ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/YaskawaRobots/YaskawaRobot.cs

using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Text;
using System.Threading;
using EventType = Aitex.Core.RT.Event.EventType;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.YaskawaRobots
{
    public class YaskawaSR100Robot : RobotBaseDevice, IConnection
    {
        public int UnitNumber
        {
            get; private set;
        }
        protected bool isSimulatorMode;
        private string _scRoot;
        //private string _ipaddress;
        public YaskawaTokenGenerator SeqnoGenerator { get; private set; }
        public bool IsEnableSeqNo { get; private set; }
        public bool IsEnableCheckSum { get; private set; }
        public int CurrentSeqNo { get; set; }

        public string PortName;
        private string _address;
        private bool _enableLog;
        protected YaskawaRobotConnection _connection;
        private R_TRIG _trigError = new R_TRIG();

        private R_TRIG _trigCommunicationError = new R_TRIG();
        private R_TRIG _trigRetryConnect = new R_TRIG();
        public string Address => _address;
        private PeriodicJob _thread;
        protected object _locker = new object();
        protected LinkedList<HandlerBase> _lstHandlers = new LinkedList<HandlerBase>();
        private IoSensor _diRobotReady = null;  //Normal ON
        private IoSensor _diRobotBlade1WaferOn = null;   //Off when wafer present
        private IoSensor _diRobotBlade2WaferOn = null;
        private IoSensor _diRobotError = null; //Normal ON
        private IoSensor _diTPinUse = null;

        private IoTrigger _doRobotHold = null; // Normal ON
        public ModuleName CurrentInteractiveModule { get; private set; }
        public bool IsConnected => _connection.IsConnected;

        public bool IsGrippedBlade1 { get; private set; }
        public bool IsGrippedBlade2 { get; private set; }
        public bool IsPermittedInterlock1 { get; private set; }
        public bool IsPermittedInterlock2 { get; private set; }
        public bool IsPermittedInterlock3 { get; private set; }
        public bool IsPermittedInterlock4 { get; private set; }
        public bool IsPermittedInterlock5 { get; private set; }
        public bool IsPermittedInterlock6 { get; private set; }
        public bool IsPermittedInterlock7 { get; private set; }
        public bool IsPermittedInterlock8 { get; private set; }

        public float CurrentThetaPosition { get; private set; }
        public float CurrentExtensionPosition { get; private set; }
        public float CurrentArm1Position { get; private set; }
        public float CurrentArm2Position { get; private set; }
        public float CurrentZPosition { get; private set; }

        public float CommandThetaPosition { get; private set; }
        public float CommandExtensionPosition { get; private set; }
        public float CommandArm1Position { get; private set; }
        public float CommandArm2Position { get; private set; }
        public float CommandZPosition { get; private set; }
        public int SpeedLevel { get; private set; }
        public int SpeedLevelSetting => SC.GetValue<int>($"{_scRoot}.{Name}.SpeedLevel");

        public string ReadMemorySpec { get; private set; }
        public string ReadTransferStation { get; private set; }
        public int ReadSlotNumber { get; private set; }
        public string ReadArmPosture { get; private set; }
        public RobotArmEnum ReadBladeNo { get; private set; }
        public YaskawaPositonEnum ReadPositionType { get; private set; }
        public float ReadThetaPosition { get; private set; }
        public float ReadExtensionPosition { get; private set; }
        public float ReadArm1Position { get; private set; }
        public float ReadArm2Position { get; private set; }

        internal void ResetError()
        {
            lock (_locker)
                _lstHandlers.AddFirst(new SR100RobotMotionHandler(this, "CCLR", "E"));
        }

        public float ReadZPosition { get; private set; }
        public Dictionary<string, string> ReadStationItemValues { get; private set; } = new Dictionary<string, string>();
        public Dictionary<string, string> ReadStationItemContents { get; private set; } = new Dictionary<string, string>();

        public string ReadParameterType { get; private set; }
        public string ReadParameterNo { get; private set; }
        public string ReadParameterValue { get; private set; }

        public bool IsManipulatorBatteryLow { get; private set; }
        public bool IsCommandExecutionReady { get; private set; }
        public bool IsServoON { get; private set; }
        public bool IsErrorOccurred { get; private set; }
        public bool IsControllerBatteryLow { get; private set; }

        public bool IsCheckInterlockWaferPresenceOnBlade1 { get; private set; }
        public bool IsCheckInterlockWaferPresenceOnBlade2 { get; private set; }

        public bool IsCheckInterlockPAOp { get; private set; }
        public bool IsCheckInterlockPAWaferStatus { get; private set; }
        public bool IsCheckInterlockPAWaferStatusByCCD { get; private set; }

        public override bool IsEnableAutoRun(out string reason)
        {
            reason = "";
            if (!IsCheckInterlockWaferPresenceOnBlade1)
            {
                reason = "Blade1WaferCheck is Disable";
                return false;
            }
            if (!IsCheckInterlockWaferPresenceOnBlade2)
            {
                reason = "Blade2WaferCheck is Disable";
                return false;
            }
            if(!_isWaferMatchRecord && _isCheckWaferBeforeAction)
            {
                reason = "WaferStateUnmatchRecord";
                return false;
            }
            return true;
        }
        public string RobotSystemVersion { get; private set; }
        public string RobotSoftwareVersion { get; private set; }

        public string ReadMappingTransferStation { get; private set; }
        public int ReadMappingSlotNumbers { get; private set; }
        public string ReadSlotMap { get; private set; }

        public bool IsCheckWaferForHHSmec { get; set; }
        public Dictionary<string, float> ReadMappingCalibrationResult { get; private set; }

        private bool _isDetectWaferByDI
        {
            get
            {
                if (SC.ContainsItem($"{_scRoot}.{Name}.DetectWaferByDI"))
                    return SC.GetValue<bool>($"{_scRoot}.{Name}.DetectWaferByDI");
                return true;
            }
        }

        protected bool _isCheckWaferAfterAction
        {
            get
            {
                if (SC.ContainsItem($"{_scRoot}.{Name}.CheckWaferAfterAction"))
                    return SC.GetValue<bool>($"{_scRoot}.{Name}.CheckWaferAfterAction");
                return true;
            }
        }

        protected bool _isCheckWaferBeforeAction
        {
            get
            {
                if (SC.ContainsItem($"{_scRoot}.{Name}.CheckWaferBeforeAction"))
                    return SC.GetValue<bool>($"{_scRoot}.{Name}.CheckWaferBeforeAction");
                return false;
            }
        }

        public override bool IsEnableMapWafer
        {
            get
            {
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 1))
                    return false;
                //if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                    //return false;
                return true;
            }
        }

        public YaskawaSR100Robot(string module, string name, string scRoot, IoSensor[] dis, IoTrigger[] dos) : base(module, name)
        {
            Module = module;
            Name = name;

            isSimulatorMode = SC.ContainsItem("System.IsSimulatorMode") ? SC.GetValue<bool>("System.IsSimulatorMode") : false;
            _scRoot = scRoot;
            _address = SC.GetStringValue($"{_scRoot}.{Name}.Address");
            _enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
            UnitNumber = SC.GetValue<int>($"{_scRoot}.{Name}.UnitNumber");

            IsEnableCheckSum = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableCheckSum");
            IsEnableSeqNo = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableSeqNo");

            _connection = new YaskawaRobotConnection(this, _address);
            _connection.EnableLog(_enableLog);
            SeqnoGenerator = new YaskawaTokenGenerator($"{_scRoot}.{Name}.CommunicationToken");


            if (dis != null && dis.Length >= 5)
            {
                _diRobotReady = dis[0];
                _diRobotBlade1WaferOn = dis[1];
                _diRobotBlade2WaferOn = dis[2];
                _diRobotError = dis[3];
                _diTPinUse = dis[4];
                _diRobotError.OnSignalChanged += _diRobotError_OnSignalChanged;
                _diTPinUse.OnSignalChanged += _diTPinUse_OnSignalChanged;
            }
            if (dos != null && dos.Length >= 1)
            {
                _doRobotHold = dos[0];
            }


            ConnectionManager.Instance.Subscribe($"{Name}", _connection);
            _thread = new PeriodicJob(1, OnTimer, $"{_scRoot}.{Name} MonitorHandler", true);
            ReadStationItemContents.Add("00", "Upward offset");
            ReadStationItemContents.Add("01", "Downword offset");
            ReadStationItemContents.Add("02", "Grip position offset");
            ReadStationItemContents.Add("06", "G2/P3 offset in the extending direction");
            ReadStationItemContents.Add("08", "Put downward offset");
            ReadStationItemContents.Add("70", "Get operation Movet_grip function yes/no");
            ReadStationItemContents.Add("71", "Get operation rsing pattern");
            ReadStationItemContents.Add("80", "Put operation Move_grip function yes/no");
            ReadStationItemContents.Add("81", "Put operation dropping pattern");
            ReadStationItemContents.Add("50", "Slot Numbers");
            ReadStationItemContents.Add("30", "Slot pitch(Left elbow,Blade1)");
            ReadStationItemContents.Add("31", "Slot pitch(Left elbow,Blade2)");
            ReadStationItemContents.Add("32", "Slot pitch(Rigth elbow,Blade1)");
            ReadStationItemContents.Add("33", "Slot pitch(Right elbow,Blade2)");



            ResetPropertiesAndResponses();
            RegisterSpecialData();
            //RegisterAlarm();

        }

        public void HandlerMotion(string command, string[] pdata)
        {
            switch (command)
            {
                case "MMAP":
                    try
                    {
                        
                        StringBuilder sb = new StringBuilder();
                        for (int i = 6; i < pdata.Length; i++)
                        {
                            string value = pdata[i].Substring(3);
                            switch (value)
                            {
                                case "--":
                                    sb.Append("0");
                                    break;
                                case "OK":
                                    sb.Append("1");
                                    break;
                                case "CW":
                                    sb.Append("2");
                                    break;
                                case "DW":
                                    sb.Append("W");
                                    break;
                            }
                        }
                        ReadSlotMap = sb.ToString();
                        if(!_isNeedMappignData)
                            NotifySlotMapResult(CurrentInteractiveModule, ReadSlotMap);
                        return;
                    }
                    catch (Exception ex)
                    {
                        LOG.Write(ex);
                        
                    }
                    break;
                default:
                    break;
            }
        }

        private void RegisterAlarm()
        {
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error020", $"{Name} Robot Occurred Error:Secondary power off.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error021", $"{Name} Robot Occurred Error:Secondary power on.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error040", $"{Name} Robot Occurred Error:In TEACH Mode.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error050", $"{Name} Robot Occurred Error:Unit is in motion.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error051", $"{Name} Robot Occurred Error:Unable to set pitch between slots.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error052", $"{Name} Robot Occurred Error:Unable to restart motion.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error053", $"{Name} Robot Occurred Error:Ready position move incomplete.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error054", $"{Name} Robot Occurred Error:Alignment Ready position move incomplete.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error055", $"{Name} Robot Occurred Error:Improper station type.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error058", $"{Name} Robot Occurred Error:Command not supported 1-1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error059", $"{Name} Robot Occurred Error:Invalid transfer point.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error05A", $"{Name} Robot Occurred Error:Linear motion failed.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error05C", $"{Name} Robot Occurred Error:Unable to reference wafer alignment result.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error05D", $"{Name} Robot Occurred Error:Unable to perform arm calibration.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error05E", $"{Name} Robot Occurred Error:Unable to read mapping data.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error05F", $"{Name} Robot Occurred Error:Data Upload/Download in progress.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error061", $"{Name} Robot Occurred Error:Unable to motion.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error064", $"{Name} Robot Occurred Error:Lifter interference error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error070", $"{Name} Robot Occurred Error:Bottom slot position record incomplete.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error071", $"{Name} Robot Occurred Error:Top slot position record incomplete.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error088", $"{Name} Robot Occurred Error:Position generating error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error089", $"{Name} Robot Occurred Error:Position generating error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error08A", $"{Name} Robot Occurred Error:Position generating error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error08B", $"{Name} Robot Occurred Error:Position generating error 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error08C", $"{Name} Robot Occurred Error:Position generating error 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error08D", $"{Name} Robot Occurred Error:Position generating error 6.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error090", $"{Name} Robot Occurred Error:Host parameter out of range.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error0A0", $"{Name} Robot Occurred Error:Alignment motion error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error0E0", $"{Name} Robot Occurred Error:Teach position adjustmentoffset amount limit error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error0F0", $"{Name} Robot Occurred Error:Voltage drop warning.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*06", $"{Name} Robot Occurred Error:Amplifier Type Mismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*07", $"{Name} Robot Occurred Error:Encoder Type Mismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*10", $"{Name} Robot Occurred Error:Overflow Current.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*30", $"{Name} Robot Occurred Error:Regeneration Error Detected.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*40", $"{Name} Robot Occurred Error:Excess Voltage (converter).", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*41", $"{Name} Robot Occurred Error:Insufficient Voltage.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*45", $"{Name} Robot Occurred Error:Brake circuit error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*46", $"{Name} Robot Occurred Error:Converter ready signal error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*47", $"{Name} Robot Occurred Error:Input power error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*48", $"{Name} Robot Occurred Error:Converter main circuit chargeerror.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*49", $"{Name} Robot Occurred Error:Amplifier ready signal error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*51", $"{Name} Robot Occurred Error:Excessive Speed.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*71", $"{Name} Robot Occurred Error:Momentary Overload (Motor).", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*72", $"{Name} Robot Occurred Error:Continuous Overload (Motor).", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*78", $"{Name} Robot Occurred Error:Overload (Converter).", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*7B", $"{Name} Robot Occurred Error:Amplifier overheat.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*7C", $"{Name} Robot Occurred Error:Continuous Overload(Amplifier).", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*7D", $"{Name} Robot Occurred Error:Momentary Overload.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*81", $"{Name} Robot Occurred Error:Absolute Encoder Back-upError.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*83", $"{Name} Robot Occurred Error:Absolute Encoder Battery.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*84", $"{Name} Robot Occurred Error:Encoder Data Error 2-1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*85", $"{Name} Robot Occurred Error:Encoder Excessive Speed.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*86", $"{Name} Robot Occurred Error:Encoder Overheat.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*88", $"{Name} Robot Occurred Error:Encoder error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*89", $"{Name} Robot Occurred Error:Encoder Command failed.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*8A", $"{Name} Robot Occurred Error:Encoder multi-turn range.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*8C", $"{Name} Robot Occurred Error:Encoder Reset not completed.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*98", $"{Name} Robot Occurred Error:Servo parameter error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*9A", $"{Name} Robot Occurred Error:Feedback Over Flow.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*B4", $"{Name} Robot Occurred Error:Servo Control Board Failure.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*BC", $"{Name} Robot Occurred Error:Encoder error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C1", $"{Name} Robot Occurred Error:Motor runaway detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C9", $"{Name} Robot Occurred Error:Encoder Communication.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*CE", $"{Name} Robot Occurred Error:Encoder error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*CF", $"{Name} Robot Occurred Error:Encoder error 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D0", $"{Name} Robot Occurred Error:Position deviation error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D1", $"{Name} Robot Occurred Error:Position deviation saturation.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D2", $"{Name} Robot Occurred Error:Motor directive position error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D4", $"{Name} Robot Occurred Error:Servo Tracking Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*F1", $"{Name} Robot Occurred Error:Phase loss.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorE*1", $"{Name} Robot Occurred Error:Positioning Timeout.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorE*D", $"{Name} Robot Occurred Error:Command not supported 1-2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorE*E", $"{Name} Robot Occurred Error:Communication Error(internal controller) 1-1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorE*F", $"{Name} Robot Occurred Error:Servo control board responsetimeout 1..", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error701", $"{Name} Robot Occurred Error:ROM Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error703", $"{Name} Robot Occurred Error:Communication Error(internal controller) 2-1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error704", $"{Name} Robot Occurred Error:Communication Error (internal controller) 2-2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error705", $"{Name} Robot Occurred Error:Communication Error(internal controller) 2-3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error706", $"{Name} Robot Occurred Error:Servo system error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error707", $"{Name} Robot Occurred Error:Servo system error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error709", $"{Name} Robot Occurred Error:Current feedback error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error70A", $"{Name} Robot Occurred Error:Power Lost.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error70B", $"{Name} Robot Occurred Error:Rush Current PreventionRelay Abnormal.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error70C", $"{Name} Robot Occurred Error:Converter mismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error70F", $"{Name} Robot Occurred Error:Servo control board response timeout 2..", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error713", $"{Name} Robot Occurred Error:DB error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error714", $"{Name} Robot Occurred Error:Converter charge Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error715", $"{Name} Robot Occurred Error:Servo OFF Status Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error716", $"{Name} Robot Occurred Error:Servo ON Status Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error717", $"{Name} Robot Occurred Error:Servo OFF Status Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error718", $"{Name} Robot Occurred Error:Servo ON Status Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error719", $"{Name} Robot Occurred Error:Servo On Abnormal.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error71A", $"{Name} Robot Occurred Error:Brake circuit error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error71B", $"{Name} Robot Occurred Error:Brake circuit error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error71C", $"{Name} Robot Occurred Error:Power relay error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error721", $"{Name} Robot Occurred Error:Servo parameter error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error722", $"{Name} Robot Occurred Error:Servo parameter error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error725", $"{Name} Robot Occurred Error:Converter Overheat.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error726", $"{Name} Robot Occurred Error:Communication Error(internal controller) 2-4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error727", $"{Name} Robot Occurred Error:Command not supported 1-2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error728", $"{Name} Robot Occurred Error:Communication Error(internal controller) 2-5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error729", $"{Name} Robot Occurred Error:Servo system error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error72A", $"{Name} Robot Occurred Error:Servo system error 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error72B", $"{Name} Robot Occurred Error:Servo parameter error 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error730", $"{Name} Robot Occurred Error:Amp module disconnected..", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error732", $"{Name} Robot Occurred Error:Servo parameter error 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error733", $"{Name} Robot Occurred Error:Servo parameter error 6.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error734", $"{Name} Robot Occurred Error:Servo parameter error 7.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error735", $"{Name} Robot Occurred Error:Servo parameter error 8.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error73F", $"{Name} Robot Occurred Error:Undefined Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error740", $"{Name} Robot Occurred Error:Encoder Status Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error741", $"{Name} Robot Occurred Error:Servo system error 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error742", $"{Name} Robot Occurred Error:Servo system error 6.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error743", $"{Name} Robot Occurred Error:Servo system error 7.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error744", $"{Name} Robot Occurred Error:Servo system error 8.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error745", $"{Name} Robot Occurred Error:Servo system error 9.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error746", $"{Name} Robot Occurred Error:Servo system error 10.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error74A", $"{Name} Robot Occurred Error:Servo system error 11.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error74B", $"{Name} Robot Occurred Error:Servo system error 12.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error74C", $"{Name} Robot Occurred Error:Servo system error 13.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error74D", $"{Name} Robot Occurred Error:Servo system error 14.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A0", $"{Name} Robot Occurred Error:Communication Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A1", $"{Name} Robot Occurred Error:Communication Error(internal controller) 3-2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A2", $"{Name} Robot Occurred Error:Command not supported 3-1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A3", $"{Name} Robot Occurred Error:Data buffer full.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A4", $"{Name} Robot Occurred Error:Command not supported 3-2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A5", $"{Name} Robot Occurred Error:Encoder data error 3-1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7A6", $"{Name} Robot Occurred Error:Command not supported 3-3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7AE", $"{Name} Robot Occurred Error:Communication Error(internal controller) 1-2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7AF", $"{Name} Robot Occurred Error:Communication Error(internal controller) 1-3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7B0", $"{Name} Robot Occurred Error:CCD sensor abnormal 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7B4", $"{Name} Robot Occurred Error:CCD sensor abnormal 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7B5", $"{Name} Robot Occurred Error:CCD sensor abnormal 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7C0", $"{Name} Robot Occurred Error:PAIF board Failure 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7C1", $"{Name} Robot Occurred Error:PAIF board Failure 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7C2", $"{Name} Robot Occurred Error:PAIF board Failure 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7C3", $"{Name} Robot Occurred Error:CCD sensor abnormal 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7CF", $"{Name} Robot Occurred Error:PAIF board disconnected.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7D0", $"{Name} Robot Occurred Error:PAIF board Failure 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error7D1", $"{Name} Robot Occurred Error:PAIF board Failure 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error900", $"{Name} Robot Occurred Error:Character Interval Timeout.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error910", $"{Name} Robot Occurred Error:Received Data ChecksumError.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error920", $"{Name} Robot Occurred Error:Unit Number Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error930", $"{Name} Robot Occurred Error:Undefined CommandReceived.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error940", $"{Name} Robot Occurred Error:Message Parameter Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error950", $"{Name} Robot Occurred Error:Receiving Time-out Error for Confirmation of Execution Completion.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error960", $"{Name} Robot Occurred Error:Incorrect sequence number.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error961", $"{Name} Robot Occurred Error:Duplicated message.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error970", $"{Name} Robot Occurred Error:Delimiter error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9A1", $"{Name} Robot Occurred Error:Message buffer overflow.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9C0", $"{Name} Robot Occurred Error:LAN device setting error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9C1", $"{Name} Robot Occurred Error:IP address error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9C2", $"{Name} Robot Occurred Error:Subnet mask error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9C3", $"{Name} Robot Occurred Error:Default gateway error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9D0", $"{Name} Robot Occurred Error:Ethernet receive error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9E0", $"{Name} Robot Occurred Error:During operation themaintenance tool.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error9E1", $"{Name} Robot Occurred Error:The data abnormal.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA01", $"{Name} Robot Occurred Error:Re-detection of a powerSupply voltage fall.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA10", $"{Name} Robot Occurred Error:External emergency stop.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA20", $"{Name} Robot Occurred Error:T.P emergency stop.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA21", $"{Name} Robot Occurred Error:Interlock board failure 0.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA30", $"{Name} Robot Occurred Error:Emergency stop.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA40", $"{Name} Robot Occurred Error:Controller Fan 1 Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA41", $"{Name} Robot Occurred Error:Controller Fan 2 Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA42", $"{Name} Robot Occurred Error:Controller Fan 3 Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA45", $"{Name} Robot Occurred Error:Unit fan 1 error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA46", $"{Name} Robot Occurred Error:Unit fan 2 error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA4F", $"{Name} Robot Occurred Error:Controller Battery Alarm.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAC0", $"{Name} Robot Occurred Error:Safety fence signal detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAC9", $"{Name} Robot Occurred Error:Protection stop signal.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAE0", $"{Name} Robot Occurred Error:HOST Mode Switching error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAE1", $"{Name} Robot Occurred Error:TEACH Mode Switching Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAE8", $"{Name} Robot Occurred Error:Deadman switch error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF0", $"{Name} Robot Occurred Error:Interlock board failure 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF1", $"{Name} Robot Occurred Error:Interlock board failure 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF2", $"{Name} Robot Occurred Error:Interlock board failure 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF3", $"{Name} Robot Occurred Error:Interlock board failure 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF4", $"{Name} Robot Occurred Error:Interlock board failure 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF5", $"{Name} Robot Occurred Error:Interlock board failure 6.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF6", $"{Name} Robot Occurred Error:Interlock board failure 7.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF8", $"{Name} Robot Occurred Error:Input compare error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF9", $"{Name} Robot Occurred Error:Input compare error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFA", $"{Name} Robot Occurred Error:Input compare error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFB", $"{Name} Robot Occurred Error:Input compare error 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFC", $"{Name} Robot Occurred Error:Input compare error 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFD", $"{Name} Robot Occurred Error:Input compare error 6.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFE", $"{Name} Robot Occurred Error:Input compare error 7.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFF", $"{Name} Robot Occurred Error:Input compare error 8.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB10", $"{Name} Robot Occurred Error:Axis-1 Speed Limit Detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB11", $"{Name} Robot Occurred Error:Axis-2 Speed Limit Detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB12", $"{Name} Robot Occurred Error:Axis-3 Speed Limit Detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB13", $"{Name} Robot Occurred Error:Axis-4 Speed Limit Detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB14", $"{Name} Robot Occurred Error:Axis-5 Speed Limit Detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB20", $"{Name} Robot Occurred Error:Axis-1 Positive (+) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB21", $"{Name} Robot Occurred Error:Axis-2 Positive (+) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB22", $"{Name} Robot Occurred Error:Axis-3 Positive (+) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB23", $"{Name} Robot Occurred Error:Axis-4 Positive (+) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB24", $"{Name} Robot Occurred Error:Axis-5 Positive (+) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB28", $"{Name} Robot Occurred Error:Axis-1 Positive (+) Direction Software-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB29", $"{Name} Robot Occurred Error:Axis-2 Positive (+) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2A", $"{Name} Robot Occurred Error:Axis-3 Positive (+) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2B", $"{Name} Robot Occurred Error:Axis-4 Positive (+) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2C", $"{Name} Robot Occurred Error:Axis-5 Positive (+) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB30", $"{Name} Robot Occurred Error:Axis-1 Negative (-) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB31", $"{Name} Robot Occurred Error:Axis-2 Negative (-) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB32", $"{Name} Robot Occurred Error:Axis-3 Negative (-) Direction Software-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB33", $"{Name} Robot Occurred Error:Axis-4 Negative (-) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB34", $"{Name} Robot Occurred Error:Axis-5 Negative (-) DirectionSoftware-limit Detection 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB38", $"{Name} Robot Occurred Error:Axis-1 Negative (-) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB39", $"{Name} Robot Occurred Error:Axis-2 Negative (-) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3A", $"{Name} Robot Occurred Error:Axis-3 Negative (-) Direction Software-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3B", $"{Name} Robot Occurred Error:Axis-4 Negative (-) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3C", $"{Name} Robot Occurred Error:Axis-5 Negative (-) DirectionSoftware-limit Detection 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB40", $"{Name} Robot Occurred Error:Access Permission Signal 1Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB41", $"{Name} Robot Occurred Error:Access Permission Signal 2Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB42", $"{Name} Robot Occurred Error:Access Permission Signal 3Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB43", $"{Name} Robot Occurred Error:Access Permission Signal 4Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB44", $"{Name} Robot Occurred Error:Access Permission Signal 5 Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB45", $"{Name} Robot Occurred Error:Access Permission Signal 6Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB46", $"{Name} Robot Occurred Error:Access Permission Signal 7Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB47", $"{Name} Robot Occurred Error:Access Permission Signal 8Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB48", $"{Name} Robot Occurred Error:Access Permission Signal 9Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB49", $"{Name} Robot Occurred Error:Access Permission Signal 10 Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB4A", $"{Name} Robot Occurred Error:Access Permission Signal 11Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB4B", $"{Name} Robot Occurred Error:Access Permission Signal 12Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB4C", $"{Name} Robot Occurred Error:Access Permission Signal 13Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB4D", $"{Name} Robot Occurred Error:Access Permission Signal 14Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB4E", $"{Name} Robot Occurred Error:Access Permission Signal 15Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB4F", $"{Name} Robot Occurred Error:Access Permission Signal 16Time-out Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB60", $"{Name} Robot Occurred Error:Access Permission to P/A Stage Time-out Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB61", $"{Name} Robot Occurred Error:Access Permission to P/AStage Time-out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB62", $"{Name} Robot Occurred Error:Access Permission to P/A Stage Time-out Error 3.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB63", $"{Name} Robot Occurred Error:Access Permission to P/A Stage Time-out Error 4.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB64", $"{Name} Robot Occurred Error:Access Permission to P/AStage Time-out Error 5.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB65", $"{Name} Robot Occurred Error:Access Permission to P/AStage Time-out Error 6.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB66", $"{Name} Robot Occurred Error:Access Permission to P/AStage Time-out Error 7.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB68", $"{Name} Robot Occurred Error:P/A motion permission timeout error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB70", $"{Name} Robot Occurred Error:SS signal detection.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB80", $"{Name} Robot Occurred Error:Fork 1/Pre-aligner: Wafer Presence Confirmation Time-out Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB81", $"{Name} Robot Occurred Error:Fork 1/Pre-aligner: WaferAbsence Confirmation Time- out Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB82", $"{Name} Robot Occurred Error:Fork 1/Pre-aligner: Wafer Presence Confirmation Time-out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB83", $"{Name} Robot Occurred Error:Fork 1/Pre-aligner: WaferAbsence Confirmation Time- out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB88", $"{Name} Robot Occurred Error:Grip sensor Time-out Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB89", $"{Name} Robot Occurred Error:Grip sensor Time-out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB8A", $"{Name} Robot Occurred Error:UnGrip sensor Time-out Error1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB8B", $"{Name} Robot Occurred Error:UnGrip sensor Time-out Error2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB8F", $"{Name} Robot Occurred Error:Fork 1: Plunger non-operationerror.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB90", $"{Name} Robot Occurred Error:Fork 2: Wafer Presence Confirmation Time-out Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB91", $"{Name} Robot Occurred Error:Fork 2: Wafer AbsenceConfirmation Time-out Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB92", $"{Name} Robot Occurred Error:Fork 2: Wafer PresenceConfirmation Time-out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB93", $"{Name} Robot Occurred Error:Fork 2: Wafer AbsenceConfirmation Time-out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB98", $"{Name} Robot Occurred Error:Lifter up sensor Time-outError 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB99", $"{Name} Robot Occurred Error:Lifter up sensor Time-out Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB9A", $"{Name} Robot Occurred Error:Lifter down sensor Time-outError 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB9B", $"{Name} Robot Occurred Error:Lifter down sensor Time-outError 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB9F", $"{Name} Robot Occurred Error:Fork 2: Plunger non-operationerror.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBA0", $"{Name} Robot Occurred Error:Fork 1/Pre-aligner: WaferAbsence Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBA1", $"{Name} Robot Occurred Error:Fork 1: Sensor StatusMismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBA8", $"{Name} Robot Occurred Error:Grip sensor status Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBA9", $"{Name} Robot Occurred Error:Grip sensor status Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBAA", $"{Name} Robot Occurred Error:Ungrip sensor status Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBAB", $"{Name} Robot Occurred Error:Ungrip sensor status Error 2.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBAC", $"{Name} Robot Occurred Error:Grip sensor status mismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBAD", $"{Name} Robot Occurred Error:Lifter/Grip sensor statusmismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBB0", $"{Name} Robot Occurred Error:Fork 2: Wafer Absence Error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBB1", $"{Name} Robot Occurred Error:Fork 2: Sensor StatusMismatch.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBB8", $"{Name} Robot Occurred Error:Lifter up sensor status Error 1.", EventLevel.Alarm, EventType.EventUI_Notify));


        }

        public void NotifyAlarmByErrorCode(string errorcode)
        {
            EV.Notify($"{Name}Error{errorcode}");
        }
        private void _diTPinUse_OnSignalChanged(IoSensor arg1, bool arg2)
        {
            SetMaintenanceMode(!arg1.Value);
        }

        private void _diRobotError_OnSignalChanged(IoSensor arg1, bool arg2)
        {
            if (arg1.Value == false)
            {
                lock (_locker)
                {
                    _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RSTS"));
                }
                OnError("RobotError");
            }
        }

        private void ResetPropertiesAndResponses()
        {

        }

        private void RegisterSpecialData()
        {
            DATA.Subscribe($"{Module}.{Name}.CurrentArm1Position", () => CurrentArm1Position);
            DATA.Subscribe($"{Module}.{Name}.CurrentArm2Position", () => CurrentArm2Position);
            DATA.Subscribe($"{Module}.{Name}.CurrentExtensionPosition", () => CurrentExtensionPosition);
            DATA.Subscribe($"{Module}.{Name}.CurrentThetaPosition", () => CurrentThetaPosition);
            DATA.Subscribe($"{Module}.{Name}.CurrentZPosition", () => CurrentZPosition);

            DATA.Subscribe($"{Module}.{Name}.IsManipulatorBatteryLow", () => IsManipulatorBatteryLow);
            DATA.Subscribe($"{Module}.{Name}.IsCommandExecutionReady", () => IsCommandExecutionReady);
            DATA.Subscribe($"{Module}.{Name}.IsServoON", () => IsServoON);
            DATA.Subscribe($"{Module}.{Name}.IsErrorOccurred", () => IsErrorOccurred);
            DATA.Subscribe($"{Module}.{Name}.IsControllerBatteryLow", () => IsControllerBatteryLow);
            DATA.Subscribe($"{Module}.{Name}.IsWaferPresenceOnBlade1", () => IsWaferPresenceOnBlade1);
            DATA.Subscribe($"{Module}.{Name}.IsWaferPresenceOnBlade2", () => IsWaferPresenceOnBlade2);

            DATA.Subscribe($"{Module}.{Name}.ErrorCode", () => ErrorCode);
            DATA.Subscribe($"{Module}.{Name}.IsGrippedBlade1", () => IsGrippedBlade1);
            DATA.Subscribe($"{Module}.{Name}.IsGrippedBlade2", () => IsGrippedBlade2);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock1", () => IsPermittedInterlock1);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock2", () => IsPermittedInterlock2);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock3", () => IsPermittedInterlock3);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock4", () => IsPermittedInterlock4);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock5", () => IsPermittedInterlock5);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock6", () => IsPermittedInterlock6);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock7", () => IsPermittedInterlock7);
            DATA.Subscribe($"{Module}.{Name}.IsPermittedInterlock8", () => IsPermittedInterlock8);

            DATA.Subscribe($"{Module}.{Name}.IsCheckInterlockWaferPresenceOnBlade1", () => IsCheckInterlockWaferPresenceOnBlade1);
            DATA.Subscribe($"{Module}.{Name}.IsCheckInterlockWaferPresenceOnBlade2", () => IsCheckInterlockWaferPresenceOnBlade2);
            DATA.Subscribe($"{Module}.{Name}.IsCheckInterlockPAOp", () => IsCheckInterlockPAOp);
            DATA.Subscribe($"{Module}.{Name}.IsCheckInterlockPAWaferStatus", () => IsCheckInterlockPAWaferStatus);
            DATA.Subscribe($"{Module}.{Name}.IsCheckInterlockPAWaferStatusByCCD", () => IsCheckInterlockPAWaferStatusByCCD);



            DATA.Subscribe($"{Module}.{Name}.RobotSpeed", () => SpeedLevelSetting.ToString());
            DATA.Subscribe($"{Name}.RobotSpeed", () =>
            {
                if (SpeedLevelSetting == 1) return "Fast";
                if (SpeedLevelSetting == 2) return "Medium";
                if (SpeedLevelSetting == 3) return "Slow";
                return SpeedLevelSetting.ToString();
            });
            OP.Subscribe("SetSpeed", InvokeSetSpeed);

        }

        private bool OnTimer()
        {
            try
            {

                if (!_connection.IsConnected || _connection.IsCommunicationError)
                {
                    lock (_locker)
                    {
                        _lstHandlers.Clear();
                    }

                    _trigRetryConnect.CLK = !_connection.IsConnected;
                    if (_trigRetryConnect.Q)
                    {
                        if (!_connection.Connect())
                        {
                            EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
                        }
                        else
                        {
                            //_lstHandler.AddLast(new RobotHirataR4QueryPinHandler(this, _deviceAddress));
                            //_lstHandler.AddLast(new RobotHirataR4SetCommModeHandler(this, _deviceAddress, EnumRfPowerCommunicationMode.Host));
                        }
                    }
                    return true;
                }

                HandlerBase handler = null;

                lock (_locker)
                {
                    if (!_connection.IsBusy)
                    {
                            if (_lstHandlers.Count > 0)
                            {
                                handler = _lstHandlers.First.Value;
                                ExecuteHandler(handler);
                                _lstHandlers.RemoveFirst();
                            }
                    }
                    else
                    {
                            _connection.MonitorTimeout();

                            _trigCommunicationError.CLK = _connection.IsCommunicationError;
                            if (_trigCommunicationError.Q)
                            {
                                _lstHandlers.Clear();
                                //EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
                                OnError($"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
                                //_trigActionDone.CLK = true;
                            }
                    }
                }
                
            }

            catch (Exception ex)
            {
                LOG.Write(ex);
            }

            return true;
        }

        public bool Connect()
        {
            return _connection.Connect();
        }

        public bool Disconnect()
        {
            return _connection.Disconnect();
        }

        public override bool IsReady()
        {
            //if (_diRobotReady!=null && !_diRobotReady.Value) 
            //    return false;
            if (_diRobotError != null && !_diRobotError.Value)
                return false;
            if (_diTPinUse != null && !_diTPinUse.Value)
                return false;
            return RobotState == RobotStateEnum.Idle && !IsBusy;
        }

        public bool ParseReadData(string _command, string[] rdata)
        {
            try
            {
                if (_command == "RSTS")
                {
                    return (rdata.Length == 2 && ParseRSTSStatus(rdata));

                }
                if (_command == "RSLV")      //Read the speed level
                {
                    return (rdata.Length == 1 && ParseSpeedLevel(rdata[0]));
                }
                if (_command == "RPOS")   //Reference current postion
                {
                    return (rdata.Length > 1 && ParsePositionData(rdata));

                }
                if (_command == "RSTP")   //Reference registered position, read the save postion for station
                {
                    return (rdata.Length > 6 && ParseRegisteredPositionData(rdata));

                }
                if (_command == "RSTR")   //Reference station item value
                {
                    return (rdata.Length == 4 && ParseStationData(rdata));
                }
                if (_command == "RPRM")  //Reference the parameter values of the specified unit
                {
                    return (rdata.Length == 3 && ParseParameterData(rdata));
                }
                if (_command == "RMSK")  //Reference the interlock information
                {
                    return (rdata.Length == 1 && ParseInterlockInfo(rdata));

                }
                if (_command == "RVER")  //Reference the software version
                {
                    return (rdata.Length == 2 && ParseSoftwareVersion(rdata));
                }
                if (_command == "RMAP")  //Reference the slot map
                {
                    return (rdata.Length > 2 && ParseSlotMap(rdata));
                }
                if (_command == "RMPD")  //reference the mapping data
                {
                    return (rdata.Length > 1 && ParseMappingData(rdata));
                }
                if (_command == "RMCA")   // Reference the mapping calibration result
                {
                    return (rdata.Length > 1 && ParseMappingCalibrationResult(rdata));
                }

                if (_command == "RALN") // Reference the alignment result
                {
                    return true;
                }
                if (_command == "RACA") // Reference calibration result for alignment
                {
                    return true;
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return true;
            }
        }
        public bool ParseStatus(string status)
        {
            try
            {
                int intstatus = Convert.ToInt32(status, 16);
                IsManipulatorBatteryLow = ((intstatus & 0x10) == 0x10);
                IsCommandExecutionReady = ((intstatus & 0x20) == 0x20);
                IsServoON = ((intstatus & 0x40) == 0x40);
                IsErrorOccurred = ((intstatus & 0x80) == 0x80);
                IsControllerBatteryLow = ((intstatus & 0x1) == 0x1);
                IsWaferPresenceOnBlade1 = ((intstatus & 0x2) == 0x2);
                IsWaferPresenceOnBlade2 = ((intstatus & 0x4) == 0x4);
                return true;

            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParseRSTSStatus(string[] status)
        {
            try
            {
                ErrorCode = status[0];
                int intstatus = Convert.ToInt32(status[1], 16);
                IsWaferPresenceOnBlade1 = ((intstatus & 0x1000) == 0x1000);
                IsWaferPresenceOnBlade2 = ((intstatus & 0x2000) == 0x2000);
                IsGrippedBlade1 = ((intstatus & 0x4000) == 0x4000);
                IsGrippedBlade2 = ((intstatus & 0x8000) == 0x8000);
                IsPermittedInterlock1 = ((intstatus & 0x100) == 0x100);
                IsPermittedInterlock2 = ((intstatus & 0x200) == 0x200);
                IsPermittedInterlock3 = ((intstatus & 0x400) == 0x400);
                IsPermittedInterlock4 = ((intstatus & 0x800) == 0x800);
                IsPermittedInterlock5 = ((intstatus & 0x10) == 0x10);
                IsPermittedInterlock6 = ((intstatus & 0x20) == 0x20);
                IsPermittedInterlock7 = ((intstatus & 0x40) == 0x40);
                IsPermittedInterlock8 = ((intstatus & 0x80) == 0x80);
                return true;

            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return true;
            }
        }

        public bool ParseSpeedLevel(string speedlevel)
        {
            try
            {
                int level = Convert.ToInt32(speedlevel);
                if (level < 1 || level > 3) return false;
                SpeedLevel = level;
                return true;

            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParsePositionData(string[] pdata)
        {
            try
            {
                if (pdata[0] == "R")
                {
                    CommandThetaPosition = Convert.ToSingle(pdata[1]) / 1000;
                    CommandExtensionPosition = Convert.ToSingle(pdata[2]) / 1000;
                    CommandArm1Position = Convert.ToSingle(pdata[3]) / 1000;
                    CommandArm2Position = Convert.ToSingle(pdata[4]) / 1000;
                    CommandZPosition = Convert.ToSingle(pdata[5]) / 1000;
                    return true;
                }
                if (pdata[0] == "F")
                {
                    CurrentThetaPosition = Convert.ToSingle(pdata[1]) / 1000;
                    PositionAxis1 = CurrentThetaPosition;
                    CurrentExtensionPosition = Convert.ToSingle(pdata[2]) / 1000;
                    PositionAxis2 = CurrentExtensionPosition;
                    CurrentArm1Position = Convert.ToSingle(pdata[3]) / 1000;
                    PositionAxis3 = CurrentArm1Position;
                    CurrentArm2Position = Convert.ToSingle(pdata[4]) / 1000;
                    PositionAxis4 = CurrentArm2Position;
                    CurrentZPosition = Convert.ToSingle(pdata[5]) / 1000;
                    PositionAxis5 = CurrentZPosition;
                    return true;
                }
                return false;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParseRegisteredPositionData(string[] pdata)
        {
            try
            {
                ReadMemorySpec = pdata[0];
                ReadTransferStation = pdata[1];
                ReadSlotNumber = Convert.ToInt16(pdata[2]);
                ReadArmPosture = pdata[3];
                ReadBladeNo = (RobotArmEnum)(Convert.ToInt16(pdata[4]) - 1);
                if (pdata[5] == "S")
                    ReadPositionType = YaskawaPositonEnum.RegisteredPosition;
                if (pdata[5] == "R")
                    ReadPositionType = YaskawaPositonEnum.ReadyPosition;
                if (pdata[5] == "M")
                    ReadPositionType = YaskawaPositonEnum.IntermediatePosition;
                if (pdata[5] == "B")
                    ReadPositionType = YaskawaPositonEnum.MappingStartPosition;
                if (pdata[5] == "E")
                    ReadPositionType = YaskawaPositonEnum.MappingFinishPosition;
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParseStationData(string[] pdata)
        {
            try
            {
                ReadMemorySpec = pdata[0];
                ReadTransferStation = pdata[1];
                if (ReadStationItemValues.ContainsKey(pdata[2]))
                    ReadStationItemValues.Remove(pdata[2]);
                ReadStationItemValues.Add(pdata[2], pdata[3]);
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseParameterData(string[] pdata)
        {
            try
            {
                ReadParameterType = pdata[0];
                ReadParameterNo = pdata[1];
                ReadParameterValue = pdata[2];
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseInterlockInfo(string[] pdata)
        {
            try
            {
                string vdata = pdata[0];
                int valid1 = Convert.ToInt16(vdata[0].ToString());
                int valid2 = Convert.ToInt16(vdata[1].ToString());
                int valid3 = Convert.ToInt16(vdata[2].ToString());
                int valid4 = Convert.ToInt16(vdata[3].ToString());

                IsCheckInterlockWaferPresenceOnBlade1 = (valid1 & 0x1) == 0x0;
                IsCheckInterlockWaferPresenceOnBlade2 = (valid1 & 0x2) == 0x0;
                IsCheckInterlockPAOp = (valid2 & 0x1) == 0x0;
                IsCheckInterlockPAWaferStatus = (valid2 & 0x2) == 0x0;
                IsCheckInterlockPAWaferStatusByCCD = (valid2 & 0x4) == 0x0;
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseSoftwareVersion(string[] pdata)
        {
            try
            {
                RobotSystemVersion = pdata[0];
                RobotSoftwareVersion = pdata[1];
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseSlotMap(string[] pdata)
        {
            //$,<UNo>(,<SeqNo>),<Sts>,<Ackcd>,RMAP,<TrsSt>,<Slot>,
            //01:<Result1>…,N:<ResultN>(,<Sum>)<CR>
            //• UNo : Unit number (1 byte)
            //• SeqNo : Sequence number (None / 2 bytes)
            //• Sts : Status (2 bytes)
            //• Ackcd : Response code (4 bytes)
            //• TrsSt : Transfer station (3 bytes)
            //• Slot : Slot number (2 bytes)
            //• Result* : Mapping result (2 bytes each)
            //• “--” : No wafer detected.
            //• “OK” : Wafer inserted correctly.
            //• “CW” : Wafer inserted incorrectly (inclined).
            //• “DW” : Wafer inserted incorrectly (duplicated).
            //Note) Responds with the number of slots of the specified transfer station.
            //$,1,00,0000,RMAP,C02,00,
            //01:OK,02:DW,03:OK,04:CW,05:CW,06:OK,07:OK,08:--,09:OK,10:OK    
            // No wafer: "0", Wafer: "1", Crossed:"2", Undefined: "?", Overlapping wafers: "W" 
            try
            {
                ReadMappingTransferStation = pdata[0];
                ReadMappingSlotNumbers = Convert.ToInt16(pdata[1]);
                StringBuilder sb = new StringBuilder();
                for (int i = 2; i < pdata.Length; i++)
                {
                    string value = pdata[i].Substring(3);
                    switch (value)
                    {
                        case "--":
                            sb.Append("0");
                            break;
                        case "OK":
                            sb.Append("1");
                            break;
                        case "CW":
                            sb.Append("2");
                            break;
                        case "DW":
                            sb.Append("W");
                            break;
                    }
                }
                ReadSlotMap = sb.ToString();
                NotifySlotMapResult(CurrentInteractiveModule, ReadSlotMap);
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParseMappingData(string[] pdata)
        {
            try
            {
                ReadMappingTransferStation = pdata[0];
                List<string> lstupdata = new List<string>();
                List<string> lstdowndata = new List<string>();
                for (int i = 0; i < (pdata.Length - 1) / 2; i++)
                {
                    lstupdata.Add(pdata[2 * i + 1].Remove(0, 3));
                    lstdowndata.Add(pdata[2 * i + 2]);
                }
                ReadMappingDownData = lstdowndata.ToArray();
                ReadMappingUpData = lstupdata.ToArray();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseMappingCalibrationResult(string[] pdata)
        {
            try
            {
                ReadMappingTransferStation = pdata[0];
                ReadMappingCalibrationResult.Clear();
                ReadMappingCalibrationResult.Add("LowestLaySlotPosition", Convert.ToInt32(pdata[1]) / 1000);
                ReadMappingCalibrationResult.Add("HighestLaySlotPosition", Convert.ToInt32(pdata[2]) / 1000);
                ReadMappingCalibrationResult.Add("WaferWidth", Convert.ToInt32(pdata[3]) / 1000);
                ReadMappingCalibrationResult.Add("ThreshhholdValueofDoubleInsertion", Convert.ToInt32(pdata[4]) / 1000);
                ReadMappingCalibrationResult.Add("ThreshhholdValueofSlantingInsertion1", Convert.ToInt32(pdata[5]) / 1000);
                ReadMappingCalibrationResult.Add("ThreshhholdValueofSlantingInsertion2", Convert.ToInt32(pdata[6]) / 1000);
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }


        protected override bool fClear(object[] param)
        {
            lock (_locker)
            {
                _lstHandlers.Clear();
                _connection.ForceClear();
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CCLR", "E"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RSTS"));
            }
            return true;
        }

        protected override bool fStartReadData(object[] param)
        {
            if (param.Length < 1) return false;
            string readcommand = param[0].ToString();
            switch (readcommand)
            {
                case "CurrentStatus":
                    lock (_locker)
                    {
                        _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RSTS"));
                        _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RPOS", "F"));
                        _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RPOS", "R"));
                    }
                    break;
                default:
                    break;
            }
            return true;
        }
        protected void ExecuteHandler(HandlerBase handler)
        {
            string commandstr = $",{UnitNumber}";
            if (IsEnableSeqNo)
            {
                CurrentSeqNo = SeqnoGenerator.create();
                commandstr += $",{CurrentSeqNo:D2}";
                SeqnoGenerator.release(CurrentSeqNo);
            }
            commandstr += $",{handler.SendText}";

            if (IsEnableCheckSum)
            {
                commandstr += ",";
                commandstr += Checksum(Encoding.ASCII.GetBytes(commandstr));
            }
            handler.SendText = $"${commandstr}\r";
            _connection.Execute(handler);

        }
        private string Checksum(byte[] bytes)
        {
            int sum = 0;
            foreach (byte code in bytes)
            {
                sum += code;
            }
            string hex = String.Format("{0:X2}", sum % 256);
            return hex;
        }

        protected override bool fStartSetParameters(object[] param)
        {
            try
            {
                string strParameter;
                string setcommand = param[0].ToString();
                _setParameter = setcommand;
                switch (setcommand)
                {
                    case "MotionSpeed":   // SSPD Set the motion speed
                        string strlevel = param[1].ToString();
                        string strspeedtype = param[2].ToString();
                        string strAxis = param[3].ToString();
                        uint speeddata = Convert.ToUInt32(param[4]);
                        if (!"0123".Contains(strlevel))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + strlevel);
                            return false;
                        }
                        if (!"HMLOB".Contains(strspeedtype))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + strspeedtype);
                            return false;
                        }
                        if (!"SAHIZRG".Contains(strAxis))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + strAxis);
                            return false;
                        }
                        strParameter = $"{strlevel},{strspeedtype},{strAxis}," + speeddata.ToString("D8");
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", strParameter));
                        }
                        break;
                    case "TransferSpeedLevel":    //SSLV Select the transfer speed level
                        string sslvlevel = param[1].ToString();
                        if (!"123".Contains(sslvlevel))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sslvlevel);
                            return false;
                        }
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSLV", sslvlevel));


                            //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,H,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                            //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,M,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                            //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,L,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                            //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,O,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                            //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,B,G,%{(_workSpeedRatio * 10).ToString("D7")}"));



                        }
                        if (SC.ContainsItem($"{_scRoot}.{Name}.SpeedLevel"))
                        {
                            SC.SetItemValue($"{_scRoot}.{Name}.SpeedLevel", Convert.ToInt32(sslvlevel));
                            
                        }
                        break;
                    case "RegisterTheCurrentPositionAsTransferStation":   // SPOS: Register the current position as the specified transfer station
                        string sposMem = param[1].ToString();
                        string sposRmode = param[2].ToString();
                        string sposTrsSt = param[3].ToString();
                        uint sposSlot = Convert.ToUInt16(param[4]);
                        string sposPosture = param[5].ToString();
                        string sposHand = param[6].ToString();
                        if (!"VN".Contains(sposMem))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sposMem);
                            return false;
                        }
                        if (!"AN".Contains(sposRmode))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sposRmode);
                            return false;
                        }
                        if (sposSlot < 1 || sposSlot > 30)
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sposSlot.ToString());
                            return false;
                        }
                        if (!"LR".Contains(sposPosture))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sposPosture);
                            return false;
                        }
                        if (!"12".Contains(sposHand))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sposHand);
                            return false;
                        }
                        strParameter = $"{sposMem},{sposRmode},{sposTrsSt},{sposSlot},{sposPosture},{sposHand}";

                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SPOS", strParameter));
                        }
                        break;
                    case "RegisterTheSpePostionAsTransferStation":   //SABS
                        string sabsMem = param[1].ToString();
                        string sabsRmode = param[2].ToString();
                        string sabsTrsSt = param[3].ToString();
                        string sabsPosture = param[4].ToString();
                        string sabsHand = param[5].ToString();
                        Int32 sabsValue1 = Convert.ToInt32(param[6]);
                        Int32 sabsValue2 = Convert.ToInt32(param[7]);
                        Int32 sabsValue3 = Convert.ToInt32(param[8]);
                        Int32 sabsValue4 = Convert.ToInt32(param[9]);
                        Int32 sabsValue5 = Convert.ToInt32(param[10]);
                        if (!"VN".Contains(sabsMem))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sabsMem);
                            return false;
                        }
                        if (!"AN".Contains(sabsRmode))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sabsRmode);
                            return false;
                        }
                        if (!"LR".Contains(sabsPosture))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sabsPosture);
                            return false;
                        }
                        if (!"12".Contains(sabsHand))
                        {
                            EV.PostAlarmLog(Name, $"Set {setcommand} with invalid parameter:" + sabsHand);
                            return false;
                        }
                        strParameter = $"{sabsMem},{sabsRmode},{sabsTrsSt},{sabsPosture},{sabsHand},"
                            + sabsValue1.ToString("D8") + "," + sabsValue2.ToString("D8") + "," + sabsValue3.ToString("D8") +
                            "," + sabsValue4.ToString("D8") + "," + sabsValue5.ToString("D8");

                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SABS", strParameter));
                        }
                        break;
                    case "ModifyTheSpecStationPostionByOffset": //SAPS
                        string sapsMem = param[1].ToString();
                        string sapsRmode = param[2].ToString();
                        string sapsTrsSt = param[3].ToString();
                        string sapsPosture = param[4].ToString();
                        string sapsHand = param[5].ToString();
                        Int32 sapsOffsetX = Convert.ToInt32(param[6]);
                        Int32 sapsOffsetY = Convert.ToInt32(param[7]);
                        Int32 sapsOffsetZ = Convert.ToInt32(param[8]);
                        strParameter = $"{sapsMem},{sapsRmode},{sapsTrsSt},{sapsPosture},{sapsHand},"
                            + sapsOffsetX.ToString("D8") + "," + sapsOffsetY.ToString("D8") + "," + sapsOffsetZ.ToString("D8");
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SAPS", strParameter));
                        }
                        break;
                    case "DeleteTheSpecStation": //SPDL
                        string spdlMem = param[1].ToString();
                        string spdlTrsSt = param[2].ToString();
                        string spdlPosture = param[3].ToString();
                        string spdlHand = param[4].ToString();

                        strParameter = $"{spdlMem},{spdlTrsSt},{spdlPosture},{spdlHand}";
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SPDL", strParameter));
                        }
                        break;
                    case "RegisterThePositionDataToVolatile": //SPSV
                        string spsvTrsSt = param[1].ToString();
                        string spsvPosture = param[2].ToString();
                        string spsvHand = param[3].ToString();
                        strParameter = $"{spsvTrsSt},{spsvPosture},{spsvHand}";
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SPSV", strParameter));
                        }



                        break;
                    case "ReadThePostionDataFromVolatile": //SPLD
                        string spldTrsSt = param[1].ToString();
                        string spldPosture = param[2].ToString();
                        string spldHand = param[3].ToString();
                        strParameter = $"{spldTrsSt},{spldPosture},{spldHand}";
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SPLD", strParameter));
                        }

                        break;
                    case "SetTheStationParameters": //SSTR
                        string sstrMem = param[1].ToString();
                        string sstrTrsSt = param[2].ToString();
                        string sstrItem = param[3].ToString();
                        Int32 sstrValue = Convert.ToInt32(param[4].ToString());
                        strParameter = $"{sstrMem},{sstrTrsSt},{sstrItem}," + sstrValue.ToString("D8");
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSTR", strParameter));
                        }
                        break;
                    case "ChangeParameterValue": // SPRM
                        string sprmParaType = param[1].ToString();
                        int sprmParaNO = Convert.ToInt32(param[2].ToString());
                        Int32 sprmValue = Convert.ToInt32(param[3].ToString());
                        strParameter = sprmParaType + "," + sprmParaNO.ToString("D4") + "," + sprmValue.ToString("D12");
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SPRM", strParameter));
                        }
                        break;
                    case "EnableInterlock": //SMSK
                    case "Interlock": //SMSK
                        int smskValid = Convert.ToInt16(param[1].ToString());
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SMSK", smskValid.ToString("D4")));
                            _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RMSK"));


                            if (smskValid.ToString("D4").Substring(0,1) == "0")
                            {
                                _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSLV", SpeedLevelSetting.ToString()));


                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,H,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,M,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,L,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,O,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,B,G,%{(_workSpeedRatio * 10).ToString("D7")}"));
                            }
                            else
                            {
                                _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSLV", "3"));

                                _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,H,G,%{(_lowSpeedRatio*10).ToString("D7")}"));
                                _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,M,G,%{(_lowSpeedRatio * 10).ToString("D7")}"));
                                _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,L,G,%{(_lowSpeedRatio * 10).ToString("D7")}"));
                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,O,G,%{(_lowSpeedRatio * 10).ToString("D7")}"));
                                //_lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSPD", $"0,B,G,%{(_lowSpeedRatio * 10).ToString("D7")}"));
                            }
                        }
                        break;
                    case "RegisterTheCurrentPositionAsCoordinate": //SSTD
                        string sstdAxis = param[1].ToString();
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSTD", sstdAxis));
                        }
                        break;
                    case "ResigterTheSpecNumberAsReferencePostion":   //SSTN
                        Int32 sstnValue1 = Convert.ToInt32(param[1]);
                        Int32 sstnValue2 = Convert.ToInt32(param[2]);
                        Int32 sstnValue3 = Convert.ToInt32(param[3]);
                        Int32 sstnValue4 = Convert.ToInt32(param[4]);
                        Int32 sstnValue5 = Convert.ToInt32(param[5]);

                        strParameter = sstnValue1.ToString("D12") + "," + sstnValue2.ToString("D12") + ","
                            + sstnValue3.ToString("D12") + "," + sstnValue4.ToString("D12") + ","
                            + sstnValue5.ToString("D12");
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSTN", strParameter));
                        }
                        break;
                    case "WaferSize":
                        _setSizeArm = (RobotArmEnum)param[1];
                        _setSize = (WaferSize)param[2];
                        break;
                }
            }
            catch (Exception)
            {
                string reason = "";
                if (param != null)
                {
                    foreach (var para in param)
                    {
                        reason += para.ToString() + ",";
                    }
                }
                EV.PostAlarmLog(Name, "Set command parameter invalid:" + reason);
                return false;
            }
            return true;
        }
        private int _lowSpeedRatio
        {
            get
            {
                if (SC.ContainsItem($"{ _scRoot}.{ Name}.LowSpeedRatio"))
                    return SC.GetValue<int>($"{ _scRoot}.{ Name}.LowSpeedRatio");

                return 10;

            }
        }
        private int _workSpeedRatio
        {
            get
            {
                if (SC.ContainsItem($"{ _scRoot}.{ Name}.WorkSpeedRatio"))
                    return SC.GetValue<int>($"{ _scRoot}.{ Name}.WorkSpeedRatio");

                return 100;

            }
        }

        

        private string _setParameter;
        private RobotArmEnum _setSizeArm;
        private WaferSize _setSize;

        protected override bool fMonitorSetParamter(object[] param)
        {
            IsBusy = false;
            switch (_setParameter)
            {
                case "WaferSize":
                    if (_setSizeArm == RobotArmEnum.Lower || _setSizeArm == RobotArmEnum.Blade1)
                        WaferManager.Instance.UpdateWaferSize(RobotModuleName, 0, _setSize);
                    if (_setSizeArm == RobotArmEnum.Upper || _setSizeArm == RobotArmEnum.Upper)
                        WaferManager.Instance.UpdateWaferSize(RobotModuleName, 1, _setSize);
                    if (_setSizeArm == RobotArmEnum.Both)
                    {
                        WaferManager.Instance.UpdateWaferSize(RobotModuleName, 0, _setSize);
                        WaferManager.Instance.UpdateWaferSize(RobotModuleName, 1, _setSize);
                    }
                    Size = _setSize;
                    break;
            }



            return true;
        }
        protected override bool fStartTransferWafer(object[] param)
        {
            return false;
        }

        protected override bool fStartUnGrip(object[] param)
        {
            lock (_locker)
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                string strpara = (arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString()) + ",0,0";
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", strpara));
            }
            return true;
        }

        protected override bool fStartGrip(object[] param)
        {
            lock (_locker)
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                string strpara = (arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString()) + ",1,0";
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", strpara));
            }
            return true;
        }
        protected override bool fStartInit(object[] param)
        {
            IsOnReadyPosition = false;

            if (_doRobotHold != null)
            {
                _doRobotHold.SetTrigger(true, out _);
                Thread.Sleep(100);
            }


            //lock(_locker)
            //{
            //    _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CCLR", "E"));
            //    _lstHandlers.AddLast(new SR100RobotGripAndCheckWaferMotionHandler(this));
            //    _lstHandlers.AddLast(new SR100RobotCheckWaferHandler(this));
            //}

            //Stopwatch timer = new Stopwatch();
            //timer.Start();

            //while (timer.IsRunning  && (_lstHandlers.Count >0 || _connection.IsBusy))
            //{
            //    if(timer.Elapsed > TimeSpan.FromSeconds(30))
            //    {
            //        OnError("CheckWaferStatusTimeout");
            //        timer.Stop();
            //        return false;
            //    }
            //}


            //timer.Stop();

            //if(!_isCheckResultOK)
            //{
            //    OnError($"WaferCheckError");
            //    return false;
            //}
            

            lock (_locker)
            {

                if (!isSimulatorMode && IsCheckWaferForHHSmec)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }

                string strpara = "1,1,G";
                //_lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", "F,1,0"));


                _lstHandlers.AddLast(new SR100RobotGripAndCheckWaferMotionHandler(this));
                _lstHandlers.AddLast(new SR100RobotCheckWaferHandler(this));

                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "INIT", strpara));
                if(IsCheckInterlockWaferPresenceOnBlade1 && IsCheckInterlockWaferPresenceOnBlade2)
                {
                    if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 3)
                        _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSLV", SpeedLevelSetting.ToString()));

                }

                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RSTS"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RMSK"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RPOS", "F"));


            }
            return true;
        }
        protected override bool fStartHome(object[] param)
        {
            IsOnReadyPosition = false;
            
            lock (_locker)
            {
                if (_doRobotHold != null)
                {
                    _doRobotHold.SetTrigger(true, out _);
                    Thread.Sleep(100);
                }

                if (!isSimulatorMode && IsCheckWaferForHHSmec)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }


                //_lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", "F,1,0"));

                string strpara = "1,1,G";
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "INIT", strpara));
                if (IsCheckInterlockWaferPresenceOnBlade1 && IsCheckInterlockWaferPresenceOnBlade2)
                {
                    if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 3)
                        _lstHandlers.AddLast(new SR100RobotSetHandler(this, "SSLV", SpeedLevelSetting.ToString()));

                }


                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RSTS"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RMSK"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RPOS", "F"));
            }
            return true;
        }

        protected override bool fStartGoTo(object[] param)
        {
            try
            {
                if (!isSimulatorMode && IsCheckWaferForHHSmec)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }



                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;
                RobotPostionEnum postype = (RobotPostionEnum)param[3];
                float x = (float)param[4];
                float y = (float)param[5];
                float z = (float)param[6];
                float w = (float)param[7];
                int intXvalue = (int)(x * 1000);
                int intYvalue = (int)(y * 1000);
                int intZvalue = (int)(z * 1000);
                int intWvalue = (int)(w * 1000);

                bool isFromOriginal = (bool)param[8];
                bool isJumpToNextMotion = (bool)param[9];
                string strpara = string.Empty;
                if ((int)postype >= 0 && (int)postype < 10)
                {
                    strpara = "G";
                }
                if ((int)postype >= 10 && (int)postype < 20)
                {
                    strpara = "P";
                }
                if ((int)postype >= 20 && (int)postype < 30)
                {
                    strpara = "E";
                }

                string trsSt = "";

                string TrsPnt = string.Empty;
                if (postype == RobotPostionEnum.PickReady)
                {
                    IsOnReadyPosition = true;
                    trsSt = GetStationsName(module, true, arm);
                    TrsPnt = "G1";
                }
                if (postype == RobotPostionEnum.PickExtendLow)
                {
                    trsSt = GetStationsName(module, true, arm);
                    TrsPnt = "G2";
                }
                if (postype == RobotPostionEnum.PickAtWafer)
                {
                    trsSt = GetStationsName(module, true, arm);
                    TrsPnt = "Gb";
                }
                if (postype == RobotPostionEnum.PickExtendUp)
                {
                    trsSt = GetStationsName(module, true, arm);
                    TrsPnt = "G3";
                }
                if (postype == RobotPostionEnum.PickRetracted)
                {
                    trsSt = GetStationsName(module, true, arm);
                    TrsPnt = "G4";
                }

                if (postype == RobotPostionEnum.PlaceReady)
                {
                    IsOnReadyPosition = true;
                    trsSt = GetStationsName(module, false, arm);
                    TrsPnt = "P1";
                }
                if (postype == RobotPostionEnum.PlaceExtendUp)
                {
                    trsSt = GetStationsName(module, false, arm);
                    TrsPnt = "P2";
                }
                if (postype == RobotPostionEnum.PlaceExtendAtWafer)
                {
                    trsSt = GetStationsName(module, false, arm);
                    TrsPnt = "Pb";
                }
                if (postype == RobotPostionEnum.PlaceExtendDown)
                {
                    trsSt = GetStationsName(module, false, arm);
                    TrsPnt = "P3";
                }
                if (postype == RobotPostionEnum.PlaceRetract)
                {
                    trsSt = GetStationsName(module, false, arm);
                    TrsPnt = "P4";
                }
                string strCmd = string.Empty;
                if (isFromOriginal)
                {
                    strCmd = "MTRS";
                }
                else if (isJumpToNextMotion)
                {
                    strCmd = "MCTR";
                }
                else
                {
                    strCmd = "MPNT";
                }
                if (string.IsNullOrEmpty(trsSt) || string.IsNullOrEmpty(strpara) || string.IsNullOrEmpty(TrsPnt))
                {
                    EV.PostAlarmLog("Robot", "invalid transfer paramter");
                    return false;
                }
                strpara += $",{trsSt},{slot:D2},A,{(arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString())}," +
                    $"{TrsPnt}";
                if (x != 0 || y != 0 || z != 0 || w != 0)
                {
                    string strxoffset = intXvalue >= 0 ? $"{intXvalue:D8}" : $"{intXvalue:D7}";
                    string stryoffset = intYvalue >= 0 ? $"{intYvalue:D8}" : $"{intYvalue:D7}";
                    string strzoffset = intZvalue >= 0 ? $"{intZvalue:D8}" : $"{intZvalue:D7}";
                    string strwoffset = intWvalue >= 0 ? $"{intWvalue:D8}" : $"{intWvalue:D7}";
                    strpara += $",{strxoffset},{stryoffset},{strzoffset},{strwoffset}";
                }
                if (strCmd == "MPNT")
                    strpara = TrsPnt;
                lock (_locker)
                {
                    if (_lstHandlers.Count == 0 && !_connection.IsBusy)
                    {
                        ExecuteHandler(new SR100RobotMotionHandler(this, strCmd, strpara));
                    }
                    else
                    {
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, strCmd, strpara));
                    }
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        protected override bool fGoToComplete(object[] param)
        {
            try
            {
                RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
                ModuleName sourcemodule = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[1].ToString());
                int SourceslotIndex = (int)CurrentParamter[2];
                RobotPostionEnum postype = (RobotPostionEnum)CurrentParamter[3];
                bool isFromOriginal = (bool)CurrentParamter[8];
                bool isJumpToNextMotion = (bool)CurrentParamter[9];

                switch (postype)
                {
                    case RobotPostionEnum.PickExtendUp:
                    case RobotPostionEnum.PickRetracted:
                        if (arm == RobotArmEnum.Lower)
                        {
                            WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                            //if (isSimulatorMode || GetWaferState(arm) == RobotArmWaferStateEnum.Present)
                            //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                            //else
                            //    OnError("Wafer detect error");
                        }
                        if (arm == RobotArmEnum.Upper)
                        {
                            WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                            //if (isSimulatorMode || GetWaferState(arm) == RobotArmWaferStateEnum.Present)
                            //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                            //else
                            //    OnError("Wafer detect error");
                        }
                        if (arm == RobotArmEnum.Both)
                        {
                            WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                            WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                            //if (isSimulatorMode || GetWaferState(arm) == RobotArmWaferStateEnum.Present)
                            //{
                            //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                            //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                            //}
                            //else
                            //    OnError("Wafer detect error");
                        }
                        break;
                    case RobotPostionEnum.PlaceExtendDown:
                    case RobotPostionEnum.PlaceRetract:
                        if (arm == RobotArmEnum.Lower)
                        {
                            WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, SourceslotIndex);
                            //if (isSimulatorMode || GetWaferState(arm) == RobotArmWaferStateEnum.Absent)
                            //    WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, SourceslotIndex);
                            //else
                            //    OnError("Wafer detect error");
                        }
                        if (arm == RobotArmEnum.Upper)
                        {
                            WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, SourceslotIndex);
                            //if (isSimulatorMode || GetWaferState(arm) == RobotArmWaferStateEnum.Absent)
                            //    WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, SourceslotIndex);
                            //else
                            //    OnError("Wafer detect error");
                        }
                        if (arm == RobotArmEnum.Both)
                        {
                            WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, SourceslotIndex);
                            WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, SourceslotIndex);
                            //if (isSimulatorMode || GetWaferState(arm) == RobotArmWaferStateEnum.Absent)
                            //{
                            //    WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, SourceslotIndex);
                            //    WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, SourceslotIndex);
                            //}
                            //else
                            //    OnError("Wafer detect error");
                        }
                        break;
                }
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
            }

            return base.fGoToComplete(param);
        }
        protected override bool fStop(object[] param)
        {
            lock (_locker)
            {
                if (_doRobotHold != null)
                    _doRobotHold.SetTrigger(false, out _);
                _lstHandlers.Clear();
                _connection.ForceClear();
                ExecuteHandler(new SR100RobotMotionHandler(this, "CSTP", "E"));
            }
            return true; ;
        }

        protected override bool fStartMove(object[] param)
        {
            try
            {
                string strCmd = param[0].ToString();
                string strpara = string.Empty;
                for (int i = 1; i < param.Length; i++)
                {
                    if (i == 1)
                        strpara += param[i].ToString();
                    else
                        strpara += "," + param[i].ToString();
                }
                lock (_locker)
                {
                    _lstHandlers.AddLast(new SR100RobotMotionHandler(this, strCmd, strpara));
                    _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RPOS", "F"));
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        protected string GetStationsName(ModuleName module,bool isPick = true, RobotArmEnum placeArm = RobotArmEnum.Lower)
        {
            try
            {
                if (ModuleHelper.IsLoadPort(module))
                {
                    int infopadindex = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString()).InfoPadCarrierIndex;

                    if(SC.ContainsItem($"CarrierInfo.{module}Station{infopadindex}"))
                        return SC.GetStringValue($"CarrierInfo.{module}Station{infopadindex}");

                    if (SC.ContainsItem($"CarrierInfo.Carrier{infopadindex}.{module}Station"))
                        return SC.GetStringValue($"CarrierInfo.Carrier{infopadindex}.{module}Station");

                }

                if(ModuleHelper.IsTurnOverStation(module))
                {
                    if(isPick)
                    {
                        WaferSize ws = WaferManager.Instance.GetWaferSize(module, 0);
                        if (SC.ContainsItem($"CarrierInfo.{module}PickStation{ws.ToString().Replace("WS", "")}"))
                        {
                            string stname = SC.GetStringValue($"CarrierInfo.{module}PickStation{ws.ToString().Replace("WS", "")}");
                            LOG.Write($"{RobotModuleName} Get {module} pick stationName for wafersize:{ws} is {stname}");
                            return stname;
                        }
                    }
                    else
                    {
                        WaferSize ws = WaferManager.Instance.GetWaferSize(RobotModuleName, 0);
                        if(placeArm != RobotArmEnum.Lower)
                            ws = WaferManager.Instance.GetWaferSize(RobotModuleName, 1);
                        if (SC.ContainsItem($"CarrierInfo.{module}PlaceStation{ws.ToString().Replace("WS", "")}"))
                        {
                            string stname = SC.GetStringValue($"CarrierInfo.{module}PlaceStation{ws.ToString().Replace("WS", "")}");
                            LOG.Write($"{RobotModuleName} Get {module} place stationName for wafersize:{ws} is {stname}");
                            return stname;
                        }
                    }                    
                }
                LOG.Write($"{RobotModuleName} Get {module} stationName for is {$"CarrierInfo.{module}Station"}");

                return SC.GetStringValue($"CarrierInfo.{module}Station");
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return null;
            }
        }
        private int GetSlotsNumber(ModuleName module)
        {
            try
            {
                if (ModuleHelper.IsLoadPort(module))
                {
                    return DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString()).ValidSlotsNumber;

                }
                return 1;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return -1;
            }
        }
        private bool _isNeedMappignData
        {
            get
            {
                if (SC.ContainsItem($"Robot.{RobotModuleName}.NeedReadMapData"))
                    return SC.GetValue<bool>($"Robot.{RobotModuleName}.NeedReadMapData");
                return true;
            }
        }
        protected override bool fStartMapWafer(object[] param)
        {
            try
            {
                //RobotArmEnum pickarm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[0].ToString());
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slotsNumber = GetSlotsNumber(module);
                if (slotsNumber == -1)
                {
                    EV.PostAlarmLog("Robot", "Invalid mapping paramter slots number");
                    return false;
                }
                //int slot = 25;// (int)param[2];
                string strpara = $"{GetStationsName(module)},00,1";
                if(ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    lp.NoteTransferStart();
                }


                lock (_locker)
                {
                    CurrentInteractiveModule = module;
                    _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MMAP", strpara));
                    if (_isNeedMappignData)
                    {
                        _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RMPD", $"{GetStationsName(module)}"));
                        _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RMAP", $"{GetStationsName(module)},00"));
                    }
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }      


        protected override bool fStartSwapWafer(object[] param)
        {
            try
            {
                if (_isCheckWaferBeforeAction && IsCheckInterlockWaferPresenceOnBlade1 && IsCheckInterlockWaferPresenceOnBlade2)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }
                if (!isSimulatorMode && IsCheckWaferForHHSmec)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }


                IsOnReadyPosition = false;
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                if (ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }

                int slot = (int)param[2] + 1;
                float x = 0, y = 0, z = 0, w = 0;
                if (param.Length > 3)
                {
                    x = (float)param[3];
                    y = (float)param[4];
                    z = (float)param[5];
                    w = (float)param[6];
                }
                int intXvalue = (int)(x * 1000);
                int intYvalue = (int)(y * 1000);
                int intZvalue = (int)(z * 1000);
                int intWvalue = (int)(w * 1000);
                string TrsSt = GetStationsName(module);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    EV.PostAlarmLog("Robot", "Invalid Paramter.");
                    return false;
                }
                string strpara = $"E,{TrsSt},{slot:D2},A,{(arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString())},P4";
                if (x != 0 || y != 0 || z != 0)
                {
                    strpara += $",{intXvalue:D8},{intYvalue:D8},{intZvalue:D8}";
                }
                if (w != 0)
                {
                    strpara += $",{intWvalue:D8}";
                }
                lock (_locker)
                {
                    if (_lstHandlers.Count == 0 && !_connection.IsBusy)
                    {
                        ExecuteHandler(new SR100RobotMotionHandler(this, "MTRS", strpara));
                    }
                    else
                    {
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MTRS", strpara));
                    }
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        protected override bool fSwapComplete(object[] param)
        {
            RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
            ModuleName sourcemodule;
            if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
            int Sourceslotindex;
            if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;
            int delayCount = 0;
            if (arm == RobotArmEnum.Lower)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 0);
                //WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);

                while (_isCheckWaferAfterAction && !isSimulatorMode && !(GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Present
                        && GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Absent))
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 0);
                WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);

            }
            if (arm == RobotArmEnum.Upper)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 1);
                //WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                delayCount = 0;
                while (_isCheckWaferAfterAction && !isSimulatorMode && !(GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Present &&
                    GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Absent))
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 1);
                WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);

            }
            return base.fSwapComplete(param);
        }


        protected override bool fStartPlaceWafer(object[] param)
        {
            try
            {
                if (_isCheckWaferBeforeAction && IsCheckInterlockWaferPresenceOnBlade1 && IsCheckInterlockWaferPresenceOnBlade2)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }
                if (!isSimulatorMode && IsCheckWaferForHHSmec)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }


                IsOnReadyPosition = false;
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                if (ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;
                float x = 0, y = 0, z = 0, w = 0;
                if (param.Length > 3)
                {
                    x = (float)param[3];
                    y = (float)param[4];
                    z = (float)param[5];
                    w = (float)param[6]; 
                }
                int intXvalue = Convert.ToInt32(x * 1000);
                int intYvalue = Convert.ToInt32(y * 1000);
                int intZvalue = Convert.ToInt32(z * 1000);
                int intWvalue = Convert.ToInt32(w * 1000);
                string TrsSt = GetStationsName(module);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    EV.PostAlarmLog("Robot", "Invalid Parameter.");
                    return false;
                }
                string strpara = $"P,{TrsSt},{slot:D2},A,{(arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString())},P4";
                if (x != 0 || y != 0 || z != 0)
                {
                    string strxoffset = intXvalue >= 0 ? $"{intXvalue:D8}" : $"{intXvalue:D7}";
                    string stryoffset = intYvalue >= 0 ? $"{intYvalue:D8}" : $"{intYvalue:D7}";
                    string strzoffset = intZvalue >= 0 ? $"{intZvalue:D8}" : $"{intZvalue:D7}";
                    string strwoffset = intWvalue >= 0 ? $"{intWvalue:D8}" : $"{intWvalue:D7}";
                    strpara += $",{strxoffset},{stryoffset},{strzoffset},{strwoffset}";
                }
                if (w != 0)
                {
                    strpara += $",{intWvalue:D8}";
                }
                lock (_locker)
                {
                    if (_lstHandlers.Count == 0 && !_connection.IsBusy)
                    {
                        ExecuteHandler(new SR100RobotMotionHandler(this, "MTRS", strpara));
                    }
                    else
                    {
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MTRS", strpara));
                    }
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        protected override bool fPlaceComplete(object[] param)
        {
            RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
            ModuleName sourcemodule;
            if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
            int Sourceslotindex;
            if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;
            int delayCount = 0;
            if (arm == RobotArmEnum.Lower)
            {
                //WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                while (_isCheckWaferAfterAction && !isSimulatorMode &&  GetWaferState(arm) != RobotArmWaferStateEnum.Absent)
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);

            }
            if (arm == RobotArmEnum.Upper)
            {
                //WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
                delayCount = 0;
                while (_isCheckWaferAfterAction && !isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Absent)
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);

            }
            if (arm == RobotArmEnum.Both)
            {
                //WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                //WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
                while (_isCheckWaferAfterAction && !isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Absent)
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex + 1);

            }


            return base.fPlaceComplete(param);
        }

        protected override bool fStartPickWafer(object[] param)
        {
            try
            {
                if (_isCheckWaferBeforeAction && IsCheckInterlockWaferPresenceOnBlade1 && IsCheckInterlockWaferPresenceOnBlade2)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }

                if (!isSimulatorMode && IsCheckWaferForHHSmec)
                {
                    if (!_isWaferMatchRecord)
                    {
                        OnError("WaferStateUnmatchRecord");
                        return false;
                    }
                }


                IsOnReadyPosition = false;
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                if (ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;
                float x = 0, y = 0, z = 0, w = 0;
                if (param.Length > 3)
                {
                    x = (float)param[3];
                    y = (float)param[4];
                    z = (float)param[5];
                    w = (float)param[6];
                }
                int intXvalue = Convert.ToInt32(x * 1000);
                int intYvalue = Convert.ToInt32(y * 1000);
                int intZvalue = Convert.ToInt32(z * 1000);
                int intWvalue = Convert.ToInt32(w * 1000);
                string TrsSt = GetStationsName(module,true);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    EV.PostAlarmLog("Robot", "Invalid Paramter.");
                    return false;
                }
                string strpara = $"G,{TrsSt},{slot:D2},A,{(arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString())},G4";
                if (x != 0 || y != 0 || z != 0)
                {
                    string strxoffset = intXvalue >= 0 ? $"{intXvalue:D8}" : $"{intXvalue:D7}";
                    string stryoffset = intYvalue >= 0 ? $"{intYvalue:D8}" : $"{intYvalue:D7}";
                    string strzoffset = intZvalue >= 0 ? $"{intZvalue:D8}" : $"{intZvalue:D7}";
                    string strwoffset = intWvalue >= 0 ? $"{intWvalue:D8}" : $"{intWvalue:D7}";
                    strpara += $",{strxoffset},{stryoffset},{strzoffset},{strwoffset}";
                }
                if (w != 0)
                {
                    strpara += $",{intWvalue:D8}";
                }
                lock (_locker)
                {
                    if (_lstHandlers.Count == 0 && !_connection.IsBusy)
                    {
                        ExecuteHandler(new SR100RobotMotionHandler(this, "MTRS", strpara));
                    }
                    else
                    {
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MTRS", strpara));
                    }
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        protected override bool fPickComplete(object[] param)
        {
            RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
            ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[1].ToString());
            ModuleName sourcemodule;
            if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
            int SourceslotIndex;
            if (!int.TryParse(CurrentParamter[2].ToString(), out SourceslotIndex)) return false;
            int delayCount = 0;
            if (arm == RobotArmEnum.Lower)
            {
                while (!isSimulatorMode && _isCheckWaferAfterAction && GetWaferState(arm) != RobotArmWaferStateEnum.Present)
                {
                    delayCount++;
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    Thread.Sleep(50);
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                


                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);

            }
            if (arm == RobotArmEnum.Upper)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                while (!isSimulatorMode && _isCheckWaferAfterAction && GetWaferState(arm) != RobotArmWaferStateEnum.Present)
                {
                    delayCount++;
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    Thread.Sleep(50);
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);

            }
            if (arm == RobotArmEnum.Both)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                while (!isSimulatorMode && _isCheckWaferAfterAction && GetWaferState(arm) != RobotArmWaferStateEnum.Present)
                {
                    delayCount++;
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    Thread.Sleep(50);
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex + 1, RobotModuleName, 1);

            }
            return base.fPickComplete(param);
        }


        protected override bool fResetToReady(object[] param)
        {
            if (_doRobotHold != null)
                _doRobotHold.SetTrigger(true, out _);
            return true;
        }

        protected override bool fReset(object[] param)
        {
            if (!_connection.IsConnected)
            {
                _address = SC.GetStringValue($"{_scRoot}.{Name}.Address");
                _enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
                _connection = new YaskawaRobotConnection(this, _address);
                _connection.EnableLog(_enableLog);
                _connection.Connect();
            }
            lock (_locker)
            {
                if (_doRobotHold != null)
                    _doRobotHold.SetTrigger(true, out _);
                _lstHandlers.Clear();
                _connection.ForceClear();
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CCLR", "E"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RSTS"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RMSK"));
                _lstHandlers.AddLast(new SR100RobotReadHandler(this, "RPOS", "F"));
            }
            return true;
        }

        protected override bool fMonitorReset(object[] param)
        {
            return _lstHandlers.Count ==0 && _connection.IsBusy;
        }



        protected override bool fError(object[] param)
        {
            return true;
        }

        protected override bool fStartExtendForPick(object[] param)
        {
            return false;
        }

        protected override bool fStartExtendForPlace(object[] param)
        {
            return false;
        }

        protected override bool fStartRetractFromPick(object[] param)
        {
            return false;
        }

        protected override bool fStartRetractFromPlace(object[] param)
        {
            return false;
        }

        public void CheckWaferPresentAndGrip()
        {
            if (GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Present)
            {
                if (WaferManager.Instance.CheckNoWafer(RobotModuleName, 0))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System detect wafer on lower arm, will create wafer automatically.");
                    WaferManager.Instance.CreateWafer(RobotModuleName, 0, WaferStatus.Normal);
                }
            }
            if (GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Absent)
            {
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", "1,0,0"));
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System didn't detect wafer on lower arm, but it has record.");
                    OnError($"WaferCheckError");
                    _lstHandlers.Clear();
                }
            }
            if (GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Present)
            {
                if (WaferManager.Instance.CheckNoWafer(RobotModuleName, 1))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System detect wafer on upper arm, will create wafer automatically.");
                    WaferManager.Instance.CreateWafer(RobotModuleName, 1, WaferStatus.Normal);
                }
            }
            if (GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Absent)
            {
                _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", "2,0,0"));
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 1))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System didn't detect wafer on upper arm, but it has record.");
                   
                    OnError($"WaferCheckError");
                    _lstHandlers.Clear();

                }
            }
        }
        public override RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm)
        {
            if (arm == RobotArmEnum.Lower)
            {
                if (_diRobotBlade1WaferOn != null && _isDetectWaferByDI)
                {
                    if (_diRobotBlade1WaferOn.Value) return RobotArmWaferStateEnum.Absent;
                    else return RobotArmWaferStateEnum.Present;
                }

                return IsWaferPresenceOnBlade1 ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent;
            }
            if (arm == RobotArmEnum.Upper)
            {
                if (_diRobotBlade2WaferOn != null && _isDetectWaferByDI)
                {
                    if (_diRobotBlade2WaferOn.Value) return RobotArmWaferStateEnum.Absent;
                    else return RobotArmWaferStateEnum.Present;
                }
                return IsWaferPresenceOnBlade2 ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent;
            }
            if (arm == RobotArmEnum.Both)
            {
                if (_diRobotBlade1WaferOn != null && _diRobotBlade2WaferOn != null && _isDetectWaferByDI)
                {
                    if (_diRobotBlade2WaferOn.Value && _diRobotBlade1WaferOn.Value)
                        return RobotArmWaferStateEnum.Absent;
                    else if (!_diRobotBlade2WaferOn.Value && !_diRobotBlade1WaferOn.Value)
                        return RobotArmWaferStateEnum.Present;
                    else return RobotArmWaferStateEnum.Unknown;
                }

                if (IsWaferPresenceOnBlade1 && IsWaferPresenceOnBlade2)
                {
                    return RobotArmWaferStateEnum.Present;
                }
                if ((!IsWaferPresenceOnBlade1) && !IsWaferPresenceOnBlade2)
                {
                    return RobotArmWaferStateEnum.Absent;
                }

            }
            return RobotArmWaferStateEnum.Unknown;
        }

        public void NoteError(string errortext)
        {
            OnError(errortext);
        }
        public void SenACK()
        {
            _connection.SendAck();
        }

        public override bool OnActionDone(object[] param)
        {
            BladeTarget = ModuleName.System;
            Blade1Target = ModuleName.System;
            Blade2Target = ModuleName.System;
            IsBusy = false;
            ModuleName sourcemodule;
            if (CurrentParamter != null && CurrentParamter.Length > 2 && Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule))
            {
                if (ModuleHelper.IsLoadPort(sourcemodule))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(sourcemodule.ToString());
                    if (lp != null)
                        lp.NoteTransferStop();
                }
            }
            if (_lstHandlers.Count == 0)
            {
                IsBusy = false;
                return base.OnActionDone(param);
            }

            return true;
        }

        public override void Terminate()
        {
            _thread.Stop();
            if (!SC.ContainsItem($"{_scRoot}.{Name}.CloseConnectionOnShutDown") || SC.GetValue<bool>($"{_scRoot}.{Name}.CloseConnectionOnShutDown"))
            {
                LOG.Write("Close connection for" + RobotModuleName.ToString());
                _connection.Disconnect();
            }
            base.Terminate();
        }



        private bool _isWaferMatchRecord
        {
            get
            {
                if(GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Present)
                {
                    if (WaferManager.Instance.CheckNoWafer(RobotModuleName, 0))
                        return false;
                }
                if (GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Absent)
                {
                    if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                        return false;
                }

                if (GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Present)
                {
                    if (WaferManager.Instance.CheckNoWafer(RobotModuleName, 1))
                        return false;
                }
                if (GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Absent)
                {
                    if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 1))
                        return false;
                }
                return true;
            }
        }

    }

    public class YaskawaTokenGenerator
    {
        private int _last = 0;
        List<int> _pool = new List<int>();

        SCConfigItem scToken = null;
        public int CurrentToken => _last;

        public YaskawaTokenGenerator(string scName)
        {
            scToken = SC.GetConfigItem(scName);
            if (scToken == null)

                _last = scToken.IntValue;

            Random r = new Random();
            _last = r.Next() % 20;
        }


        public int create()
        {
            int first = _last;
            int token = first;

            do
            {
                token = (token + 1) % 100;

                if (_pool.Contains(token))
                    continue;

                _pool.Add(token);
                _last = token;

                scToken.IntValue = _last;
                return _last;
            } while (token != first);

            throw (new ExcuteFailedException("Get token failed,pool is full"));
        }
        public void release(int token)
        {
            _pool.Remove(token);
        }


        public void release()
        {
            _last = 0;
            _pool.Clear();
        }

    }
    public enum YaskawaPositonEnum
    {
        RegisteredPosition,
        ReadyPosition,
        IntermediatePosition,
        MappingStartPosition,
        MappingFinishPosition,
    }
}