-
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}
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- //else
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- // _trigIONAlarmSIGNAL.RST = true;
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-
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if (DeviceModel.TrigIonizerInterrupt != null && DeviceModel.TrigIonizerInterrupt.Value != StopIonizerWork)
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- {
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- DeviceModel.TrigIonizerInterrupt.SetTrigger(StopIonizerWork, out _);
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+ {
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+ DeviceModel.TrigIonizerInterrupt.SetTrigger(StopIonizerWork, out _);
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}
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-
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+ //Online Mode 监控
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if (Singleton<EfemEntity>.Instance.IsOnlineMode)
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{
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- if(_trigMaintenance.R || _trigMaintenance.T ||
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+ if (_trigMaintenance.R || _trigMaintenance.T ||
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_airForLoadPortTrig.R || _airForLoadPortTrig.T ||
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_airForRobotTrig.R || _airForRobotTrig.T ||
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_vacuumErrorTrig.R || _vacuumErrorTrig.T ||
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@@ -313,6 +300,7 @@ namespace EFEM.RT.Devices
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}
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}
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+ //IONCDAPressureSW 监控
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if (DeviceModel.SensorIONCDAPressureSW != null)
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{
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switch (IONCDAPressureSWHandler)
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@@ -326,6 +314,7 @@ namespace EFEM.RT.Devices
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}
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}
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break;
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+
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case (int)HandlerState.OFF:
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{
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_trigIONCDAPressureOFF.CLK = !DeviceModel.SensorIONCDAPressureSW.Value;
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@@ -337,8 +326,9 @@ namespace EFEM.RT.Devices
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break;
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}
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}
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-
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- if(DeviceModel.SensorWaterFlowSW != null)
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+
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+ //WaterFlowSW 监控
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+ if (DeviceModel.SensorWaterFlowSW != null)
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{
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switch (WaterFlowSWHandler)
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{
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@@ -351,6 +341,7 @@ namespace EFEM.RT.Devices
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}
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}
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break;
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+
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case (int)HandlerState.OFF:
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{
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_trigWaterFlowSWOFF.CLK = !DeviceModel.SensorWaterFlowSW.Value;
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@@ -362,7 +353,8 @@ namespace EFEM.RT.Devices
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break;
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}
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}
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-
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+
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+ //SignalTower监控
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if (signalTowerTrig.Q)
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{
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data2 = Singleton<EfemEntity>.Instance.GetSigStatData2(ModuleName.System);
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@@ -371,102 +363,7 @@ namespace EFEM.RT.Devices
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Singleton<EfemEntity>.Instance.SendSigStatEvent(ModuleName.System);
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}
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- //DO_RobotSafetyToLP1触发逻辑
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- //if (DeviceModel.SensorLP1OperationStatus != null && DeviceModel.SensorLP1FoupOpen != null && DeviceModel.SensorLP1FoupPlacement != null && DeviceModel.SensorLP1Presence != null
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- // && DeviceModel.SensorLP1Ready != null && DeviceModel.SensorRobotEMStoEFEM != null && DeviceModel.SensorGratingSensorIN1 != null && DeviceModel.TrigSafetytoSMIF1 != null)
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- //{
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- // if (DeviceModel.SensorLP1OperationStatus.Value && DeviceModel.SensorLP1FoupOpen.Value && DeviceModel.SensorLP1FoupPlacement.Value
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- // && DeviceModel.SensorLP1Presence.Value && DeviceModel.SensorLP1Ready.Value
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- // && DeviceModel.SensorRobotEMStoEFEM.Value && DeviceModel.SensorGratingSensorIN1.Value)
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- // {
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- // if (!DeviceModel.TrigSafetytoSMIF1.Value)
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- // {
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- // DeviceModel.TrigSafetytoSMIF1.SetTrigger(true, out _);
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- // LOG.Write("Sensor LP1 related signal change,set DO_RobotSafetyToLP1 signal on.");
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- // }
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-
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- // }
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- // else
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- // {
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- // if (DeviceModel.TrigSafetytoSMIF1.Value)
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- // {
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- // DeviceModel.TrigSafetytoSMIF1.SetTrigger(false, out _);
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- // LOG.Write("Sensor LP1 related signal change,set DO_RobotSafetyToLP1 signal off.");
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- // }
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- // }
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- //}
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-
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- //DO_RobotSafetyToLP2触发逻辑
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- //if (DeviceModel.SensorLP2OperationStatus != null && DeviceModel.SensorLP2FoupOpen != null && DeviceModel.SensorLP2FoupPlacement != null && DeviceModel.SensorLP2Presence != null
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- // && DeviceModel.SensorLP2Ready != null && DeviceModel.SensorRobotEMStoEFEM != null && DeviceModel.SensorGratingSensorIN1 != null && DeviceModel.TrigSafetytoSMIF2 != null)
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- //{
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- // if (DeviceModel.SensorLP2OperationStatus.Value && DeviceModel.SensorLP2FoupOpen.Value && DeviceModel.SensorLP2FoupPlacement.Value
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- // && DeviceModel.SensorLP2Presence.Value && DeviceModel.SensorLP2Ready.Value
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- // && DeviceModel.SensorRobotEMStoEFEM.Value && DeviceModel.SensorGratingSensorIN1.Value)
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- // {
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- // if (!DeviceModel.TrigSafetytoSMIF2.Value)
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- // {
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- // DeviceModel.TrigSafetytoSMIF2.SetTrigger(true, out _);
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- // LOG.Write("Sensor LP2 related signal change,set DO_RobotSafetyToLP2 signal on.");
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- // }
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- // }
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- // else
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- // {
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- // if (DeviceModel.TrigSafetytoSMIF2.Value)
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- // {
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- // DeviceModel.TrigSafetytoSMIF2.SetTrigger(false, out _);
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- // LOG.Write("Sensor LP2 related signal change,set DO_RobotSafetyToLP2 signal off.");
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- // }
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-
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- // }
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- //}
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-
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- //DO_EnableToOperateLP1触发逻辑
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- if(DeviceModel.TrigEnableToOperateLP1 != null)
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- {
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- if (SC.ContainsItem("LoadPort.LP1.Disable") ? !SC.GetValue<bool>("LoadPort.LP1.Disable") : false
|
|
|
- && Singleton<RouteManager>.Instance.IsRunning)
|
|
|
- {
|
|
|
- if (!DeviceModel.TrigEnableToOperateLP1.Value)
|
|
|
- {
|
|
|
- DeviceModel.TrigEnableToOperateLP1.SetTrigger(true, out _);
|
|
|
- LOG.Write("Sensor LP1 related signal change,set DO_EnableToOperateLP1 signal on.");
|
|
|
- }
|
|
|
-
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- if (DeviceModel.TrigEnableToOperateLP1.Value)
|
|
|
- {
|
|
|
- DeviceModel.TrigEnableToOperateLP1.SetTrigger(false, out _);
|
|
|
- LOG.Write("Sensor LP1 related signal change,set DO_EnableToOperateLP1 signal on.");
|
|
|
- }
|
|
|
-
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- //DO_EnableToOperateLP2触发逻辑
|
|
|
- if (DeviceModel.TrigEnableToOperateLP2 != null)
|
|
|
- {
|
|
|
- if (SC.ContainsItem("LoadPort.LP2.Disable") ? !SC.GetValue<bool>("LoadPort.LP2.Disable") : false
|
|
|
- && Singleton<RouteManager>.Instance.IsRunning)
|
|
|
- {
|
|
|
- if (!DeviceModel.TrigEnableToOperateLP2.Value)
|
|
|
- {
|
|
|
- DeviceModel.TrigEnableToOperateLP2.SetTrigger(true, out _);
|
|
|
- LOG.Write("Sensor LP2 related signal change,set DO_EnableToOperateLP2 signal on.");
|
|
|
- }
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- if (DeviceModel.TrigEnableToOperateLP2.Value)
|
|
|
- {
|
|
|
- DeviceModel.TrigEnableToOperateLP2.SetTrigger(false, out _);
|
|
|
- LOG.Write("Sensor LP2 related signal change,set DO_EnableToOperateLP2 signal on.");
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
+ #endregion Common Monitor
|
|
|
}
|
|
|
|
|
|
public void Terminate()
|
|
|
@@ -486,17 +383,153 @@ namespace EFEM.RT.Devices
|
|
|
_trigIONAlarmSIGNALON.RST = true;
|
|
|
_trigIONAlarmSIGNALOFF.RST = true;
|
|
|
}
|
|
|
-
|
|
|
-
|
|
|
+
|
|
|
private void Subscriptions()
|
|
|
{
|
|
|
-
|
|
|
-
|
|
|
//DATA.Subscribe("Robot.WaferSize", () =>
|
|
|
// {
|
|
|
// return WaferManager.Instance.GetWaferSize(ModuleName.Robot, 0).ToString();
|
|
|
// });
|
|
|
}
|
|
|
-
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// 不同型号的EFEM监控
|
|
|
+ /// </summary>
|
|
|
+ private void MonitorByEfemNum(string efemNum)
|
|
|
+ {
|
|
|
+ if (efemNum.Equals("005"))
|
|
|
+ {
|
|
|
+ _trigWaterLeakNormalTOPM.CLK = DeviceModel.SensorEFEMPowerON.Value && DeviceModel.SensorWaterLeakSW.Value;
|
|
|
+ if (_trigWaterLeakNormalTOPM.R)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigWaterLeakOkToPM.SetTrigger(true, out _);
|
|
|
+ }
|
|
|
+ if (_trigWaterLeakNormalTOPM.T)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigWaterLeakOkToPM.SetTrigger(false, out _);
|
|
|
+ }
|
|
|
+
|
|
|
+ _trigCDAPressureOKTOPM.CLK = DeviceModel.SensorEFEMPowerON.Value && DeviceModel.SensorCDAPressureSW.Value;
|
|
|
+ if (_trigCDAPressureOKTOPM.R)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigCDAPressureOkToPM.SetTrigger(true, out _);
|
|
|
+ }
|
|
|
+ if (_trigCDAPressureOKTOPM.T)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigCDAPressureOkToPM.SetTrigger(false, out _);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else if (efemNum.Equals("006"))
|
|
|
+ {
|
|
|
+ //DO_RobotSafetyToLP1触发逻辑
|
|
|
+ if (!LoadPort1IsDisable && DeviceModel.SensorLP1OperationStatus != null && DeviceModel.SensorLP1FoupOpen != null && DeviceModel.SensorLP1FoupPlacement != null && DeviceModel.SensorLP1Presence != null
|
|
|
+ && DeviceModel.SensorLP1Ready != null && DeviceModel.SensorRobotEMStoEFEM != null && DeviceModel.SensorGratingSensorIN1 != null && DeviceModel.TrigSafetytoSMIF1 != null)
|
|
|
+ {
|
|
|
+ if (DeviceModel.SensorLP1OperationStatus.Value && DeviceModel.SensorLP1FoupOpen.Value && DeviceModel.SensorLP1FoupPlacement.Value
|
|
|
+ && DeviceModel.SensorLP1Presence.Value && DeviceModel.SensorLP1Ready.Value
|
|
|
+ && DeviceModel.SensorRobotEMStoEFEM.Value && DeviceModel.SensorGratingSensorIN1.Value)
|
|
|
+ {
|
|
|
+ if (!DeviceModel.TrigSafetytoSMIF1.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigSafetytoSMIF1.SetTrigger(true, out _);
|
|
|
+ LOG.Write("Sensor LP1 related signal change,set DO_RobotSafetyToLP1 signal on.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (DeviceModel.TrigSafetytoSMIF1.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigSafetytoSMIF1.SetTrigger(false, out _);
|
|
|
+ LOG.Write("Sensor LP1 related signal change,set DO_RobotSafetyToLP1 signal off.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ //DO_RobotSafetyToLP2触发逻辑
|
|
|
+ if (!LoadPort2IsDisable && DeviceModel.SensorLP2OperationStatus != null && DeviceModel.SensorLP2FoupOpen != null && DeviceModel.SensorLP2FoupPlacement != null && DeviceModel.SensorLP2Presence != null
|
|
|
+ && DeviceModel.SensorLP2Ready != null && DeviceModel.SensorRobotEMStoEFEM != null && DeviceModel.SensorGratingSensorIN1 != null && DeviceModel.TrigSafetytoSMIF2 != null)
|
|
|
+ {
|
|
|
+ if (DeviceModel.SensorLP2OperationStatus.Value && DeviceModel.SensorLP2FoupOpen.Value && DeviceModel.SensorLP2FoupPlacement.Value
|
|
|
+ && DeviceModel.SensorLP2Presence.Value && DeviceModel.SensorLP2Ready.Value
|
|
|
+ && DeviceModel.SensorRobotEMStoEFEM.Value && DeviceModel.SensorGratingSensorIN1.Value)
|
|
|
+ {
|
|
|
+ if (!DeviceModel.TrigSafetytoSMIF2.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigSafetytoSMIF2.SetTrigger(true, out _);
|
|
|
+ LOG.Write("Sensor LP2 related signal change,set DO_RobotSafetyToLP2 signal on.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (DeviceModel.TrigSafetytoSMIF2.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigSafetytoSMIF2.SetTrigger(false, out _);
|
|
|
+ LOG.Write("Sensor LP2 related signal change,set DO_RobotSafetyToLP2 signal off.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ //DO_EnableToOperateLP1触发逻辑
|
|
|
+ if (!LoadPort1IsDisable && DeviceModel.TrigEnableToOperateLP1 != null)
|
|
|
+ {
|
|
|
+ if ((SC.ContainsItem("LoadPort.LP1.Disable") ? !SC.GetValue<bool>("LoadPort.LP1.Disable") : false)
|
|
|
+ && Singleton<RouteManager>.Instance.IsRunning)
|
|
|
+ {
|
|
|
+ if (!DeviceModel.TrigEnableToOperateLP1.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigEnableToOperateLP1.SetTrigger(true, out _);
|
|
|
+ LOG.Write("Sensor LP1 related signal change,set DO_EnableToOperateLP1 signal on.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (DeviceModel.TrigEnableToOperateLP1.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigEnableToOperateLP1.SetTrigger(false, out _);
|
|
|
+ LOG.Write("Sensor LP1 related signal change,set DO_EnableToOperateLP1 signal on.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ //DO_EnableToOperateLP2触发逻辑
|
|
|
+ if (!LoadPort2IsDisable && DeviceModel.TrigEnableToOperateLP2 != null)
|
|
|
+ {
|
|
|
+ if ((SC.ContainsItem("LoadPort.LP2.Disable") ? !SC.GetValue<bool>("LoadPort.LP2.Disable") : false)
|
|
|
+ && Singleton<RouteManager>.Instance.IsRunning)
|
|
|
+ {
|
|
|
+ if (!DeviceModel.TrigEnableToOperateLP2.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigEnableToOperateLP2.SetTrigger(true, out _);
|
|
|
+ LOG.Write("Sensor LP2 related signal change,set DO_EnableToOperateLP2 signal on.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (DeviceModel.TrigEnableToOperateLP2.Value)
|
|
|
+ {
|
|
|
+ DeviceModel.TrigEnableToOperateLP2.SetTrigger(false, out _);
|
|
|
+ LOG.Write("Sensor LP2 related signal change,set DO_EnableToOperateLP2 signal on.");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ }
|
|
|
+ //Pause / Resume to Robot触发逻辑(----------待完善----------)
|
|
|
+ //if (DeviceModel.SensorGratingSensorIN1 != null && DeviceModel.SensorRBNotExtendSIMF1 != null && DeviceModel.SensorRBNotExtendSIMF1 != null
|
|
|
+ // && DeviceModel.SensorPAorFLPDoorClosed != null)
|
|
|
+ //{
|
|
|
+ // if (true)
|
|
|
+ // {
|
|
|
+ // if (DeviceModel.TrigPauseResumetoRobot.Value)
|
|
|
+ // {
|
|
|
+ // DeviceModel.TrigPauseResumetoRobot.SetTrigger(false, out _);
|
|
|
+ // }
|
|
|
+
|
|
|
+ // if (!DeviceModel.TrigPauseResumetoRobot.Value)
|
|
|
+ // {
|
|
|
+ // DeviceModel.TrigPauseResumetoRobot.SetTrigger(true, out _);
|
|
|
+ // }
|
|
|
+ // }
|
|
|
+ //}
|
|
|
+ }
|
|
|
+ }
|
|
|
}
|
|
|
}
|
