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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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574
Handler/Project/RunCode/RunSequence/8_PRINTER_OFF.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 PRINTER_OFF(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 item = target == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
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(target);
//####################################################
//### 인터락 확인
//####################################################
Boolean MotMoveM, MotMoveZ;
AR.CInterLock iLockM, iLockZ;
eAxis axisM = target == eWorkPort.Left ? eAxis.PL_MOVE : eAxis.PR_MOVE;
eAxis axisZ = target == eWorkPort.Left ? eAxis.PL_UPDN : eAxis.PR_UPDN;
if (target == eWorkPort.Left)
{
MotMoveM = PUB.mot.IsMotion((int)eAxis.PL_MOVE);
MotMoveZ = PUB.mot.IsMotion((int)eAxis.PL_UPDN);
iLockM = PUB.iLock[(int)eAxis.PL_MOVE];
iLockZ = PUB.iLock[(int)eAxis.PL_UPDN];
}
else
{
MotMoveM = PUB.mot.IsMotion((int)eAxis.PR_MOVE);
MotMoveZ = PUB.mot.IsMotion((int)eAxis.PR_UPDN);
iLockM = PUB.iLock[(int)eAxis.PR_MOVE];
iLockZ = PUB.iLock[(int)eAxis.PR_UPDN];
}
if (iLockM.IsEmpty() == false && MotMoveM)
{
var locklistX = MOT.GetActiveLockList(axisM, iLockM);
PUB.mot.MoveStop("ILock(" + string.Join(",", locklistX) + ")", (int)axisM);
}
if (iLockZ.IsEmpty() == false && MotMoveZ)
{
var locklistZ = MOT.GetActiveLockList(axisZ, iLockZ);
PUB.mot.MoveStop("ILock(" + string.Join(",", locklistZ) + ")", (int)axisZ);
}
//####################################################
//### 작업시작
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
//PUB.log.Add($"[{target}] 프린트 OFF 작업 시작");
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 피커Y축 위치 확인
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
var PosX = MOT.GetPXPos(ePXLoc.PICKON);
var OffX = MOT.getPositionOffset(PosX);
if (target == eWorkPort.Left)
{
if (OffX < -1) return false; //충돌조건이므로 Y축을 움직이면 안된다
}
else
{
if (OffX > 1) return false;//충돌조건이므로 Y축을 움직이면 안된다
}
//PUB.log.Add($"[{target}] 프린트 OFF 작업 시작");
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 프린터Z축 위치 확인
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (iLockZ.IsEmpty() == false) return false;
sPositionData Pos;
if (target == eWorkPort.Left)
{
Pos = MOT.GetLZPos(eLZLoc.READY);
}
else
{
Pos = MOT.GetRZPos(eRZLoc.READY);
}
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
//PUB.log.Add($"[{target}] 프린트 OFF 작업 시작");
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### Y이동
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
sPositionData Pos;
if (OPT_PrinterOff == false)
{
//릴크기없으면 오류
var reelSize = item.VisionData.ReelSize;
if (reelSize == eCartSize.None)
{
PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOREELSIZE, eNextStep.PAUSE, target);
return false;
}
//부착위치
var PrintPutPos = item.VisionData.GetPrintPutPosition();
if (PrintPutPos == ePrintPutPos.None)
{
PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOPUTPOSITION, eNextStep.PAUSE, target);
return false;
}
if (target == eWorkPort.Left)
{
//위에 찍을지 아래에 찍을지 위치를 결정한다
if (reelSize == eCartSize.Inch13)
{
if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetLMPos(eLMLoc.PRINTM13);
else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetLMPos(eLMLoc.PRINTL13);
else Pos = MOT.GetLMPos(eLMLoc.PRINTH13);
}
else
{
if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetLMPos(eLMLoc.PRINTM07);
else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetLMPos(eLMLoc.PRINTL07);
else Pos = MOT.GetLMPos(eLMLoc.PRINTH07);
}
}
else //Right Move
{
//위에 찍을지 아래에 찍을지 위치를 결정한다
if (reelSize == eCartSize.Inch13)
{
if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetRMPos(eRMLoc.PRINTM13);
else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetRMPos(eRMLoc.PRINTL13);
else Pos = MOT.GetRMPos(eRMLoc.PRINTH13);
}
else
{
if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetRMPos(eRMLoc.PRINTM07);
else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetRMPos(eRMLoc.PRINTL07);
else Pos = MOT.GetRMPos(eRMLoc.PRINTH07);
}
}
if (iLockM.IsEmpty() == false) return false;
//if (iLockZ.IsEmpty() == false) return false;
//위치오류확인
if (Pos.isError == false)
{
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
}
else
{
PUB.Result.SetResultMessage(eResult.OPERATION, eECode.POSITION_ERROR, eNextStep.PAUSE, "PRINTPOS");
return false;
}
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 실린더 전/후진 상태를 전환한다 -- 210207
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
var Cylinder = item.VisionData.NeedCylinderForward;
if (Cylinder == true)
{
//전진이 필요하다
if (target == eWorkPort.Left)
DIO.SetOutput(eDOName.PRINTL_FWD, true);
else
DIO.SetOutput(eDOName.PRINTR_FWD, true);
}
else
{
//전진이 필요하지 않다.
if (target == eWorkPort.Left)
DIO.SetOutput(eDOName.PRINTL_FWD, false);
else
DIO.SetOutput(eDOName.PRINTR_FWD, false);
}
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 카트모드에서는 추가 실린더 down 해야한다 230809
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
if (SETTING.Data.Enable_PickerCylinder)
{
//전진이 필요하다
if (target == eWorkPort.Left)
DIO.SetOutput(eDOName.L_CYLDN, true);
else
DIO.SetOutput(eDOName.R_CYLDN, true);
}
else
{
if (target == eWorkPort.Left)
DIO.SetOutput(eDOName.L_CYLDN, false);
else
DIO.SetOutput(eDOName.R_CYLDN, false);
}
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 카트상태확인
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
eVarBool fg = target == eWorkPort.Left ? eVarBool.FG_RDY_PORT_PL : eVarBool.FG_RDY_PORT_PR;
if (PUB.flag.get(fg) == false) return false;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 실린더상태확인 -- 210207
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
var Cylinder = item.VisionData.NeedCylinderForward;
if (Cylinder == true)
{
//전진이 필요하다
if (target == eWorkPort.Left)
{
if (DIO.checkDigitalO(eDIName.L_PICK_FW, seqTime, true) != eNormalResult.True)
return false;
}
else
{
if (DIO.checkDigitalO(eDIName.R_PICK_FW, seqTime, true) != eNormalResult.True)
return false;
}
}
else
{
//전진이 필요하지 않다.
if (target == eWorkPort.Left)
{
if (DIO.checkDigitalO(eDIName.L_PICK_BW, seqTime, true) != eNormalResult.True)
return false;
}
else
{
if (DIO.checkDigitalO(eDIName.R_PICK_BW, seqTime, true) != eNormalResult.True)
return false;
}
}
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 피커 down 실린더상태확인 -- 230809
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false && SETTING.Data.Enable_PickerCylinder)
{
//전진이 필요하다
if (target == eWorkPort.Left)
{
if (DIO.checkDigitalO(eDIName.L_CYLDN, seqTime, true, timeoutcode: eECode.PICKER_LCYL_NODOWN) != eNormalResult.True)
return false;
}
else
{
if (DIO.checkDigitalO(eDIName.R_CYLDN, seqTime, true, timeoutcode: eECode.PICKER_RCYL_NODOWN) != eNormalResult.True)
return false;
}
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### Z값을 내린다.
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (iLockZ.IsEmpty() == false) return false;
if (OPT_PrinterOff == false)
{
sPositionData Pos;
if (target == eWorkPort.Left)
Pos = MOT.GetLZPos(eLZLoc.PICKOFF);
else
Pos = MOT.GetRZPos(eRZLoc.PICKOFF);
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 진공파기
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
if (target == eWorkPort.Left)
{
DIO.SetPrintLVac(ePrintVac.exhaust);
}
else
{
DIO.SetPrintRVac(ePrintVac.exhaust);
}
}
if (target == eWorkPort.Left)
{
VAR.BOOL[eVarBool.LEFT_ITEM_PICKOFF] = true;
VAR.TIME[eVarTime.LEFT_ITEM_PICKOFF] = DateTime.Now;
VAR.DBL[eVarDBL.LEFT_ITEM_PICKOFF] = 0;
VAR.I32[eVarInt32.LEFT_ITEM_COUNT] += 1;
}
else
{
VAR.BOOL[eVarBool.RIGT_ITEM_PICKOFF] = true;
VAR.TIME[eVarTime.RIGT_ITEM_PICKOFF] = DateTime.Now;
VAR.DBL[eVarDBL.RIGT_ITEM_PICKOFF] = 0;
VAR.I32[eVarInt32.RIGT_ITEM_COUNT] += 1;
}
PUB.log.Add($"[{target}] 릴을 내려놓습니다");
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 잠시대기
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
if (seqTime.TotalMilliseconds < AR.SETTING.Data.PrintVacOffPurgeMS) return false;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 저속으로올린다
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (iLockZ.IsEmpty() == false) return false;
if (OPT_PrinterOff == false)
{
sPositionData Pos;
if (target == eWorkPort.Left)
Pos = MOT.GetLZPos(eLZLoc.PICKOFF);
else
Pos = MOT.GetRZPos(eRZLoc.PICKOFF);
Pos.Position -= 30;
Pos.Speed = 30;
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 카트모드에서는 추가 실린더 down 해야한다 230809
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
//if (ByPassMode == false)
//{
// if (CVMode == false)
//{
//전진이 필요하다
if (target == eWorkPort.Left)
DIO.SetOutput(eDOName.L_CYLDN, false);
else
DIO.SetOutput(eDOName.R_CYLDN, false);
//}
// }
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### Z값 대기위치로
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (iLockZ.IsEmpty() == false) return false;
if (OPT_PrinterOff == false)
{
sPositionData Pos;
if (target == eWorkPort.Left)
Pos = MOT.GetLZPos(eLZLoc.READY);
else
Pos = MOT.GetRZPos(eRZLoc.READY);
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### AIR해제
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (target == eWorkPort.Left)
DIO.SetPrintLVac(ePrintVac.off);
else
DIO.SetPrintRVac(ePrintVac.off);
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//### 실린더 복귀 확인 -- 230809
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (SETTING.Data.Enable_PickerCylinder)
{
//상승이 필요하다
if (target == eWorkPort.Left)
{
if (DIO.checkDigitalO(eDIName.L_CYLUP, seqTime, true, timeoutcode: eECode.PICKER_LCYL_NOUP) != eNormalResult.True)
return false;
}
else
{
if (DIO.checkDigitalO(eDIName.R_CYLUP, seqTime, true, timeoutcode: eECode.PICKER_RCYL_NOUP) != eNormalResult.True)
return false;
}
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//###
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (OPT_PrinterOff == false)
{
if (target == eWorkPort.Left)
{
if (DIO.checkDigitalO(eDIName.L_PICK_VAC, seqTime, false) != eNormalResult.True) return false;
VAR.I32[eVarInt32.LPickOfCount] += 1;
}
else
{
if (DIO.checkDigitalO(eDIName.R_PICK_VAC, seqTime, false) != eNormalResult.True) return false;
VAR.I32[eVarInt32.RPickOfCount] += 1;
}
//PUB.log.AddAT($"용지 떨어짐 확인 필요");
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
//####################################################
//###
//####################################################
if (PUB.sm.seq.Get(cmdIndex) == idx++)
{
if (target == eWorkPort.Left)
{
PUB.flag.set(eVarBool.FG_PL_ITEMON, false, funcName);
}
else
{
PUB.flag.set(eVarBool.FG_PR_ITEMON, false, funcName);
}
//프린터 사용여부 확인
if (OPT_PrinterOff == false)
{
item.PrintAttach = true;
item.Attachtime = DateTime.Now;
}
PUB.sm.seq.Update(cmdIndex);
return false;
}
return true;
}
}
}