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ChiKyun Kim
2025-07-17 16:11:46 +09:00
parent 4865711adc
commit 4a1b1924ba
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Handler/Project_form2/Don't change it/Util/Util_DO.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Project
{
public static partial class Util_DO
{
}
}

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Handler/Project_form2/Don't change it/Util/Util_Mot.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace Project
{
public static partial class Util_Mot
{
#region "Common Util"
//지정한 옵셋범위에 들어있는지 체크합니다.
static Boolean MatchPosition(double cpos, double tpos, double diff = 0.1)
{
var offset = Math.Abs(tpos - cpos);
return offset <= diff;
}
public static double getPositionOffset(eAxis axis, double cmdPos)
{
return getPositionOffset((int)axis, cmdPos);
}
public static double getPositionOffset(eAxisPXPos point)
{
var axis = eAxis.X_PICKER;
var pos = GetAxPXPos(point);
return getPositionOffset(axis, pos.position);
}
public static double getPositionOffset(eAxisPZPos point)
{
var axis = eAxis.Z_PICKER;
var pos = GetAxPZPos(point);
return getPositionOffset(axis, pos.position);
}
public static double getPositionOffset(eAxisPLMovePos point)
{
var axis = eAxis.PL_MOVE;
var pos = GetAxPLMPos(point);
return getPositionOffset(axis, pos.position);
}
public static double getPositionOffset(eAxisPRMovePos point)
{
var axis = eAxis.PR_MOVE;
var pos = GetAxPRMPos(point);
return getPositionOffset(axis, pos.position);
}
public static double getPositionOffset(eAxisPLUPDNPos point)
{
var axis = eAxis.PL_UPDN;
var pos = GetAxPLZPos(point);
return getPositionOffset(axis, pos.position);
}
public static double getPositionOffset(eAxisPRUPDNPos point)
{
var axis = eAxis.PR_UPDN;
var pos = GetAxPRZPos(point);
return getPositionOffset(axis, pos.position);
}
/// <summary>
/// 현재위치에서 지정된 위치를 뺀 값입니다. +가 반환되면 현재 위치가 지정위치보다 멀리 있다는 뜻입니다.
/// </summary>
/// <param name="axis"></param>
/// <param name="cmdPos"></param>
/// <returns></returns>
public static double getPositionOffset(int axis, double cmdPos)
{
var coffset = (Pub.mot.dACTPOS[(int)axis] - cmdPos);
return coffset;// return coffset < offset;
}
public static bool getPositionMatch(eAxis axis, double cmdPos, double offset = 0.1)
{
return getPositionMatch((int)axis, cmdPos, offset);
}
public static bool getPositionMatch(int axis, double cmdPos, double offset = 0.1)
{
var coffset = Math.Abs(Pub.mot.dACTPOS[(int)axis] - cmdPos);
return coffset < offset;
}
public static List<string> GetActiveLockList(eAxis axis, CInterLock Lck)
{
var locklist = new List<string>();
if (Lck.Value > 0)
{
for (int i = 0; i < 64; i++)
{
if (Lck.get(i))
{
var vStr = $"[{i}]";
if (axis == eAxis.X_PICKER) vStr = ((eILockPKX)i).ToString();
else if (axis == eAxis.Z_PICKER) vStr = ((eILockPKZ)i).ToString();
else if (axis == eAxis.Z_THETA) vStr = ((eILockPKT)i).ToString();
else if (axis == eAxis.PL_MOVE) vStr = ((eILockPRM)i).ToString();
else if (axis == eAxis.PL_UPDN) vStr = ((eILockPRZ)i).ToString();
else if (axis == eAxis.PR_MOVE) vStr = ((eILockPRM)i).ToString();
else if (axis == eAxis.PR_UPDN) vStr = ((eILockPRZ)i).ToString();
locklist.Add(vStr);
}
}
}
return locklist;
}
public static Boolean Home(string reason, eAxis axis_, Boolean useValidcheck = true)
{
string Message;
int axis = (int)axis_;
if (useValidcheck == true && !Home_Validation(axis_, out Message))
{
Pub.mot.RaiseMessage(string.Format("[{0}-Axis] Move Error : {1}", axis, Message), true);
return false;
}
var HomespdH = new double[] {
Pub.system.HSpeed0H, Pub.system.HSpeed1H, Pub.system.HSpeed2H,
Pub.system.HSpeed3H, Pub.system.HSpeed4H, Pub.system.HSpeed5H,
Pub.system.HSpeed6H,Pub.system.HSpeed7H
};
var HomespdL = new double[] {
Pub.system.HSpeed0L, Pub.system.HSpeed1L, Pub.system.HSpeed2L,
Pub.system.HSpeed3L, Pub.system.HSpeed4L, Pub.system.HSpeed5L,
Pub.system.HSpeed6L, Pub.system.HSpeed7L
};
var homespdA = new double[] {
Pub.system.HAcc0, Pub.system.HAcc1, Pub.system.HAcc2,
Pub.system.HAcc3, Pub.system.HAcc4, Pub.system.HAcc5,
Pub.system.HAcc6,Pub.system.HAcc7
};
var disable_org = new Boolean[] {
Pub.system.axis0_disable_orgsensor, Pub.system.axis1_disable_orgsensor,Pub.system.axis2_disable_orgsensor,
Pub.system.axis3_disable_orgsensor, Pub.system.axis4_disable_orgsensor,Pub.system.axis5_disable_orgsensor,
Pub.system.axis6_disable_orgsensor,Pub.system.axis7_disable_orgsensor
};
//Pub.mot.Home(1, arDev.AzinAxt.eMotionDirection.Negative, arDev.AzinAxt.eSoftLimitStopMode.SStop, Pub.setting.HZSpeed, Pub.setting.HZAcc);
Boolean useOrgSensor = !disable_org[axis]; // (axis_ != eAxis.Marking); //A센서는 ORG가 없으므로 NE센서만으로 처리해야 함
return Pub.mot.Home(reason, (short)axis, arDev.AzinAxt.eMotionDirection.Negative,
arDev.AzinAxt.eSoftLimitStopMode.EStop,
HomespdH[axis],
HomespdL[axis],
homespdA[axis],
useOrgSensor);
}
private static DateTime[] MotCmdtime = new DateTime[] { DateTime.Now, DateTime.Now, DateTime.Now, DateTime.Now, DateTime.Now, DateTime.Now, DateTime.Now, DateTime.Now };
private static double[] MotCmdPos = new double[] { 0, 0, 0, 0, 0, 0, 0, 0 };
public static Boolean Move(eAxis axis, double pos_mm, double speed, double acc = 1000, Boolean relative = false, Boolean validchk = true, Boolean UserInterLock = true)
{
//너무빠른시간 동작하지 못하게 한다
if (MotCmdPos[(int)axis] == pos_mm)
{
var ts = DateTime.Now - MotCmdtime[(int)axis];
if (ts.TotalMilliseconds < 1000)
{
//너무 빠르게 재시도하지 않게 한다 210115
Console.WriteLine("mot command skip : " + axis.ToString() + "pos:" + pos_mm.ToString() + " too short");
MotCmdtime[(int)axis] = DateTime.Now.AddMilliseconds(-1500);
return true;
}
else
{
MotCmdtime[(int)axis] = DateTime.Now;
MotCmdPos[(int)axis] = pos_mm;
}
}
else
{
MotCmdtime[(int)axis] = DateTime.Now;
MotCmdPos[(int)axis] = pos_mm;
}
//웨이퍼가 감지되는 상태일때 OPEN 되어있다면 이동하지 못하게 한다
string Message;
if (validchk == true)
{
if (!Move_Validation(axis, out Message))
{
Pub.log.AddE(string.Format("[{0}-Axis] Move Error : {1}", axis, Message));
//Pub.mot.RaiseMessage(, true);
return false;
}
}
//해당 축 ILOCK체크
if (UserInterLock)
{
//lock이 걸린경우 lock 걸린 항목을 모두 확인하면 좋다
if (axis == eAxis.X_PICKER && Pub.LockPKX.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPKX);
Pub.mot.errorMessage = "X_PICKER Interlock(" + string.Join(",", locklist) + ")";
return false;
}
else if (axis == eAxis.Z_PICKER && Pub.LockPKZ.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPKZ);
Pub.mot.errorMessage = "Z_PICKER Interlock(" + string.Join(",", locklist) + ")";
return false;
}
else if (axis == eAxis.Z_THETA && Pub.LockPKT.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPKT);
Pub.mot.errorMessage = "Z_THETA Interlock(" + string.Join(",", locklist) + ")";
return false;
}
else if (axis == eAxis.PL_MOVE && Pub.LockPLM.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPLM);
Pub.mot.errorMessage = "PL_MOVE Interlock(" + string.Join(",", locklist) + ")";
return false;
}
else if (axis == eAxis.PL_UPDN && Pub.LockPLZ.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPLZ);
Pub.mot.errorMessage = "PL_UPDN Interlock(" + string.Join(",", locklist) + ")";
return false;
}
else if (axis == eAxis.PR_MOVE && Pub.LockPRM.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPRM);
Pub.mot.errorMessage = "PR_MOVE Interlock(" + string.Join(",", locklist) + ")";
return false;
}
else if (axis == eAxis.PR_UPDN && Pub.LockPRZ.Value > 0)
{
var locklist = Util_Mot.GetActiveLockList(axis, Pub.LockPRZ);
Pub.mot.errorMessage = "PR_UPDN Interlock(" + string.Join(",", locklist) + ")";
return false;
}
}
var pos_pulse = pos_mm;// *10;
var result = Pub.mot.Move((short)axis, pos_pulse, speed, acc, acc, relative, false, validchk);
if (!result) Pub.mot.RaiseMessage("Move(X) Error : " + Pub.mot.errorMessage, true);
return result;
}
#endregion
}
}