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125 lines
3.1 KiB
C++
125 lines
3.1 KiB
C++
#pragma once
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#include <string>
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static const int COM_BUF_LEN = 128; //串口通信buf 的长度
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static int LOADPORT_LEFT = 0;
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static int LOADPORT_CENTER = 1;
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static int LOADPORT_RIGHT = 2;
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enum eTransferType
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{
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_Transfer_Null = 0,
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_Transfer_Init,
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_Transfer_Scan, //料盒扫描
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_Transfer_Grab_Wafer, //取料
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_Transfer_Arm1ToAlign_Wafer, //准直
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_Transfer_Aligner_Wafer, //准直
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_Transfer_AlignToArm2_Wafer,
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_Transfer_ToPlat_Wafer, //到平台
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_Transfer_PlatToArm2_Wafer,
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_Transfer_Arm2ToAligner_Wafer,
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_Transfer_Aligner2_Wafer,//平台到准直
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_Transfer_AlignToArm1_Wafer,
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_Transfer_Upper_Wafer, //上料
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_Transfer_ReadRfd, //读取Rfd
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};
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//cmd 的发送类型
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enum eRobotCmdSendType
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{
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_RobotCmdSendType_SendOnly = 0,//只发送
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_RobotCmdSendType_WaitFeedback,//发送后只等待反馈<
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_RobotCmdSendType_WaitCmdEnd,//等待cmd执行完成(反馈< 加上cmd 相同str)
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_RobotCmdSendType_ImmediateReadFeedback,//立即读取反馈(同步)
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};
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//发送给robot 的指令类型(顺序无所谓)
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enum eRobotCmdType
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{
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_RobotCmd_TransferWafer = 0,//传送wafer
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_RobotCmd_ToWaitPos,//移动到等待位置
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_RobotCmd_Org,//重置错误，并且回原点
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_RobotCmd_ResetErr,//重置错误
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_RobotCmd_QueryState,//查询状态
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_RobotCmd_QueryCoord1,//查询轴坐标位置1
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_RobotCmd_QueryCoord2,//查询轴坐标位置2
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_RobotCmd_QueryCoord3,//查询轴坐标位置3
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_RobotCmd_Sevon,//激磁
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_RobotCmd_Arm1VacOff,//arm1放真空
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_RobotCmd_Arm2VacOff,//arm2放真空
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_RobotCmd_Arm1Arm2MergePos,//Arm1和Arm2合并位置
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_RobotCmd_AlignerExt,//准直执行
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_RobotCmd_AlignerOrg,//准直org
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_RobotCmd_AlignerTakeStation,//取料位置
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_RobotCmd_AlignerVacOn,
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_RobotCmd_AlignerVacOff,
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_RobotCmd_AlignerSetPar,//设置角度
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_RobotCmd_Arm1VacOn,//arm1开真空
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_RobotCmd_Arm2VacOn,//arm2开真空
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_RobotCmd_InitSet,//初始化设置
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_RobotCmd_Port1Org,//org
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_RobotCmd_Port2Org,//org
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_RobotCmd_AdsVacOn,//吸附开
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_RobotCmd_AdsVacOff,//吸附关
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_RobotCmd_Arm_Check,//检测手臂是否有片
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_RobotCmd_Init_Align,
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_RobotCmd_Do_align,
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_RObotCmd_Switch_bank,
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_RobotCmd_Check_ARM_EXIST_WAFER,
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_RObotCmd_RotateToWaferIdPos,
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_RobotCmd_RunToCassMappingPoint,
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_RobotCmd_Mapping,
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_RobotCmd_ReadMappingData,
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};
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enum eWaferPosType
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{
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_WaferPos_Null = 0,
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_WaferPos_Arm1,
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_WaferPos_Arm2,
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_WaferPos_Cassette,
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_WaferPos_Aligner,
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_WaferPos_HotPlate,
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_WaferPos_WaitPos,
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_WaferPos_Special,
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_WaferPos_AnnealExt,
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_WaferPos_Max,
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};
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class _declspec(dllexport) CRobotCmdInfo
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{
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public:
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CRobotCmdInfo()
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{
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m_WaitCmdTime = 1;//等待cmd 时间s
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m_RobotCmdSendType = _RobotCmdSendType_SendOnly;
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};
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public:
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eRobotCmdType m_RobotCmdType;//robot 的指令类型
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//_RobotCmd_TransferWafer 类型使用的参数
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eWaferPosType m_FromPos;//移动的起始位置
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eWaferPosType m_ToPos;//移动的终点位置
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int m_cassIndex;
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int m_Slot;//移动wafer 的slot (操作cassette 才需要)
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std::string m_armPos;//"up"上手指 "down"下手指
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std::string m_SendCmdStr;//指令字符串
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std::string m_ErrStr;//错误信息
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std::string m_RevStr;//读取的反馈字符串
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int m_WaitCmdTime;//等待cmd 时间s
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int LoadportId = 0;
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eRobotCmdSendType m_RobotCmdSendType;//cmd 的发送类型
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}; |