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This commit is contained in:
ChiKyun Kim
2025-09-09 17:24:19 +09:00
parent adb66451ca
commit 02028afc27
338 changed files with 2205 additions and 79829 deletions
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14
Handler/Project/RunCode/RunSequence/4_PICKER_ON.cs
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@@ -49,7 +49,7 @@ namespace Project
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
PUB.log.Add($"[{target}] 피커 ON 작업시작");
PUB.log.Add($"[{target}] Picker ON work started");
PUB.sm.seq.Update(cmdIndex);
return false;
}
@@ -65,7 +65,7 @@ namespace Project
var PosZ = MOT.GetPZPos(ePZLoc.READY);
if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
PUB.log.Add($"[{target}] 피커 ON X,Y 준비위치 확인");
PUB.log.Add($"[{target}] Picker ON X,Y ready position confirmed");
DIO.SetPickerVac(true);
PUB.sm.seq.Update(cmdIndex);
return false;
@@ -205,11 +205,11 @@ namespace Project
{
baseAngle = bcd.Angle;
baseSource = bcd.barcodeSource; //230504 각도
PUB.log.AddI($"[{target}] 각도산출내용:{msg},바코드:{bcd.Data},ID:{vdata.RID}"); //210602
PUB.log.AddI($"[{target}] Angle calculation: {msg}, Barcode: {bcd.Data}, ID: {vdata.RID}"); //210602
}
else if (PUB.Result.DryRun)
{
PUB.log.AddAT($"[{target}] 드라이런으로 인해 각도를 적용하지 않음");
PUB.log.AddAT($"[{target}] Angle not applied due to dry run");
}
else
{
@@ -218,7 +218,7 @@ namespace Project
var addangle = baseSource == "R" ? SETTING.Data.RearBarcodeRotate : SETTING.Data.FrontBarcodeRotate;
var rotAngle = baseAngle + addangle + vdata.PositionAngle;
PUB.log.AddI($"[{target}]-소스:{baseSource} 회전값(Base:{baseAngle}+추가:{addangle}+비젼:{vdata.PositionAngle}={rotAngle})");
PUB.log.AddI($"[{target}] Source: {baseSource} Rotation value (Base: {baseAngle} + Additional: {addangle} + Vision: {vdata.PositionAngle} = {rotAngle})");
int dir = -1;
while (true)
@@ -234,7 +234,7 @@ namespace Project
dir = 1;
}
PUB.log.AddI($"[{target}] 회전(최종) [{rotAngle}도,방향:{dir}],RID:{vdata.RID}");
PUB.log.AddI($"[{target}] Rotation (Final) [{rotAngle} degrees, Direction: {dir}], RID: {vdata.RID}");
if (target == eWorkPort.Left)
PUB.Result.ItemDataL.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다
@@ -243,7 +243,7 @@ namespace Project
var curtheta = PUB.mot.GetActPos((int)eAxis.Z_THETA);
var newPos = curtheta + (dir * rotAngle);
PUB.log.Add($"회전전 모터 위치 : {curtheta}, 대상위치:{newPos},속도:{thpos.Speed},가속:{thpos.Acc}");
PUB.log.Add($"Motor position before rotation: {curtheta}, Target position: {newPos}, Speed: {thpos.Speed}, Acceleration: {thpos.Acc}");
if (target == eWorkPort.Left)
VAR.DBL[(int)eVarDBL.ThetaPositionL] = newPos;