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ChiKyun Kim
2025-07-17 16:11:46 +09:00
parent 4865711adc
commit 4a1b1924ba
743 changed files with 230954 additions and 0 deletions
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278
Handler/Project/RunCode/RunSequence/4_PICKER_ON.cs Normal file
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using AR;
namespace Project
{
public partial class FMain
{
public Boolean PICKER_ON(eWorkPort target, eSMStep cmdIndex)
{
UInt16 idx = 1;
var mv = PUB.Result.vModel;
var mc = PUB.Result.mModel;
var funcName = System.Reflection.MethodBase.GetCurrentMethod().Name;
var seqTime = PUB.sm.seq.GetTime(cmdIndex);
var msgType = (Class.eStatusMesage)target;
var iLockX = PUB.iLock[(int)eAxis.PX_PICK];
var iLockZ = PUB.iLock[(int)eAxis.PZ_PICK];
var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
//option check
var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
var OPT_CameraOff = PUB.OPT_CAMERA(target);
var OPT_BYPASS = PUB.OPT_BYPASS();
//####################################################
//### 인터락 확인
//####################################################
Boolean MotMoveX = PUB.mot.IsMotion((int)eAxis.PX_PICK);
Boolean MotMoveZ = PUB.mot.IsMotion((int)eAxis.PZ_PICK);
if (iLockX.IsEmpty() == false && MotMoveX)
{
var locklistX = MOT.GetActiveLockList(eAxis.PX_PICK, iLockX);
PUB.mot.MoveStop("ILock(" + string.Join(",", locklistX) + ")", (int)eAxis.PX_PICK);
}
if (iLockZ.IsEmpty() == false && MotMoveZ)
{
var locklistZ = MOT.GetActiveLockList(eAxis.PZ_PICK, iLockZ);
PUB.mot.MoveStop("ILock(" + string.Join(",", locklistZ) + ")", (int)eAxis.PZ_PICK);
}
//####################################################
//### 작업시작
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
PUB.log.Add($"[{target}] 피커 ON 작업시작");
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### ON 위치로 이동
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (iLockX.IsEmpty() == false) return false;
if (iLockZ.IsEmpty() == false) return false;
var Pos = MOT.GetPXPos(ePXLoc.PICKON);
var PosZ = MOT.GetPZPos(ePZLoc.READY);
if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
PUB.log.Add($"[{target}] 피커 ON X,Y 준비위치 확인");
DIO.SetPickerVac(true);
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### Z축을 내린다.
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
var PortRDY = PUB.flag.get(eVarBool.FG_RDY_PORT_PC);
if (PortRDY == false) return false;
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### Z축을 내린다.
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
// if (iLockX.IsEmpty() == false) return false;
if (iLockZ.IsEmpty() == false) return false;
var Pos = MOT.GetPZPos(ePZLoc.PICKON);
var PosMatch = MOT.getPositionMatch(Pos);
//var PortRDY = PUB.flag.get(eVarBool.RDY_PORT_PC);
//if (PosMatch==false ) return false;
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
VAR.I32[eVarInt32.PickOnCount] += 1;
PUB.flag.set(eVarBool.FG_PK_ITEMON, true, funcName);
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### Z축을 올린다.
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
//if (iLockX.IsEmpty() == false) return false;
if (iLockZ.IsEmpty() == false) return false;
var Pos = MOT.GetPZPos(ePZLoc.READY);
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
PUB.flag.set(eVarBool.FG_PK_ITEMON, true, funcName);
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 프린트부착위치가 상/하가 아니라면 추가적인 회전이 필요하다 - 210207
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
var vData = target == eWorkPort.Left ? PUB.Result.ItemDataL.VisionData : PUB.Result.ItemDataR.VisionData;
if (vData.PrintPositionData == "4") // 왼쪽찍기
{
if (vData.ReelSize == eCartSize.Inch7)
{
vData.NeedCylinderForward = false;
double targerPos = 0.0;
if (target == eWorkPort.Left) //left printer
{
vData.PositionAngle = -90; //90도 회전한다
}
else
{
vData.PositionAngle = -90;
}
}
else
{
//13inch
vData.NeedCylinderForward = true;
if (target == eWorkPort.Left) //left printer
{
vData.PositionAngle = -180;
}
else
{
vData.PositionAngle = 0;
}
}
}
else if (vData.PrintPositionData == "6") //오른쪽찍기
{
if (vData.ReelSize == eCartSize.Inch7)
{
vData.NeedCylinderForward = false;
if (target == eWorkPort.Left) //left printer
{
vData.PositionAngle = 90; //90도 회전한다
}
else
{
vData.PositionAngle = 90; //90도 회전한다
}
}
else
{
//13inch
vData.NeedCylinderForward = true;
double targerPos = 0.0;
if (target == eWorkPort.Left) //left printer
{
vData.PositionAngle = 0;
}
else
{
vData.PositionAngle = 180;
}
}
}
else
{
vData.NeedCylinderForward = false; //상하에 붙이는건 실린더를 원위치해야함
vData.PositionAngle = 0;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 바코드에의한 자동 회전
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
//속도값만 취한다
var thpos = MOT.GetPTPos(ePTLoc.READY);
// Baseangle 값으로 변경 210126 - qr의 각도가잇다면 그것이 기준이됨
double baseAngle = 0;
string baseSource = "F";
var vdata = target == eWorkPort.Left ? PUB.Result.ItemDataL.VisionData : PUB.Result.ItemDataR.VisionData;
if (vdata.BaseAngle(out string msg, out Class.KeyenceBarcodeData bcd))
{
baseAngle = bcd.Angle;
baseSource = bcd.barcodeSource; //230504 각도
PUB.log.AddI($"[{target}] 각도산출내용:{msg},바코드:{bcd.Data},ID:{vdata.RID}"); //210602
}
else if (PUB.Result.DryRun)
{
PUB.log.AddAT($"[{target}] 드라이런으로 인해 각도를 적용하지 않음");
}
else
{
PUB.log.AddE($"[{target}] base ange error : {msg},ID:{vdata.RID}");
}
var addangle = baseSource == "R" ? SETTING.Data.RearBarcodeRotate : SETTING.Data.FrontBarcodeRotate;
var rotAngle = baseAngle + addangle + vdata.PositionAngle;
PUB.log.AddI($"[{target}]-소스:{baseSource} 회전값(Base:{baseAngle}+추가:{addangle}+비젼:{vdata.PositionAngle}={rotAngle})");
int dir = -1;
while (true)
{
if (rotAngle > 360.0)
rotAngle = rotAngle - 360.0; //한반퀴 더 도는것은 역 처리한다
else break;
}
//rotAngle += 90; //비젼이 90도 돌아가잇으니 다시 적용필요함 //상단이위로가도록 함
if (rotAngle > 180)
{
rotAngle = 360 - rotAngle;
dir = 1;
}
PUB.log.AddI($"[{target}] 회전(최종) [{rotAngle}도,방향:{dir}],RID:{vdata.RID}");
if (target == eWorkPort.Left)
PUB.Result.ItemDataL.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다
else
PUB.Result.ItemDataR.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다
var curtheta = PUB.mot.GetActPos((int)eAxis.Z_THETA);
var newPos = curtheta + (dir * rotAngle);
PUB.log.Add($"회전전 모터 위치 : {curtheta}, 대상위치:{newPos},속도:{thpos.Speed},가속:{thpos.Acc}");
if (target == eWorkPort.Left)
VAR.DBL[(int)eVarDBL.ThetaPositionL] = newPos;
else
VAR.DBL[(int)eVarDBL.ThetaPositionR] = newPos;
//if (ByPassMode == false)
//{
//바이패스에서도 추가 회전을 한다
MOT.Move(eAxis.Z_THETA, newPos, thpos.Speed, thpos.Acc, false);
//}
//else PUB.log.AddAT($"bypass 로 인해 회전을 하지 않습니다");
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//###
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
PUB.sm.seq.Update(cmdIndex);
return false;
}
return true;
}
}
}