Initial commit

Handler/Project/RunCode/_Motion.cs

@@ -0,0 +1,83 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+	public partial class FMain
+	{
+		public Boolean[] DisableMotion;
+		private void Mot_PositionChanged(object sender, arDev.MOT.PositionChangeEventArgs e)
+		{
+			eAxis mot = (eAxis)e.Axis;
+			if (mot == eAxis.PX_PICK)
+			{
+
+			}
+
+			//모터 위치가 변경되면 로더 컨트롤에 입력한다
+			hmi1.arMotorPosition[e.Axis] = e.Actual;
+		}
+
+		void mot_StatusChanged(object sender, arDev.MOT.StatusChangeEventArags e)
+		{
+			if (e.Axis >= PUB.system.MotaxisCount) return;
+			if (e.Status == arDev.MOT.MOTION_STATUS.SERVOALARM) hmi1.arMOT_Alm[e.Axis] = e.Value;
+			else if (e.Status == arDev.MOT.MOTION_STATUS.LIMITN) hmi1.arMOT_LimDn[e.Axis] = e.Value;
+			else if (e.Status == arDev.MOT.MOTION_STATUS.LIMITP) hmi1.arMOT_LimUp[e.Axis] = e.Value;
+			else if (e.Status == arDev.MOT.MOTION_STATUS.ORIGIN) hmi1.arMOT_Origin[e.Axis] = e.Value;
+			else if (e.Status == arDev.MOT.MOTION_STATUS.SERVROON) hmi1.arMOT_SVOn[e.Axis] = e.Value;
+		}
+
+		private void Mot_EndStatusChanged(object sender, arDev.MOT.EndStatusChangeEventArgs e)
+		{
+			if (AR.SETTING.Data.Enable_Log_MotStopReason == false) return;  //210112
+
+			var bitstatus = Convert.ToString(e.Value, 2).PadLeft(16, '0');
+			List<FS_END_STATUS> lst = new List<FS_END_STATUS>();
+			for (byte i = 0; i < 15; i++)
+			{
+				var offset = (ushort)(Math.Pow(2, i));
+				if ((e.Value & offset) > 0) lst.Add((FS_END_STATUS)offset);
+			}
+
+			var reason = string.Join(",", lst);
+			PUB.log.Add("MOT", $"모터정지사유({e.Axis}):{reason}:bit={bitstatus}");
+		}
+
+
+		void mot_HomeStatusChanged(object sender, arDev.MOT.HomeStatusChangeEventArgs e)
+		{
+			if (PUB.sm.Step == eSMStep.HOME_FULL)
+			{
+				hmi1.arHomeProgress[e.Axis] = e.Progress;
+				if (e.NewStatus == arDev.MOT.HOME_RESULT.HOME_ERR_NOT_DETECT)
+				{
+					//홈 검색시 오류가 발생했다 사용자에게 알림을 해야 함
+					PUB.Result.SetResultMessage(eResult.MOTION, eECode.MOT_HSET, eNextStep.ERROR, e.Axis);
+				}
+				else if (e.NewStatus == arDev.MOT.HOME_RESULT.HOME_SUCCESS)
+				{
+					PUB.log.AddI(string.Format("홈 검색이 완료되었습니다 축:{0}", e.Axis));
+				}
+			}
+		}
+
+
+		void mot_Message(object sender, arDev.MOT.MessageEventArgs e)
+		{
+			if (e.IsError)
+			{
+				if (e.Message.IndexOf("동일위치") != -1 || e.Message.IndexOf("inposition") != -1)
+				{  // Pub.log.AddAT("MOT:" + e.Message);
+				}
+				else PUB.log.AddE("MOT:" + e.Message);
+			}
+
+			else PUB.log.Add("MOT:" + e.Message);
+		}
+
+	}
+}