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atvstdla
2025-09-26 18:15:59 +09:00
parent 54c64a06bd
commit 16da4a5ffa
65 changed files with 5700 additions and 3514 deletions
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171
Handler/Project/Dialog/fPickerMove.cs
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@@ -347,41 +347,99 @@ namespace Project.Dialog
return;
}
Task.Run(new Action(() =>
{
//Z축을 Ready 위치로 이동한다.
DateTime dt;
if (vidx == 0)
{
var zPos = MOT.GetLZPos(eLZLoc.READY);
MOT.Move(zPos);
while (MOT.getPositionMatch(zPos) == false)
System.Threading.Thread.Sleep(10);
{
//printer picker cylinder check
while(DIO.GetIOInput(eDIName.L_CYLUP)==false)
{
var dorlt = DIO.checkDigitalO(eDOName.L_CYLDN, new TimeSpan(1), false);
if (dorlt == eNormalResult.False)
{
System.Threading.Thread.Sleep(100);
}
else if( dorlt == eNormalResult.Error)
{
PUB.log.AddE("l_cylup check error");
return;
}
}
var mPos = MOT.GetLMPos(eLMLoc.PRINTL07);
MOT.Move(mPos);
while (MOT.getPositionMatch(mPos) == false)
var zPos = MOT.GetLZPos(eLZLoc.READY).Clone();
zPos.Speed = 100;
MOT.Move(zPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(zPos) == false)
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
var mPos = MOT.GetLMPos(eLMLoc.PRINTL07).Clone();
mPos.Speed = 100;
MOT.Move(mPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(mPos) == false)
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
var zPos2 = MOT.GetLZPos(eLZLoc.PICKOFF);
var tPos = (zPos2.Position / 2f);
MOT.Move(eAxis.PL_UPDN, tPos, zPos.Speed, zPos.Acc);
MOT.Move(eAxis.PL_UPDN, tPos, 100, zPos.Acc);
ManPosL = true;
}
else
{
var zPos = MOT.GetRZPos(eRZLoc.READY);
MOT.Move(zPos);
while (MOT.getPositionMatch(zPos) == false)
System.Threading.Thread.Sleep(10);
while (DIO.GetIOInput(eDIName.R_CYLUP) == false)
{
var dorlt = DIO.checkDigitalO(eDOName.R_CYLDN, new TimeSpan(1), false);
if (dorlt == eNormalResult.False)
{
System.Threading.Thread.Sleep(100);
}
else if (dorlt == eNormalResult.Error)
{
PUB.log.AddE("r_cylup check error");
return;
}
}
var mPos = MOT.GetRMPos(eRMLoc.PRINTL07);
MOT.Move(mPos);
while (MOT.getPositionMatch(mPos) == false)
var zPos = MOT.GetRZPos(eRZLoc.READY).Clone();
zPos.Speed = 100;
MOT.Move(zPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(zPos) == false)
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
var mPos = MOT.GetRMPos(eRMLoc.PRINTL07).Clone();
mPos.Speed = 100;
MOT.Move(mPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(mPos) == false)
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
var zPos2 = MOT.GetRZPos(eRZLoc.PICKOFF);
var tPos = (zPos2.Position / 2f);
MOT.Move(eAxis.PR_UPDN, tPos, zPos.Speed, zPos.Acc);
MOT.Move(eAxis.PR_UPDN, tPos, 100, zPos.Acc);
ManPosR = true;
}
@@ -407,30 +465,83 @@ namespace Project.Dialog
Task.Run(new Action(() =>
{
//Z축을 Ready 위치로 이동한다.
DateTime dt;
if (vidx == 0)
{
var zPos = MOT.GetLZPos(eLZLoc.READY);
MOT.Move(zPos);
while (MOT.getPositionMatch(zPos) == false)
System.Threading.Thread.Sleep(100);
while (DIO.GetIOInput(eDIName.L_CYLUP) == false)
{
var dorlt = DIO.checkDigitalO(eDOName.L_CYLDN, new TimeSpan(1), false);
if (dorlt == eNormalResult.False)
{
System.Threading.Thread.Sleep(100);
}
else if (dorlt == eNormalResult.Error)
{
PUB.log.AddE("l_cylup check error");
return;
}
}
var mPos = MOT.GetLMPos(eLMLoc.READY);
var zPos = MOT.GetLZPos(eLZLoc.READY).Clone();
zPos.Speed = 100;
MOT.Move(zPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(zPos) == false)
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
var mPos = MOT.GetLMPos(eLMLoc.READY).Clone();
mPos.Speed = 100;
MOT.Move(mPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(mPos) == false)
System.Threading.Thread.Sleep(100);
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
ManPosL = false;
}
else
{
var zPos = MOT.GetRZPos(eRZLoc.READY);
MOT.Move(zPos);
while (MOT.getPositionMatch(zPos) == false)
System.Threading.Thread.Sleep(100);
while (DIO.GetIOInput(eDIName.R_CYLUP) == false)
{
var dorlt = DIO.checkDigitalO(eDOName.R_CYLDN, new TimeSpan(1), false);
if (dorlt == eNormalResult.False)
{
System.Threading.Thread.Sleep(100);
}
else if (dorlt == eNormalResult.Error)
{
PUB.log.AddE("R_cylup check error");
return;
}
}
var mPos = MOT.GetRMPos(eRMLoc.READY);
MOT.Move(mPos);
var zPos = MOT.GetRZPos(eRZLoc.READY).Clone();
zPos.Speed = 100;
MOT.Move(zPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(zPos) == false)
System.Threading.Thread.Sleep(100);
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
var mPos = MOT.GetRMPos(eRMLoc.READY).Clone();
mPos.Speed = 100;
MOT.Move(mPos);
dt = DateTime.Now;
while (MOT.getPositionMatch(zPos) == false)
{
var ts = DateTime.Now - dt;
if (ts.TotalSeconds > 30) break;
System.Threading.Thread.Sleep(10);
}
ManPosR = false;
}