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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/_SM_RUN.cs
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@@ -148,11 +148,11 @@ namespace Project
if (DIO.isSaftyDoorF() == false)
{
PUB.Result.SetResultMessage(eResult.EMERGENCY, eECode.DOORSAFTY, eNextStep.PAUSE);// false);
PUB.mot.MoveStop("안전문제", true);
PUB.mot.MoveStop("Safety issue", true);
if (DIO.isSaftyDoorF(0, false) == false) DIO.SetPortMotor(0, eMotDir.CW, false, "안전오류");
if (DIO.isSaftyDoorF(1, false) == false) DIO.SetPortMotor(1, eMotDir.CW, false, "안전오류");
if (DIO.isSaftyDoorF(2, false) == false) DIO.SetPortMotor(2, eMotDir.CW, false, "안전오류");
if (DIO.isSaftyDoorF(0, false) == false) DIO.SetPortMotor(0, eMotDir.CW, false, "Safety error");
if (DIO.isSaftyDoorF(1, false) == false) DIO.SetPortMotor(1, eMotDir.CW, false, "Safety error");
if (DIO.isSaftyDoorF(2, false) == false) DIO.SetPortMotor(2, eMotDir.CW, false, "Safety error");
return false;
}
@@ -176,7 +176,7 @@ namespace Project
Boolean isPortLimDN(int idx)
{
if (idx < 0 || idx > 2) throw new Exception("포트번호는(0~2)사이로 입력하세요");
if (idx < 0 || idx > 2) throw new Exception("Port number must be between (0~2)");
if (idx == 0) return DIO.GetIOInput(eDIName.PORTL_LIM_DN);
else if (idx == 1) return DIO.GetIOInput(eDIName.PORTC_LIM_DN);
else return DIO.GetIOInput(eDIName.PORTR_LIM_DN);
@@ -184,14 +184,14 @@ namespace Project
}
Boolean isPortLimUP(int idx)
{
if (idx < 0 || idx > 2) throw new Exception("포트번호는(0~2)사이로 입력하세요");
if (idx < 0 || idx > 2) throw new Exception("Port number must be between (0~2)");
if (idx == 0) return DIO.GetIOInput(eDIName.PORTL_LIM_UP);
else if (idx == 1) return DIO.GetIOInput(eDIName.PORTC_LIM_UP);
else return DIO.GetIOInput(eDIName.PORTR_LIM_UP);
}
Boolean isPortDetUp(int idx)
{
if (idx < 0 || idx > 2) throw new Exception("포트번호는(0~2)사이로 입력하세요");
if (idx < 0 || idx > 2) throw new Exception("Port number must be between (0~2)");
if (idx == 0) return DIO.GetIOInput(eDIName.PORTL_DET_UP);
else if (idx == 1) return DIO.GetIOInput(eDIName.PORTC_DET_UP);
else return DIO.GetIOInput(eDIName.PORTR_DET_UP);