244 lines
10 KiB
C#
244 lines
10 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Drawing;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using AR;
|
|
|
|
namespace Project
|
|
{
|
|
public partial class FMain
|
|
{
|
|
/// <summary>
|
|
/// 키엔스가 실패했을때 재시도 하는 작업이다
|
|
/// 중앙에서 잡고 79도 틀고, 내려 놓고 피한다
|
|
/// </summary>
|
|
/// <param name="target"></param>
|
|
/// <param name="cmdIndex"></param>
|
|
/// <returns></returns>
|
|
public Boolean PICKER_RETRY(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 PickerRetryCount = AR.VAR.I32[(int)eVarInt32.PickOnRetry];
|
|
//####################################################
|
|
//### 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}] Picker RETRY work started ({PickerRetryCount}/{AR.SETTING.Data.RetryPickOnMaxCount})");
|
|
|
|
//기존자료를 모두 삭제 한다 221102
|
|
if (PUB.Result.ItemDataC != null && PUB.Result.ItemDataC.VisionData != null && PUB.Result.ItemDataC.VisionData.barcodelist != null)
|
|
{
|
|
lock (PUB.Result.ItemDataC.VisionData.barcodelist)
|
|
{
|
|
PUB.Result.ItemDataC.VisionData.Clear(funcName, true);
|
|
}
|
|
}
|
|
|
|
AR.VAR.BOOL[eVarBool.JOB_PickON_Retry] = true;
|
|
PUB.mot.ClearPosition((int)eAxis.Z_THETA);
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
DIO.SetPickerVac(false);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### Z를 먼저 Ready 로 이동
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (iLockZ.IsEmpty() == false) return false;
|
|
var Pos = MOT.GetPZPos(ePZLoc.READY);
|
|
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
DIO.SetPickerVac(true);
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### X를 픽온위치로 이동
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (iLockX.IsEmpty() == false) return false;
|
|
var Pos = MOT.GetPXPos(ePXLoc.PICKON);
|
|
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
DIO.SetPickerVac(true);
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### Z축 내리기 조건확인
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
var PortRDY = PUB.flag.get(eVarBool.FG_RDY_PORT_PC);
|
|
if (PortRDY == false) return false;
|
|
DIO.SetPickerVac(true);
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### Z축을 내린다.
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (iLockZ.IsEmpty() == false) return false;
|
|
var Pos = MOT.GetPZPos(ePZLoc.PICKON);
|
|
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
VAR.I32[eVarInt32.PickOnCount] += 1;
|
|
//PUB.flag.set(eVarBool.PK_ITEMON, true, funcName);
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### 100ms 대기
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (seqTime.TotalMilliseconds < 100) return false;
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### Z축을 올린다.
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
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.PK_ITEMON, true, funcName);
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
|
|
//####################################################
|
|
//### 현재위치에서 79도 회전
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
//속도값만 취한다
|
|
var Pos = MOT.GetPTPos(ePTLoc.READY);
|
|
Pos.Position = PUB.mot.GetActPos((int)eAxis.Z_THETA) + AR.SETTING.Data.RetryPickOnAngle;
|
|
VAR.DBL[(int)eVarDBL.ThetaPosition] = Pos.Position;
|
|
MOT.Move(Pos);
|
|
//if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### 현재위치에서 79도 회전
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
//속도값만 취한다
|
|
var Pos = MOT.GetPTPos(ePTLoc.READY);
|
|
Pos.Position = VAR.DBL[(int)eVarDBL.ThetaPosition];
|
|
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
|
|
//####################################################
|
|
//### Z를 pick on 위치로 1/3 지점으로 이동한다
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (iLockZ.IsEmpty() == false) return false;
|
|
var PosS = MOT.GetPZPos(ePZLoc.READY);
|
|
var PosT = MOT.GetPZPos(ePZLoc.PICKON);
|
|
var offset = (int)(Math.Abs(PosT.Position - PosS.Position) * 0.7f);
|
|
PosS.Position += offset; //시작위치에서 절반만 이동한다
|
|
if (MOT.CheckMotionPos(seqTime, PosS, funcName) == false) return false;
|
|
DIO.SetPickerVac(false); //릴을 내려 놓는다
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### Z축을 올린다.
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (iLockZ.IsEmpty() == false) return false;
|
|
var Pos = MOT.GetPZPos(ePZLoc.READY);
|
|
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
DIO.SetPickerVac(false); //백큠을 꺼서 원복한다
|
|
hmi1.arVar_Port[1].AlignReset(); //231013
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
|
|
//####################################################
|
|
//### 키엔스를 읽어야 하므로 피해준다
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
if (iLockX.IsEmpty() == false) return false;
|
|
|
|
sPositionData Pos;
|
|
if (target == eWorkPort.Left) Pos = MOT.GetPXPos(ePXLoc.READYL);
|
|
else Pos = MOT.GetPXPos(ePXLoc.READYR);
|
|
|
|
//theta모터 위치 초기화
|
|
PUB.mot.ClearPosition((int)eAxis.Z_THETA);
|
|
|
|
if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
|
|
PUB.log.AddAT($"###### Retry work avoidance movement completed ({target})");
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//####################################################
|
|
//### 비젼데이터를 초기화 해준다.
|
|
//####################################################
|
|
if (PUB.sm.seq.Get(cmdIndex) == idx++)
|
|
{
|
|
PUB.log.Add($"Deleting vision data due to retry completion");
|
|
PUB.Result.ItemDataC.VisionData.Clear(funcName, true);
|
|
AR.VAR.BOOL[eVarBool.JOB_PickON_Retry] = false;
|
|
PUB.sm.seq.Update(cmdIndex);
|
|
return false;
|
|
}
|
|
|
|
//일련번호 초기화 해준다
|
|
PUB.sm.seq.Clear(cmdIndex);
|
|
return true;
|
|
}
|
|
|
|
}
|
|
} |