574 lines
22 KiB
C#
574 lines
22 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using AR;
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namespace Project
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{
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public partial class FMain
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{
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public Boolean PRINTER_OFF(eWorkPort target, eSMStep cmdIndex)
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{
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UInt16 idx = 1;
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var mv = PUB.Result.vModel;
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var mc = PUB.Result.mModel;
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var funcName = System.Reflection.MethodBase.GetCurrentMethod().Name;
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var seqTime = PUB.sm.seq.GetTime(cmdIndex);
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var msgType = (Class.eStatusMesage)target;
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var item = target == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
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var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
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//option check
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var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
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var OPT_CameraOff = PUB.OPT_CAMERA();
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//var OPT_BYPASS = PUB.OPT_BYPASS(target);
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//####################################################
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//### 인터락 확인
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//####################################################
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Boolean MotMoveM, MotMoveZ;
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AR.CInterLock iLockM, iLockZ;
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eAxis axisM = target == eWorkPort.Left ? eAxis.PL_MOVE : eAxis.PR_MOVE;
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eAxis axisZ = target == eWorkPort.Left ? eAxis.PL_UPDN : eAxis.PR_UPDN;
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if (target == eWorkPort.Left)
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{
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MotMoveM = PUB.mot.IsMotion((int)eAxis.PL_MOVE);
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MotMoveZ = PUB.mot.IsMotion((int)eAxis.PL_UPDN);
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iLockM = PUB.iLock[(int)eAxis.PL_MOVE];
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iLockZ = PUB.iLock[(int)eAxis.PL_UPDN];
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}
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else
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{
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MotMoveM = PUB.mot.IsMotion((int)eAxis.PR_MOVE);
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MotMoveZ = PUB.mot.IsMotion((int)eAxis.PR_UPDN);
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iLockM = PUB.iLock[(int)eAxis.PR_MOVE];
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iLockZ = PUB.iLock[(int)eAxis.PR_UPDN];
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}
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if (iLockM.IsEmpty() == false && MotMoveM)
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{
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var locklistX = MOT.GetActiveLockList(axisM, iLockM);
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PUB.mot.MoveStop("ILock(" + string.Join(",", locklistX) + ")", (short)axisM);
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}
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if (iLockZ.IsEmpty() == false && MotMoveZ)
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{
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var locklistZ = MOT.GetActiveLockList(axisZ, iLockZ);
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PUB.mot.MoveStop("ILock(" + string.Join(",", locklistZ) + ")", (short)axisZ);
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}
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//####################################################
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//### 작업시작
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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//PUB.log.Add($"[{target}] 프린트 OFF 작업 시작");
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 피커Y축 위치 확인
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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var PosX = MOT.GetPXPos(ePXLoc.PICKON);
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var OffX = MOT.getPositionOffset(PosX);
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if (target == eWorkPort.Left)
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{
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if (OffX < -1) return false; //충돌조건이므로 Y축을 움직이면 안된다
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}
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else
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{
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if (OffX > 1) return false;//충돌조건이므로 Y축을 움직이면 안된다
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}
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//PUB.log.Add($"[{target}] 프린트 OFF 작업 시작");
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 프린터Z축 위치 확인
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (iLockZ.IsEmpty() == false) return false;
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sPositionData Pos;
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if (target == eWorkPort.Left)
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{
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Pos = MOT.GetLZPos(eLZLoc.READY);
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}
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else
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{
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Pos = MOT.GetRZPos(eRZLoc.READY);
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}
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if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
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//PUB.log.Add($"[{target}] 프린트 OFF 작업 시작");
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### Y이동
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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sPositionData Pos;
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if (OPT_PrinterOff == false)
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{
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//릴크기없으면 오류
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var reelSize = item.VisionData.ReelSize;
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if (reelSize == eCartSize.None)
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{
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PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOREELSIZE, eNextStep.PAUSE, target);
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return false;
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}
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//부착위치
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var PrintPutPos = item.VisionData.GetPrintPutPosition();
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if (PrintPutPos == ePrintPutPos.None)
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{
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PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOPUTPOSITION, eNextStep.PAUSE, target);
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return false;
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}
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if (target == eWorkPort.Left)
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{
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//위에 찍을지 아래에 찍을지 위치를 결정한다
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if (reelSize == eCartSize.Inch13)
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{
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if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetLMPos(eLMLoc.PRINTM13);
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else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetLMPos(eLMLoc.PRINTL13);
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else Pos = MOT.GetLMPos(eLMLoc.PRINTH13);
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}
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else
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{
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if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetLMPos(eLMLoc.PRINTM07);
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else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetLMPos(eLMLoc.PRINTL07);
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else Pos = MOT.GetLMPos(eLMLoc.PRINTH07);
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}
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}
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else //Right Move
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{
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//위에 찍을지 아래에 찍을지 위치를 결정한다
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if (reelSize == eCartSize.Inch13)
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{
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if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetRMPos(eRMLoc.PRINTM13);
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else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetRMPos(eRMLoc.PRINTL13);
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else Pos = MOT.GetRMPos(eRMLoc.PRINTH13);
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}
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else
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{
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if (PrintPutPos == ePrintPutPos.Middle) Pos = MOT.GetRMPos(eRMLoc.PRINTM07);
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else if (PrintPutPos == ePrintPutPos.Bottom) Pos = MOT.GetRMPos(eRMLoc.PRINTL07);
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else Pos = MOT.GetRMPos(eRMLoc.PRINTH07);
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}
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}
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if (iLockM.IsEmpty() == false) return false;
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//if (iLockZ.IsEmpty() == false) return false;
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//위치오류확인
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if (Pos.isError == false)
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{
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if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
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}
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else
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{
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PUB.Result.SetResultMessage(eResult.OPERATION, eECode.POSITION_ERROR, eNextStep.PAUSE, "PRINTPOS");
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return false;
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}
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 실린더 전/후진 상태를 전환한다 -- 210207
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false)
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{
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var Cylinder = item.VisionData.NeedCylinderForward;
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if (Cylinder == true)
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{
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//전진이 필요하다
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if (target == eWorkPort.Left)
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DIO.SetOutput(eDOName.PRINTL_FWD, true);
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else
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DIO.SetOutput(eDOName.PRINTR_FWD, true);
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}
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else
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{
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//전진이 필요하지 않다.
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if (target == eWorkPort.Left)
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DIO.SetOutput(eDOName.PRINTL_FWD, false);
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else
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DIO.SetOutput(eDOName.PRINTR_FWD, false);
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}
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 카트모드에서는 추가 실린더 down 해야한다 230809
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false)
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{
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if (SETTING.Data.Enable_PickerCylinder)
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{
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//전진이 필요하다
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if (target == eWorkPort.Left)
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DIO.SetOutput(eDOName.L_CYLDN, true);
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else
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DIO.SetOutput(eDOName.R_CYLDN, true);
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}
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else
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{
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if (target == eWorkPort.Left)
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DIO.SetOutput(eDOName.L_CYLDN, false);
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else
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DIO.SetOutput(eDOName.R_CYLDN, false);
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}
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 카트상태확인
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false)
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{
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eVarBool fg = target == eWorkPort.Left ? eVarBool.FG_RDY_PORT_PL : eVarBool.FG_RDY_PORT_PR;
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if (PUB.flag.get(fg) == false) return false;
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 실린더상태확인 -- 210207
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false)
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{
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var Cylinder = item.VisionData.NeedCylinderForward;
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if (Cylinder == true)
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{
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//전진이 필요하다
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if (target == eWorkPort.Left)
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{
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if (DIO.checkDigitalO(eDIName.L_PICK_FW, seqTime, true) != eNormalResult.True)
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return false;
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}
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else
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{
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if (DIO.checkDigitalO(eDIName.R_PICK_FW, seqTime, true) != eNormalResult.True)
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return false;
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}
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}
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else
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{
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//전진이 필요하지 않다.
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if (target == eWorkPort.Left)
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{
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if (DIO.checkDigitalO(eDIName.L_PICK_BW, seqTime, true) != eNormalResult.True)
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return false;
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}
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else
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{
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if (DIO.checkDigitalO(eDIName.R_PICK_BW, seqTime, true) != eNormalResult.True)
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return false;
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}
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}
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 피커 down 실린더상태확인 -- 230809
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false && SETTING.Data.Enable_PickerCylinder)
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{
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//전진이 필요하다
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if (target == eWorkPort.Left)
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{
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if (DIO.checkDigitalO(eDIName.L_CYLDN, seqTime, true, timeoutcode: eECode.PICKER_LCYL_NODOWN) != eNormalResult.True)
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return false;
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}
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else
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{
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if (DIO.checkDigitalO(eDIName.R_CYLDN, seqTime, true, timeoutcode: eECode.PICKER_RCYL_NODOWN) != eNormalResult.True)
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return false;
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}
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### Z값을 내린다.
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (iLockZ.IsEmpty() == false) return false;
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if (OPT_PrinterOff == false)
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{
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sPositionData Pos;
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if (target == eWorkPort.Left)
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Pos = MOT.GetLZPos(eLZLoc.PICKOFF);
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else
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Pos = MOT.GetRZPos(eRZLoc.PICKOFF);
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if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 진공파기
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false)
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{
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if (target == eWorkPort.Left)
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{
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DIO.SetPrintLVac(ePrintVac.exhaust);
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}
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else
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{
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DIO.SetPrintRVac(ePrintVac.exhaust);
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}
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}
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if (target == eWorkPort.Left)
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{
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VAR.BOOL[eVarBool.LEFT_ITEM_PICKOFF] = true;
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VAR.TIME[eVarTime.LEFT_ITEM_PICKOFF] = DateTime.Now;
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VAR.DBL[eVarDBL.LEFT_ITEM_PICKOFF] = 0;
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VAR.I32[eVarInt32.LEFT_ITEM_COUNT] += 1;
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}
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else
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{
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VAR.BOOL[eVarBool.RIGT_ITEM_PICKOFF] = true;
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VAR.TIME[eVarTime.RIGT_ITEM_PICKOFF] = DateTime.Now;
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VAR.DBL[eVarDBL.RIGT_ITEM_PICKOFF] = 0;
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VAR.I32[eVarInt32.RIGT_ITEM_COUNT] += 1;
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}
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PUB.log.Add($"[{target}] Placing reel down");
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 잠시대기
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (OPT_PrinterOff == false)
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{
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if (seqTime.TotalMilliseconds < AR.SETTING.Data.PrintVacOffPurgeMS) return false;
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 저속으로올린다
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (iLockZ.IsEmpty() == false) return false;
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if (OPT_PrinterOff == false)
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{
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sPositionData Pos;
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if (target == eWorkPort.Left)
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Pos = MOT.GetLZPos(eLZLoc.PICKOFF);
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else
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Pos = MOT.GetRZPos(eRZLoc.PICKOFF);
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Pos.Position -= 30;
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Pos.Speed = 30;
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if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 카트모드에서는 추가 실린더 down 해야한다 230809
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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//if (ByPassMode == false)
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//{
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// if (CVMode == false)
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//{
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//전진이 필요하다
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if (target == eWorkPort.Left)
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DIO.SetOutput(eDOName.L_CYLDN, false);
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else
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DIO.SetOutput(eDOName.R_CYLDN, false);
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//}
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// }
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### Z값 대기위치로
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (iLockZ.IsEmpty() == false) return false;
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if (OPT_PrinterOff == false)
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{
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sPositionData Pos;
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if (target == eWorkPort.Left)
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Pos = MOT.GetLZPos(eLZLoc.READY);
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else
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Pos = MOT.GetRZPos(eRZLoc.READY);
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if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
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}
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### AIR해제
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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if (target == eWorkPort.Left)
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DIO.SetPrintLVac(ePrintVac.off);
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else
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DIO.SetPrintRVac(ePrintVac.off);
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PUB.sm.seq.Update(cmdIndex);
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return false;
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}
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//####################################################
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//### 실린더 복귀 확인 -- 230809
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//####################################################
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if (PUB.sm.seq.Get(cmdIndex) == idx++)
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{
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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;
|
|
}
|
|
}
|
|
} |