Initial commit

2025-07-17 16:11:46 +09:00
parent 4865711adc
commit 4a1b1924ba
743 changed files with 230954 additions and 0 deletions
--- a/Handler/Project/RunCode/Main/_SM_MAIN_ERROR.cs
+++ b/Handler/Project/RunCode/Main/_SM_MAIN_ERROR.cs
@@ -0,0 +1,64 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+	public partial class FMain
+	{
+		private void _SM_MAIN_ERROR(Boolean isFirst, eSMStep Step, TimeSpan StepTime)
+		{
+			//모션의 위치를 저장해준다. - 재시작시 변경이 잇다면 오류로 처리한다
+			for (int i = 0; i < PUB.mot.DeviceCount; i++)
+				PUB.Result.PreventMotionPosition[i] = PUB.mot.GetLastCmdPos(i);
+
+			var errorMessage = string.Empty;
+
+			//에러메세지가 있는 경우에만 표시함
+			if (PUB.Result.ResultCode != eResult.NOERROR && PUB.Result.ResultMessage != "")
+				errorMessage += PUB.Result.ResultMessage;
+
+			//에러메세지가 있는 경우에만 표시함
+			if (errorMessage != "")
+			{
+				//사용자 값 입력창에서는 오류를 표시하지않는다
+				if (Step == eSMStep.PAUSE && PUB.flag.get(eVarBool.FG_WAIT_LOADERINFO))
+					PUB.log.Add("바코드정보입력창이라 일시중지 메세지를 표시하지 않음");
+				else
+					PUB.popup.setMessage(errorMessage);
+			}
+
+
+			if (Step == eSMStep.EMERGENCY)
+			{
+				PUB.log.AddE("Enter Emergency Step");
+			}
+			else if (Step == eSMStep.PAUSE)
+			{
+				PUB.log.AddE("Enter Pause Step 1 : " + PUB.Result.ResultMessage);
+			}
+			else
+			{
+				//홈 검색실패로 인해 멈췄다면 모든 축을 멈춘다
+				if (Step == eSMStep.ERROR && PUB.Result.ResultCode == eResult.SAFTY)
+					PUB.mot.MoveStop("홈검색 실패");
+
+				PUB.log.AddE(string.Format("Enter Error Step 1 : {0}", PUB.Result.ResultMessage));
+			}
+
+			//lbMsgR.ProgressEnable = false;
+
+			DIO.SetBuzzer(true);
+			DIO.SetPortMotor(0, eMotDir.CW, false, "ERROR");
+			DIO.SetPortMotor(1, eMotDir.CW, false, "ERROR");
+			DIO.SetPortMotor(2, eMotDir.CW, false, "ERROR");
+
+            //컨베어멈춤
+            DIO.SetOutput(AR.eDOName.LEFT_CONV, false);
+            DIO.SetOutput(AR.eDOName.RIGHT_CONV, false);
+        }
+	}
+}