196 lines
7.5 KiB
C#
196 lines
7.5 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Drawing;
|
|
using System.Linq;
|
|
using System.Security.Cryptography;
|
|
using System.Text;
|
|
using AR;
|
|
|
|
namespace Project
|
|
{
|
|
public partial class FMain
|
|
{
|
|
//Int32[] _hDevice = new Int32[] { 0, 0, 0 };
|
|
//Int32[] _width = new Int32[] { 0, 0, 0 };
|
|
//Int32[] _height = new Int32[] { 0, 0, 0 };
|
|
//Int32[] _stride = new Int32[] { 0, 0, 0 };
|
|
//Int32[] _bufferSize = new Int32[] { 0, 0, 0 };
|
|
//Boolean[] _isCrevisOpen = new bool[] { false, false, false };
|
|
//Boolean[] _isCrevisACQ = new bool[] { false, false, false };
|
|
// IntPtr[] _pImage = new IntPtr[] { IntPtr.Zero, IntPtr.Zero, IntPtr.Zero };
|
|
|
|
public void _STEP_INIT_START(eSMStep step)
|
|
{
|
|
|
|
int progress = 0;
|
|
var ProgressMax = 13;
|
|
Color fColor = Color.DarkViolet;
|
|
|
|
|
|
PUB.sm.RaiseStateProgress(++progress, "Motion Initialize", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
|
|
if (PUB.mot.Init() == false)
|
|
{
|
|
PUB.log.AddE(string.Format("MOT INIT ERROR : {0}", PUB.mot.ErrorMessage));
|
|
PUB.log.AddE("Motion initialization error, retrying shortly");
|
|
System.Threading.Thread.Sleep(1000);
|
|
if (PUB.mot.Init() == false)
|
|
{
|
|
PUB.log.AddE("Motion initialization retry failed " + PUB.mot.ErrorMessage);
|
|
}
|
|
}
|
|
_SM_RUN_INIT_MOTION();
|
|
|
|
|
|
PUB.sm.RaiseStateProgress(++progress, "DIO Initialize", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
|
|
if (PUB.dio.Init())
|
|
{
|
|
DIO.InitDIOSensitive();
|
|
PUB.log.Add("DIO RUN MONITOR");
|
|
PUB.dio.RunMonitor();
|
|
|
|
|
|
//포트동작을 멈춘다
|
|
DIO.SetPortMotor(0, eMotDir.CW, false, "init");
|
|
DIO.SetPortMotor(1, eMotDir.CW, false, "init");
|
|
DIO.SetPortMotor(2, eMotDir.CW, false, "init");
|
|
}
|
|
else PUB.log.AddE(string.Format("DIO INIT ERROR : {0}", PUB.dio.ErrorMessage));
|
|
TowerLamp.Init(PUB.dio,
|
|
DIO.Pin[eDOName.TWR_REDF].terminalno,
|
|
DIO.Pin[eDOName.TWR_GRNF].terminalno,
|
|
DIO.Pin[eDOName.TWR_YELF].terminalno);
|
|
|
|
TowerLamp.Enable = !SETTING.Data.Disable_TowerLamp;
|
|
|
|
PUB.sm.RaiseStateProgress(++progress, "Set DIO Names", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
|
|
_SM_RUN_INIT_SETDIONAME();
|
|
|
|
PUB.log.AddI("Motion initialization flag setup complete");
|
|
PUB.flag.set(eVarBool.FG_INIT_MOTIO, true, "INIT");
|
|
|
|
//230504
|
|
hmi1.SetDIO(PUB.dio);
|
|
hmi1.SetMOT(PUB.mot);
|
|
|
|
//남은 공간
|
|
PUB.sm.RaiseStateProgress(++progress, "Space Check", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
|
|
CheckFreeSpace(); //181225
|
|
|
|
|
|
//프린터설정
|
|
PUB.sm.RaiseStateProgress(++progress, "Printer Setup", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
|
|
PUB.PrinterL = new Device.SATOPrinterAPI();
|
|
PUB.PrinterL.PortName = AR.SETTING.Data.PrintL_Port;
|
|
PUB.PrinterL.BaudRate = AR.SETTING.Data.PrintL_Baud;
|
|
|
|
PUB.PrinterR = new Device.SATOPrinterAPI();
|
|
PUB.PrinterR.PortName = AR.SETTING.Data.PrintR_Port;
|
|
PUB.PrinterR.BaudRate = AR.SETTING.Data.PrintR_Baud;
|
|
|
|
PUB.flag.set(eVarBool.FG_INIT_PRINTER, true, "INIT");
|
|
|
|
//모델자동선택 181206
|
|
PUB.sm.RaiseStateProgress(++progress, "Previous Model Check", ProgressMax, fColor); System.Threading.Thread.Sleep(5);
|
|
|
|
//
|
|
if (SETTING.User.LastModelV != "") PUB.SelectModelV(SETTING.User.LastModelV, false);
|
|
var motionmodel = SETTING.User.LastModelM;
|
|
if (motionmodel.isEmpty()) motionmodel = PUB.Result.vModel.Motion ?? string.Empty;
|
|
if (motionmodel.ToUpper().StartsWith("CONV")) PUB.flag.set(eVarBool.Use_Conveyor, true, "load");
|
|
else PUB.flag.set(eVarBool.Use_Conveyor, false, "load");
|
|
PUB.SelectModelM(motionmodel, false);
|
|
|
|
PUB.sm.RaiseStateProgress(ProgressMax, "Initialization Complete", ProgressMax, Color.Gold); System.Threading.Thread.Sleep(5);
|
|
PUB.log.Add("init finish");
|
|
|
|
//조명 ON
|
|
DIO.SetRoomLight(true);
|
|
}
|
|
|
|
public StepResult _STEP_INIT(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
|
|
{
|
|
PUB.sm.SetNewStep(eSMStep.IDLE);
|
|
return StepResult.Complete;
|
|
}
|
|
|
|
public void _SM_RUN_INIT_SETDIONAME()
|
|
{
|
|
//DIO 이름설정
|
|
Console.WriteLine("## SET DI NAME ##");
|
|
for (int i = 0; i < PUB.dio.GetDICount; i++)
|
|
{
|
|
var name = Enum.GetName(typeof(eDIName), i);
|
|
Console.WriteLine($"[{i}] {name}");
|
|
PUB.dio.SetDIName(i, name);
|
|
}
|
|
Console.WriteLine("## SET DO NAME ##");
|
|
for (int i = 0; i < PUB.dio.GetDOCount; i++)
|
|
{
|
|
var name = Enum.GetName(typeof(eDOName), i);
|
|
Console.WriteLine($"[{i}] {name}");
|
|
PUB.dio.SetDOName(i, name);
|
|
}
|
|
|
|
//Console.WriteLine("## SET FLAG NAME ##");
|
|
//for (int i = 0; i < PUB.flag.Length; i++)
|
|
//{
|
|
// var name = Enum.GetName(typeof(eFlag), i);
|
|
// PUB.flag.Name[i] = name;
|
|
// Console.WriteLine($"[{i}] {name}");
|
|
//}
|
|
}
|
|
|
|
private void _SM_RUN_INIT_MOTION()
|
|
{
|
|
PUB.mot.SetAlarmClearOn();
|
|
System.Threading.Thread.Sleep(5);
|
|
PUB.mot.SetAlarmClearOff();
|
|
|
|
//7개의 축을 사용한다
|
|
if (PUB.mot.IsInit == false)
|
|
{
|
|
PUB.log.AddE("Motion board initialization error, configuration will not proceed");
|
|
}
|
|
else
|
|
{
|
|
for (short i = 0; i < SETTING.System.MotaxisCount; i++)
|
|
{
|
|
//설정파일이 있다면 불러온다
|
|
var file = System.IO.Path.Combine(UTIL.CurrentPath, "Model", "axis" + i.ToString() + ".motaxt");
|
|
if (System.IO.File.Exists(file) == false)
|
|
{
|
|
PUB.log.AddAT($"Motion ({i}) configuration file not found!!");
|
|
PUB.mot.InitAxis(i, file);
|
|
}
|
|
else
|
|
{
|
|
if (PUB.mot.InitAxis((short)i, file) == false)
|
|
PUB.log.AddE("Motion setup failed axis:" + i.ToString());
|
|
else
|
|
PUB.log.AddI($"Motion ({i}) setup complete");
|
|
}
|
|
}
|
|
|
|
//EStop Disable
|
|
PUB.mot.SetEStopEnable(0, false);
|
|
PUB.mot.SetEStopEnable(1, false);
|
|
PUB.mot.SetEStopEnable(2, false);
|
|
PUB.mot.SetEStopEnable(3, false);
|
|
PUB.mot.SetEStopEnable(4, false);
|
|
PUB.mot.SetEStopEnable(5, false);
|
|
PUB.mot.SetEStopEnable(6, false);
|
|
|
|
//softlimit 적용 - 201214
|
|
UpdateSoftLimit();
|
|
|
|
|
|
PUB.log.Add("MOT RUN MONITOR");
|
|
PUB.mot.RunMonitor();
|
|
PUB.log.AddAT("ALL SERVO ON");
|
|
PUB.mot.SetServOn(true);
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|