ht9045-catchtray-flow

Start with the CatchTrayTask variable in acatchtray.cpp and locate the case number range: 1-50 is initialization, 100-260 is Loader tray pickup, 500-600 is buffer replenishment, 1000-1200 is placing trays to Auto, and 2000-2160 is placing to Buffer. Then drill into the corresponding sub-task variable for details.

Case numbers are grouped by operational stage rather than sequential order. For example, cases 100-260 handle catching an empty tray from the Loader, 300-400 decide which Auto needs a tray, and 3000-6100 cover manual, mapping, and finishing steps. The Skill lists every valid case per function.

Check the C_CatchTray_Fix_Puch and C_CatchTray_Fix_Pop functions, which use the iCatchTray_Fix_Puch and iCatchTray_Fix_Pop task variables with cases 1 and 100. Verify the associated sensor states when the gripper fails to clamp or release.

DoLoadCarRotArmReadRFID in acatchtray.cpp handles LoaderCar RFID reading, driven by the iCoverTrayIDTask[iKeyenceCoverTrayID_LoaderCar] task variable. Its cases span 1 through 6000, covering read initiation, verification, and completion stages.

The HT9045 codebase is written in C++ using Borland C++ Builder 6 with the VCL framework and AnsiString types. Its motion logic follows a state machine pattern built on switch(Task) statements with integer reference task variables.