initial commit

Handler/Project/RunCode/Device/_Joystick.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+using arDev;
+
+namespace Project
+{
+	public partial class FMain
+	{
+
+
+	}
+}

Handler/Project/RunCode/Device/_Keyence.cs

@@ -0,0 +1,475 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        private void Keyence_BarcodeRecv(object sender, Device.KeyenceBarcode.RecvDataEvent e)
+        {
+            var dev = sender as Device.KeyenceBarcode;
+            if (e.RawData.StartsWith("ERROR"))
+            {
+                //로그가 너무 많이 쌓이니 해제한다
+                //Pub.log.AddE("Reader RES : " + resp);
+            }
+            else if (e.RawData.StartsWith("OK,BLOAD"))
+            {
+                var str = e.RawData.Replace("\r", "").Replace("\n", "");
+                PUB.log.AddI($"[{dev.Tag}] {str}");
+            }
+            else if (e.RawData.StartsWith("OK,BSAVE"))
+            {
+                var str = e.RawData.Replace("\r", "").Replace("\n", "");
+                PUB.log.AddI($"[{dev.Tag}] {str}");
+            }
+            else if (e.RawData.StartsWith("OK"))
+            {
+                //OK회신
+            }
+            else
+            {
+                //값은 받았다
+                if (PUB.sm.Step != eSMStep.HOME_FULL && PUB.sm.Step != eSMStep.HOME_QUICK)
+                {
+                    //							PUB.logKeyence.Add($"{resp.Replace("\n", "").Replace("\r", "")}");
+                    var rawdata = e.RawData; //↔▲▼
+                    rawdata = rawdata.Replace('\x1D', '↔').Replace('\x1E', '▲').Replace('\x04', '▼');
+
+                    var lines = rawdata.Split(new char[] { '\r' },StringSplitOptions.RemoveEmptyEntries);
+                    foreach(var line in lines)
+                        ParseBarcode(line, dev.Tag.ToString());
+                }
+                else
+                {
+                    //PUB.logKeyence.Add($"Code Ignore by Home Process({resp.Replace("\n", "").Replace("\r", "")})");
+                }
+            }
+        }
+
+        bool imageprocess = false;
+        private void Keyence_ImageRecv(object sender, Device.KeyenceBarcode.RecvImageEvent e)
+        {
+
+            var dev = sender as Device.KeyenceBarcode;
+            System.Windows.Forms.PictureBox keyenceview;
+            if (dev.Tag == "R") keyenceview = keyenceviewR;
+            else keyenceview = keyenceviewF;
+
+            if (imageprocess == false)
+            {
+                imageprocess = true;
+
+                if (PUB.sm.Step >= eSMStep.IDLE && this.IsDisposed == false && this.Disposing == false)
+                {
+
+                    //var oimage = this.pictureBox1.Image;
+                    //this.pictureBox1.Image = e.Image;
+                    //if (oimage != null) oimage.Dispose();
+
+                    if (keyenceview.Image == null)
+                    {
+                        //var newbitmap = new Bitmap(e.Image.Width,e.Image.Height, e.Image.PixelFormat);
+                        var old = keyenceview.Image;
+                        //var newbitmap = PUB.keyence.CreateBitmap(e.Image.Width, e.Image.Height);
+                        //PUB.keyence.UpdateBitmap((Bitmap)e.Image, newbitmap);
+                        keyenceview.Image = e.Image;
+                        if (old != null) old.Dispose();
+                        PUB.log.AddAT("First image received");
+                    }
+                    else
+                    {
+                        //내용ㅁㄴ업데이트하자
+                        var preimage = keyenceview.Image as Bitmap;
+                        keyenceview.Image = e.Image;
+                        if (preimage != null) preimage.Dispose();
+                        //PUB.keyence.UpdateBitmap((Bitmap)e.Image, preimage);
+                        //this.pictureBox2.Invalidate();
+                    }
+
+
+                }
+
+                if (this.IsDisposed)
+                {
+                    dev.Dispose();
+                }
+
+                imageprocess = false;
+            }
+        }
+
+        double GetAngle(Point pt1, Point pt2)
+        {
+            var val = Math.Asin((pt2.Y - pt1.Y) / Math.Sqrt(Math.Pow(pt2.X - pt1.X, 2.0) + Math.Pow(pt2.Y - pt1.Y, 2.0)));
+
+
+            double retval = 0.0;
+            if ((pt2.X - pt1.X) >= 0 && (pt2.Y - pt1.Y) >= 0)
+                retval = val;
+            else if ((pt2.X - pt1.X) < 0 && (pt2.Y - pt1.Y) >= 0)
+                retval = Math.PI - val;
+            else if ((pt2.X - pt1.X) < 0 && (pt2.Y - pt1.Y) < 0)
+                retval = Math.PI - val;
+            else if ((pt2.X - pt1.X) >= 0 && (pt2.Y - pt1.Y) < 0)
+                retval = Math.PI * 2 + val;
+
+            return retval;
+        }
+
+        private string KeyenceBarcodeDataF = string.Empty;
+        private string KeyenceBarcodeDataR = string.Empty;
+
+
+        /// <summary>
+        /// 키엔스로부터 받은 데이터를 분석한다.
+        /// </summary>
+        /// <param name="response"></param>
+        /// <param name="Source"></param>
+        void ParseBarcode(string response, string Source)
+        {
+
+            
+
+            //220901 - 특문있었ㅇ츰
+            var r1 = (char)0x1D;
+            var r2 = (char)0x1E;
+            var r3 = (char)0x04;
+            var r4 = (char)0x00;
+            response = response.Replace(r1.ToString(), "");
+            response = response.Replace(r2.ToString(), "");
+            response = response.Replace(r3.ToString(), "");
+            response = response.Replace(r4.ToString(), "");
+            response = response.Replace("\r", "");
+            response = response.Replace("\n", "");
+            response = response.Replace("\0", "");
+            response = response.RemoveNoneASCII().Trim();
+
+            ///101409576:522/1171:427/1143:429/1134:524/1155:475/1151\r
+            var frames = response.Split(new char[] { '|' }, StringSplitOptions.RemoveEmptyEntries);
+            var itemC = PUB.Result.ItemDataC;
+
+            //키엔스바코드패턴검사
+            var Pattern = @"^(\d+):(\w+.*):(\d+/\d+):(\d+/\d+):(\d+/\d+):(\d+/\d+):(\d+/\d+)";
+            Pattern = @"^(\d+):(.*):(\d+/\d+):(\d+/\d+):(\d+/\d+):(\d+/\d+):(\d+/\d+)";
+            var RegX = new System.Text.RegularExpressions.Regex(Pattern);
+            foreach (var resp in frames)
+            {
+                var bcddata = resp.Trim().Split(',');
+                if (resp.Equals("0:ERROR"))
+                {
+                    PUB.log.AddE($"[{Source}] {resp}");
+                    continue;
+                }
+                else if (bcddata.Length > 2 && bcddata[1] == "BLOAD")
+                {
+                    if (bcddata[0] == "ER")
+                    {
+                        PUB.log.AddE($"[{Source}]Bacode Memory Read Error({resp})");
+                    }
+                    else
+                    {
+                        PUB.log.AddI($"[{Source}]Bacode Memory Read Complete({resp})");
+                    }
+                    continue;
+                }
+                else if (bcddata.Length > 2 && bcddata[1] == "BSAVE")
+                {
+                    if (bcddata[0] == "ER")
+                    {
+                        PUB.log.AddE($"[{Source}]Bacode Memory Read Error({resp})");
+                    }
+                    else
+                    {
+                        PUB.log.AddI($"[{Source}]Bacode Memory Read Complete({resp})");
+                    }
+                    continue;
+                }
+                else if (RegX.IsMatch(resp.Trim()) == false)
+                {
+                    //에러처리 221018
+                    if (resp.StartsWith("0:ERROR")) continue;
+
+                    PUB.log.AddE($"***Barcode({Source}) response data error value (please check Keyence transmission format) " + resp);
+                    listView21.SetText(9, 3, "ERR");//.setTitle(8, 1, "ERR");
+                    continue;
+                }
+
+                if (AR.VAR.BOOL[eVarBool.JOB_PickON_Retry])  //221110
+                {
+                    if (PUB.sm.Step == eSMStep.RUN)
+                        PUB.log.AddAT($"Picker({Source}) is retrying, ignoring barcode:{resp}");
+                    continue;
+                }
+
+                var MatchList = RegX.Matches(resp.Trim());
+                var buf = MatchList[0].Groups;
+
+                var angle = 0;
+                var sym = buf[1].Value; //symbol
+                var vData = buf[2].Value.Trim();    //data
+
+                if (Source == "R") KeyenceBarcodeDataR = vData; //rear
+                else KeyenceBarcodeDataF = vData;   //front
+
+                //바코드 무시조건 확인
+                //if (PUB.Result.BCDIgnorePattern != null)
+                //{
+                //	Boolean ignore = false;
+                //	foreach (var ignoreitem in PUB.Result.BCDIgnorePattern)
+                //	{
+                //		if (ignoreitem.Pattern.isEmpty()) continue;
+                //		RegX = new System.Text.RegularExpressions.Regex(ignoreitem.Pattern);
+                //		if (RegX.IsMatch(vData))
+                //		{
+                //			var igmsg = "무시바코드 Patter: " + ignoreitem.Pattern + ",값=" + vData;
+                //			ignore = true;
+                //			break;
+                //		}
+                //	}
+                //	if (ignore) continue;
+                //}
+
+                var vV1 = buf[3].Value.Split('/');
+                var vV2 = buf[4].Value.Split('/');
+                var vV3 = buf[5].Value.Split('/');
+                var vV4 = buf[6].Value.Split('/');
+                var vCP = buf[7].Value.Split('/');
+
+                var vertex = new Point[4];
+                vertex[0] = new Point(int.Parse(vV1[0]), int.Parse(vV1[1]));
+                vertex[1] = new Point(int.Parse(vV2[0]), int.Parse(vV2[1]));
+                vertex[2] = new Point(int.Parse(vV3[0]), int.Parse(vV3[1]));
+                vertex[3] = new Point(int.Parse(vV4[0]), int.Parse(vV4[1]));
+                var vertextCP = new Point(int.Parse(vCP[0]), int.Parse(vCP[1]));
+
+                var ReelCP = Point.Empty;
+                if (itemC.VisionData.ReelSize == eCartSize.Inch13)
+                    ReelCP = AR.SETTING.Data.CenterPosition13;
+                else
+                    ReelCP = AR.SETTING.Data.CenterPosition7;
+
+                //각도를 이곳에서 처리함
+                angle = (int)(GetAngle(vertex[0], vertex[1]) * 180.0 / Math.PI);
+
+                //var atkstdbcd = new StdLabelPrint.CAmkorSTDBarcode(vData);
+                //if (atkstdbcd.DisposalCode) //사용하지않는 103코드라면 아에 처리안함
+                //{
+                //	PUB.log.AddE("***폐기된 103 코드형태라 처리하지 않음" + vData);
+                //	continue;
+                //}
+
+                //특정좌표가 기준점으로부터 몇도 틀어져 있는가? 
+                //math.atan2(PY - CY, PX - CX)
+
+                //회전후좌표계산
+                //x = root((px - cx) ^ 2 + (py - cy) ^ 2) * cos@ +cx
+                //y = root(px ^ 2 + py ^ 2) * sin@   +cy
+                double theta = 0.0;// Pub.Result.ItemData[1].VisionData.BaseAngle;
+                if (itemC.VisionData.BaseAngle(out string msg, out Class.KeyenceBarcodeData angbcd))
+                {
+                    theta = angbcd.Angle;
+                }
+
+                var theta_rad = -theta * Math.PI / 180.0;
+                var PX = (int)(Math.Cos(theta_rad) * (vertextCP.X - ReelCP.X) - Math.Sin(theta_rad) * (vertextCP.Y - ReelCP.Y)) + ReelCP.X;
+                var PY = (int)(Math.Sin(theta_rad) * (vertextCP.X - ReelCP.X) + Math.Cos(theta_rad) * (vertextCP.Y - ReelCP.Y)) + ReelCP.Y;
+
+                float LabelAngRad = (float)(Math.Atan2(PY - ReelCP.Y, PX - ReelCP.X));// 2;  //라벨의 위치값을 찾아서 입력해야한다.
+                var labelpos = (float)(LabelAngRad * 180.0 / Math.PI);
+                if (labelpos < 0) labelpos = 360 + labelpos;
+
+                byte lp = 0;
+
+                if (labelpos >= 15 * 22.5 && labelpos <= 360) lp = 6;
+                else if (labelpos >= 0 && labelpos <= 22.5) lp = 6;
+                else if (labelpos >= 1 * 22.5 && labelpos <= 3 * 22.5) lp = 3;
+                else if (labelpos >= 3 * 22.5 && labelpos <= 5 * 22.5) lp = 2;
+                else if (labelpos >= 5 * 22.5 && labelpos <= 7 * 22.5) lp = 1;
+                else if (labelpos >= 7 * 22.5 && labelpos <= 9 * 22.5) lp = 4;
+                else if (labelpos >= 9 * 22.5 && labelpos <= 11 * 22.5) lp = 7;
+                else if (labelpos >= 11 * 22.5 && labelpos <= 13 * 22.5) lp = 8;
+                else if (labelpos >= 13 * 22.5 && labelpos <= 15 * 22.5) lp = 9;
+                else
+                {
+
+                }
+
+                //중첩된 데이터가 있는가?
+                lock (itemC.VisionData.barcodelist)
+                {
+                    //키값에 소스위치도 같이 포함한다
+                    var valuekey = Source + vData;
+                    var bcdin = itemC.VisionData.barcodelist.ContainsKey(valuekey);//.Where(t => t.Value.CheckIntersect(vertextCP, vData) == true).FirstOrDefault();
+                    if (bcdin == false)
+                    {
+                        //신규바코드데이터이므로 추가한다.
+                        PUB.logKeyence.Add($"{resp.Replace("\n", "").Replace("\r", "")}");
+                        var newitem = new Class.KeyenceBarcodeData()
+                        {
+                            AmkorData = new StdLabelPrint.CAmkorSTDBarcode(vData),
+                            CenterPX = vertextCP,
+                            Data = vData,
+                            vertex = vertex,
+                            Angle = angle,
+                            LabelPosition = lp,
+                            barcodeSymbol = sym,
+                            barcodeSource = Source,
+                        };
+
+                        var addok = itemC.VisionData.barcodelist.TryAdd(valuekey, newitem);
+                        if (addok) PUB.log.Add($"[O]BCD RESERV[NEW:{sym}] " + Source + " " + vData);
+                        else PUB.log.AddE($"[X]BCD RESERV[NEW:{sym}] " + Source + " " + vData);
+
+                        itemC.VisionData.UpdateBarcodePositionData();
+                        itemC.VisionData.BarcodeTouched = true;
+                    }
+                    else
+                    {
+                        //기존데이터와 좌표가 겹치면 두고 다르면 업데이트한다
+                        var predata = itemC.VisionData.barcodelist[valuekey];
+                        if (predata.CheckIntersect(vertextCP, vData) == false)
+                        {
+                            var newitem = new Class.KeyenceBarcodeData()
+                            {
+                                AmkorData = new StdLabelPrint.CAmkorSTDBarcode(vData),
+                                CenterPX = vertextCP,
+                                Data = vData,
+                                vertex = vertex,
+                                Angle = angle,
+                                LabelPosition = lp,
+                                barcodeSymbol = sym,
+                                barcodeSource = Source,
+                            };
+
+                            //기존정보를 지우고
+                            PUB.log.Add($"[UPD]BCD RESERV:{sym}] " + Source + " " + vData);
+                            itemC.VisionData.barcodelist[valuekey] = newitem;
+                            itemC.VisionData.UpdateBarcodePositionData();
+                            itemC.VisionData.BarcodeTouched = true;
+                        }
+                    }
+                }
+
+                listView21.SetText(9, 3, $"{angle} > {theta}");
+                listView21.SetText(10, 3, itemC.VisionData.QRInputRaw.isEmpty() ? $"DETECT" : $"NONE");
+                listView21.SetText(13, 2, $"LABEL");
+                listView21.SetText(13, 3, $"{labelpos:N1}");
+            }
+        }
+
+        Boolean IsSIDValue(string data)
+        {
+            if (data.Length != 9) return false;
+            decimal a = 0;
+            if (decimal.TryParse(data, out a) == false) return false;
+            if (data.StartsWith("10") == false) return false;
+            return true;
+        }
+        Boolean IsDateValue(string date, out string datestr)
+        {
+            //821123 과 19821123 의 데이터를 판별한다
+            datestr = string.Empty;
+            date = date.Replace("-", "").Replace("/", "");
+            if (date.Length == 6)
+            {
+                var vy = date.Substring(0, 2);
+                var vm = date.Substring(2, 2);
+                var vd = date.Substring(4, 2);
+                if (isDigit(vy) == false || isDigit(vm) == false || isDigit(vd) == false)
+                    return false;
+                if (vy.toInt() < 0 || vy.toInt() > 29) return false;
+                if (vm.toInt() < 1 || vm.toInt() > 12) return false;
+                if (vd.toInt() < 1 || vd.toInt() > 21) return false;
+                datestr = "20" + vy + vm + vd;
+                return true;
+
+            }
+            else if (date.Length == 8)
+            {
+                var vy = date.Substring(0, 4);
+                var vm = date.Substring(4, 2);
+                var vd = date.Substring(6, 2);
+                if (isDigit(vy) == false || isDigit(vm) == false || isDigit(vd) == false)
+                    return false;
+                if (vy.toInt() < 2000 || vy.toInt() > 2900) return false;
+                if (vm.toInt() < 1 || vm.toInt() > 12) return false;
+                if (vd.toInt() < 1 || vd.toInt() > 31) return false;
+                datestr = vy + vm + vd;
+                return true;
+            }
+            else return false;
+        }
+        Boolean isDigit(string v)
+        {
+            int a;
+            return int.TryParse(v, out a);
+        }
+
+
+        string cmd = string.Empty;
+        DateTime LastTrigOnTime = DateTime.Now;
+        Boolean bTrgOn = false;
+        //private void Keyence_Trigger(bool bOn)
+        //{
+
+        //	if (PUB.flag.get(eVarBool.KEYENCE_TRIGGER) == bOn) return;
+
+        //	if (bOn)
+        //		cmd = "LON";
+        //	else
+        //		cmd = "LOFF";
+
+        //	if (bOn) LastTrigOnTime = DateTime.Now;
+
+        //	string resp = reader.ExecCommand(cmd);
+        //	bTrgOn = bOn;
+        //	PUB.logKeyence.Add("BARCODE", $"트리거 전송({cmd})");
+        //	_isCrevisACQ[1] = bOn;
+
+        //	//트리거
+        //	PUB.flag.set(eVarBool.KEYENCE_TRIGGER, bOn, "JOB");
+        //}
+        private void SaveImage(string filename)
+        {
+            var fi = new System.IO.FileInfo(filename);
+            var ext = fi.Extension;
+            var nameonly = fi.FullName.Replace(fi.Extension, "");
+            var fiF = new System.IO.FileInfo(nameonly + "F" + ext);
+            var fiR = new System.IO.FileInfo(nameonly + "F" + ext);
+
+
+            if (PUB.keyenceF != null)
+            {
+                var img = this.keyenceviewF.Image;
+                if (img == null) return;
+                using (var newimg = new Bitmap(img.Width, img.Height, img.PixelFormat))
+                {
+                    PUB.keyenceR.UpdateBitmap((Bitmap)img, newimg);
+                    if (fiF.Directory.Exists == false) fiF.Directory.Create();
+                    if (fiF.Exists) fiF.Delete();
+                    newimg.Save(fiF.FullName);
+                }
+            }
+
+            if (PUB.keyenceR != null)
+            {
+                var img = this.keyenceviewR.Image;
+                if (img == null) return;
+                using (var newimg = new Bitmap(img.Width, img.Height, img.PixelFormat))
+                {
+                    PUB.keyenceR.UpdateBitmap((Bitmap)img, newimg);
+                    if (fiR.Directory.Exists == false) fiR.Directory.Create();
+                    if (fiR.Exists) fiR.Delete();
+                    newimg.Save(fiR.FullName);
+                }
+            }
+        }
+    }
+}

Handler/Project/RunCode/Device/_Keyence_Rule_ReturnReel.cs

@@ -0,0 +1,71 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        ///// <summary>
+        ///// RQ바코드값 사용 여부
+        ///// </summary>
+        ///// <param name="vData"></param>
+        //Boolean Process_ReturnReel(string vData)
+        //{
+        //    //120326 - return 수량 관련 (오토에서만 사용한다)
+        //    var qrbuf = vData.Split(';');
+        //    if (vData.EndsWith(";;;") && qrbuf.Length > 4 && VAR.BOOL[eVarBool.Opt_UserQtyRQ]== false)
+        //    {
+        //        var qrsid = qrbuf[0].Trim();
+        //        var qrlot = qrbuf[1].Trim();
+        //        var qrqty = qrbuf[2].Trim();
+        //        if (double.TryParse(qrqty, out double qtynum) && qrsid.Length == 9 && qrsid.StartsWith("10"))
+        //        {
+        //            //수량이 맞고 sid 가 101로 들어있는 경우에만 처리한다
+        //            PUB.log.Add("리턴릴 임시 바코드로 확인되어 데이터를 사용합니다 값:" + vData);
+        //            PUB.log.Add("SID값 변경함 #2 " + PUB.Result.ItemDataC.VisionData.SID + "=>" + qrsid);
+
+        //            if (PUB.Result.ItemDataC.VisionData.QTY != qrqty)
+        //            {
+        //                PUB.AddSystemLog(AppContext.BaseDirectory, "_KEYENCE", $"리턴릴세미형태에서 QTY값을 적용 함({qrqty})");
+        //            }
+        //            PUB.Result.ItemDataC.VisionData.QTY = qrqty;
+        //            PUB.Result.ItemDataC.VisionData.SID = qrsid;
+        //            PUB.Result.ItemDataC.VisionData.VLOT = qrlot;
+        //        }
+        //    }
+
+
+        //    //리턴릴수량추가확인(수동일때에만 사용)
+        //    if (vData.StartsWith("RQ"))
+        //    {
+        //        //리턴릴 바코드는 무조건 적용한다
+        //        var rqqtystr = vData.Substring(2);
+        //        if (int.TryParse(rqqtystr, out int rqqty))
+        //        {
+        //            //시스템로기
+        //            if (PUB.Result.ItemDataC.VisionData.QTY != rqqtystr || PUB.Result.ItemDataC.VisionData.QTYRQ == false)
+        //            {
+        //                PUB.AddSystemLog(AppContext.BaseDirectory, "_KEYENCE", $"리턴릴 QTY값 적용({rqqtystr})");
+
+        //                //수량
+        //                PUB.Result.ItemDataC.VisionData.QTYRQ = true;
+        //                PUB.Result.ItemDataC.VisionData.QTY = rqqtystr;
+        //                PUB.log.Add("리턴릴 바코드값=" + vData + "을 적용합니다");
+        //            }
+        //        }
+        //        else
+        //        {
+        //            PUB.log.AddE("리턴릴 바코드값=" + vData + "을 적용 실패");
+        //        }
+        //        return true;
+        //    }
+
+        //    return false;
+        //}
+    }
+}

Handler/Project/RunCode/Display/DisplayTextHandler.cs

@@ -0,0 +1,44 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.IO;
+using System.Linq;
+using System.Net;
+using System.Text;
+using System.Windows.Forms;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        delegate void ShowLotTextHandler(string value);
+       
+        delegate void UpdateDMTextHandler(string value1);
+       
+        //void UpdateResultText(string value1)
+        //{
+        //    if (this.lbResult.InvokeRequired)
+        //    {
+        //        lbResult.BeginInvoke(new UpdateDMTextHandler(UpdateResultText), new object[] { value1 });
+        //    }
+        //    else
+        //    {
+        //        lbResult.Text = value1;
+        //    }
+        //}
+
+        delegate void UpdateLabelTextHandler(Control ctl, string value);
+        void UpdateLabelText(Control ctl, string value)
+        {
+            if (ctl.InvokeRequired)
+            {
+                ctl.BeginInvoke(new UpdateLabelTextHandler(UpdateLabelText), new object[] { ctl, value });
+            }
+            else
+            {
+                ctl.Text = value;
+            }
+        }
+    }
+}

Handler/Project/RunCode/Display/_Interval_1min.cs

@@ -0,0 +1,63 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        void _Display_Interval_1min()
+        {
+            //리셋카운트
+            AutoResetCount();
+            PUB.CheckFreeSpace();
+		}
+
+		/// <summary>
+		/// 환경설정에따른 카운트를 리셋처리한다. 171128
+		/// </summary>
+		void AutoResetCount()
+		{
+			//수량누적시 자동으로 소거하게 되었다
+			//if (COMM.SETTING.Data.datetime_Check_1 && COMM.SETTING.Data.datetime_Reset_1 != "") //오전
+			//{
+			//    try
+			//    {
+			//        DateTime SetTime = DateTime.Parse(DateTime.Now.ToString("yyyy-MM-dd") + " " + COMM.SETTING.Data.datetime_Reset_1 + ":00");
+			//        DateTime LastClearTime = SETTING.Counter.;
+
+			//        //현재 시간이 클리어대상 시간보다 크고, 마지막으로 클리어한 시간이 지정시간보다 작아야함
+			//        if (DateTime.Now > SetTime && LastClearTime < SetTime)
+			//        {
+			//            Pub.log.AddI("Count Reset #1");
+			//            SETTING.Counter.ClearDay();
+			//        }
+			//    }
+			//    catch { }
+			//}
+
+			//if (COMM.SETTING.Data.datetime_Check_2 && COMM.SETTING.Data.datetime_Reset_2 != "") //오후
+			//{
+			//    try
+			//    {
+			//        DateTime SetTime = DateTime.Parse(DateTime.Now.ToString("yyyy-MM-dd") + " " + COMM.SETTING.Data.datetime_Reset_2 + ":00");
+			//        DateTime LastClearTime = SETTING.Counter.CountReset;
+
+			//        //현재 시간이 클리어대상 시간보다 크고, 마지막으로 클리어한 시간이 지정시간보다 작아야함
+			//        if (DateTime.Now > SetTime && LastClearTime < SetTime)
+			//        {
+			//            Pub.log.AddI("Count Reset #2");
+			//            SETTING.Counter.ClearDay();
+			//        }
+			//    }
+			//    catch { }
+			//}
+		}
+
+	}
+}

Handler/Project/RunCode/Display/_Interval_250ms.cs

@@ -0,0 +1,629 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+
+
+        void _Display_Interval_250ms()
+        {
+            //타워램프조정
+            //if (COMM.SETTING.Data.Disable_TowerLamp == false) Update_TowerLamp();
+            TowerLamp.Update(PUB.sm.Step);
+
+            //컨베이어가동시간을 추적한다 230926
+            if (VAR.BOOL[eVarBool.Use_Conveyor])
+            {
+                ////왼쪽컨베이어에 아이템이 존재하는 경우에만 누적
+                //if (DIO.GetIOOutput(eDOName.LEFT_CONV) && VAR.BOOL[eVarBool.LEFT_ITEM_PICKOFF])
+                //{
+                //    if (VAR.TIME[eVarBool.LEFT_ITEM_PICKOFF].Year == 1982)
+                //        VAR.TIME[eVarBool.LEFT_ITEM_PICKOFF] = DateTime.Now; //시간초기화
+                //    else
+                //    {
+                //        var ts = DateTime.Now - VAR.TIME[eVarBool.LEFT_ITEM_PICKOFF];
+                //        VAR.DBL[eVarDBL.LEFT_ITEM_PICKOFF] += ts.TotalSeconds; //경과시간누적
+                //        VAR.TIME[eVarBool.LEFT_ITEM_PICKOFF] = DateTime.Now; //시간초기화
+                //    }
+                //}
+
+                ////오른쪽컨베이어에 아이템이 존재하는 경우에만 누적
+                //if (DIO.GetIOOutput(eDOName.RIGHT_CONV) && VAR.BOOL[eVarBool.RIGT_ITEM_PICKOFF] )
+                //{
+                //    if(VAR.TIME[eVarBool.RIGT_ITEM_PICKOFF].Year == 1982)
+                //    {
+                //        VAR.TIME[eVarBool.RIGT_ITEM_PICKOFF] = DateTime.Now; //시간초기화
+                //    }
+                //    else
+                //    {
+                //        var ts = DateTime.Now - VAR.TIME[eVarBool.RIGT_ITEM_PICKOFF];
+                //        VAR.DBL[eVarDBL.RIGT_ITEM_PICKOFF] += ts.TotalSeconds; //경과시간누적
+                //        VAR.TIME[eVarBool.RIGT_ITEM_PICKOFF] = DateTime.Now; //시간초기화
+                //    }
+
+                //}
+
+                var t1 = VAR.I32[eVarInt32.LEFT_ITEM_COUNT];
+                var t2 = VAR.I32[eVarInt32.RIGT_ITEM_COUNT];
+                groupBox2.Text = $"Barcode({t1:N1}/{t2:N1})";
+            }
+            else
+            {
+                groupBox2.Text = "Barcode";
+            }
+
+            if((VAR.BOOL?.Get(eVarBool.Use_Conveyor) ?? false) == true)
+            {
+                btAutoReelOut.BackColor = PUB.Result.AutoReelOut ? Color.Lime : SystemColors.Control;
+                btAutoReelOut.Visible = true;
+            }
+            else
+            {
+                btAutoReelOut.Visible = false;
+            }
+
+            
+            groupBox1.Text = $"Equipment Operation({PUB.sm.Loop_ms:N0}ms)";
+            //릴사이즈가 맞지 않으면 깜박인다.
+            if (DIO.getCartSize(1) != eCartSize.None)
+            {
+                if (VAR.BOOL[eVarBool.Use_Conveyor] == false && DIO.getCartSize(1) != DIO.getCartSize(0))
+                {
+                    if (listView21.GetStyle(0, 1).BackColor != Color.Red)
+                    {
+                        listView21.GetStyle(0, 1).BackColor = Color.Red;
+                    }
+                    else
+                    {
+                        listView21.GetStyle(0, 1).BackColor = Color.FromArgb(32, 32, 32);
+                    }
+                }
+                else
+                {
+                    listView21.GetStyle(0, 1).BackColor = Color.FromArgb(32, 32, 32);
+                }
+
+                if (VAR.BOOL[eVarBool.Use_Conveyor] == false && DIO.getCartSize(1) != DIO.getCartSize(2))
+                {
+                    if (listView21.GetStyle(0, 5).BackColor != Color.Red)
+                    {
+                        listView21.GetStyle(0, 5).BackColor = Color.Red;
+                    }
+                    else
+                    {
+                        listView21.GetStyle(0, 5).BackColor = Color.FromArgb(32, 32, 32);
+                    }
+                }
+                else
+                {
+                    listView21.GetStyle(0, 5).BackColor = Color.FromArgb(32, 32, 32);
+                }
+            }
+            else
+            {
+                //모두 동일하게 흑색한다
+                //lbSize0.BackColor = Color.FromArgb(32, 32, 32);
+                //lbSize1.BackColor = Color.FromArgb(32, 32, 32);
+                //lbSize2.BackColor = Color.FromArgb(32, 32, 32);
+
+                listView21.GetStyle(0, 1).BackColor = Color.FromArgb(32, 32, 32);
+                listView21.GetStyle(0, 3).BackColor = Color.FromArgb(32, 32, 32);
+                listView21.GetStyle(0, 5).BackColor = Color.FromArgb(32, 32, 32);
+
+                listView21.GetStyle(0, 1).ForeColor = Color.White;
+                listView21.GetStyle(0, 3).ForeColor = Color.White;
+                listView21.GetStyle(0, 5).ForeColor = Color.White;
+
+            }
+
+
+            //락정보
+            var l0 = DIO.GetIOOutput(eDOName.PORTL_MAGNET);
+            var l1 = DIO.GetIOOutput(eDOName.PORTC_MAGNET);
+            var l2 = DIO.GetIOOutput(eDOName.PORTR_MAGNET);
+
+            lbLock0.Text = l0 ? "Cart Exchange" : "No Cart";
+            lbLock1.Text = l1 ? "Cart Exchange" : "No Cart";
+            lbLock2.Text = l2 ? "Cart Exchange" : "No Cart";
+
+            var sbVisTitle0 = listView21.GetCell(0, 1);
+            var sbVisTitle2 = listView21.GetCell(0, 5);
+
+            if (PUB.wsL == null || PUB.wsL.Connected == false)
+            {
+                sbVisTitle0.ForeColor = Color.Red;
+            }
+            else
+            {
+                //데이터수신시간에 따른 색상
+                var tswecv = DateTime.Now - VAR.TIME[eVarTime.lastRecvWSL];
+                if (tswecv.TotalSeconds > 5)
+                {
+                    sbVisTitle0.ForeColor = Color.HotPink;
+                }
+                else
+                {
+                    if (PUB.flag.get(eVarBool.FG_RDY_CAMERA_L))
+                        sbVisTitle0.ForeColor = Color.Lime;
+                    else
+                        sbVisTitle0.ForeColor = Color.Magenta;
+                }
+
+            }
+
+            //
+            if (PUB.wsR == null || PUB.wsR.Connected == false)
+            {
+                sbVisTitle2.ForeColor = Color.Red;
+            }
+            else
+            {
+                var tswecv = DateTime.Now - VAR.TIME[eVarTime.lastRecvWSR];
+                if (tswecv.TotalSeconds > 5)
+                {
+                    sbVisTitle2.ForeColor = Color.HotPink;
+                }
+                else
+                {
+                    if (PUB.flag.get(eVarBool.FG_RDY_CAMERA_R))
+                        sbVisTitle2.ForeColor = Color.Lime;
+                    else
+                        sbVisTitle2.ForeColor = Color.Magenta;
+                }
+
+            }
+
+            //arLabel18.Text = camliveBusy ? "카메라 (라이브뷰)" : "카메라";
+
+            btStart.Enabled = PUB.flag.get(eVarBool.FG_MOVE_PICKER) == false;
+            btStop.Enabled = PUB.flag.get(eVarBool.FG_MOVE_PICKER) == false;
+            btSetting.Enabled = PUB.flag.get(eVarBool.FG_MOVE_PICKER) == false;
+            //btPickerMove.Visible = (Pub.mot.IsInit && PUB.mot.HasHomeSetOff == true);   //피커의 수동 이동 버튼표시여부
+
+
+            var hwcol = 0;
+            if (PUB.keyenceF != null)
+            {
+                HWState.setTitle(1, hwcol, (PUB.keyenceF.IsConnect ? (PUB.keyenceF.IsTriggerOn ? "TRIG" : "ON") : "OFF"));
+
+                if (PUB.keyenceF.IsConnect)
+                {
+                    if (PUB.keyenceF.IsTriggerOn)
+                    {
+                        HWState.setValue(1, hwcol, 2);
+                    }
+                    else
+                    {
+                        HWState.setValue(1, hwcol, 1);
+                    }
+                }
+                else
+                {
+                    HWState.setValue(1, hwcol, 3);
+                }
+            }
+            else
+            {
+                HWState.setTitle(1, hwcol, "SET");
+                HWState.setValue(1, hwcol, 0);
+            }
+            hwcol++;
+
+            if (PUB.keyenceR != null)
+            {
+                HWState.setTitle(1, hwcol, (PUB.keyenceR.IsConnect ? (PUB.keyenceR.IsTriggerOn ? "TRIG" : "ON") : "OFF"));
+
+                if (PUB.keyenceR.IsConnect)
+                {
+                    if (PUB.keyenceR.IsTriggerOn)
+                    {
+                        HWState.setValue(1, hwcol, 2);
+                    }
+                    else
+                    {
+                        HWState.setValue(1, hwcol, 1);
+                    }
+                }
+                else
+                {
+                    HWState.setValue(1, hwcol, 3);
+                }
+            }
+            else
+            {
+                HWState.setTitle(1, hwcol, "SET");
+                HWState.setValue(1, hwcol, 0);
+            }
+            hwcol++;
+
+
+            if (PUB.wsL != null)
+            {
+                HWState.setTitle(1, hwcol, (PUB.wsL.Connected ? "ON" : "OFF"));
+                HWState.setValue(1, hwcol++, (ushort)(PUB.wsL.Connected ? 1 : 3));
+            }
+
+
+            if (PUB.wsR != null)
+            {
+                HWState.setTitle(1, hwcol, (PUB.wsR.Connected ? "ON" : "OFF"));
+                HWState.setValue(1, hwcol++, (ushort)(PUB.wsR.Connected ? 1 : 3));
+            }
+
+
+            HWState.setTitle(1, hwcol, (PUB.BarcodeFix.IsOpen() ? AR.SETTING.Data.Barcode_Port : "OFF"));
+            HWState.setValue(1, hwcol++, (ushort)(PUB.BarcodeFix.IsOpen() ? 1 : 3));
+
+            if (PUB.PrinterL != null)
+            {
+                HWState.setTitle(1, hwcol, (PUB.PrinterL.IsOpen ? AR.SETTING.Data.PrintL_Port : "OFF"));
+                HWState.setValue(1, hwcol++, (ushort)(PUB.PrinterL.IsOpen ? 1 : 3));
+            }
+            else HWState.setTitle(1, hwcol++, "SET");
+
+            if (PUB.PrinterR != null)
+            {
+
+                HWState.setTitle(1, hwcol, (PUB.PrinterR.IsOpen ? AR.SETTING.Data.PrintR_Port : "OFF"));
+                HWState.setValue(1, hwcol++, (ushort)(PUB.PrinterR.IsOpen ? 1 : 3));
+            }
+            else HWState.setTitle(1, hwcol++, "SET");
+
+            if (PUB.plc != null)
+            {
+                HWState.setTitle(1, hwcol, (PUB.plc.Init ? AR.SETTING.Data.swplc_name : "OFF"));
+                HWState.setValue(1, hwcol++, (ushort)(PUB.plc.Init ? 2 : 1));
+            }
+            else HWState.setTitle(1, hwcol++, "SET");
+
+            HWState.Invalidate();
+
+            IOState.setTitle(0, 0, $"{PUB.sm.Step}"); //this.sbStep.Text =  Pub.sm.Step.ToString();
+            IOState.setTitle(0, 9, $"MC({PUB.MCCode}/{AR.SETTING.Data.McName})");
+            IOState.setTitle(1, 0, $"{PUB.sm.Loop_ms.ToString("N1")}ms");// / " + intlockcnt.ToString();io 
+
+            IOState.setValue(0, 1, (ushort)(DIO.isSaftyDoorF(2, false) ? 0 : 2));
+            IOState.setValue(0, 2, (ushort)(DIO.isSaftyDoorF(1, false) ? 0 : 2));
+            IOState.setValue(0, 3, (ushort)(DIO.isSaftyDoorF(0, false) ? 0 : 2));
+
+            IOState.setValue(1, 1, (ushort)(DIO.GetIOOutput(eDOName.BUZZER) ? 2 : 0));
+            IOState.setValue(1, 2, (ushort)(DIO.GetIOOutput(eDOName.ROOMLIGHT) ? 1 : 0));
+            IOState.setValue(1, 3, (ushort)(DIO.GetIOInput(eDIName.AIR_DETECT) ? 1 : 0));
+
+            IOState.setValue(0, 4, (ushort)(DIO.GetIOInput(eDIName.PORTL_DET_UP) ? 1 : 0));
+            IOState.setValue(0, 5, (ushort)(DIO.GetIOInput(eDIName.PORTC_DET_UP) ? 1 : 0));
+            IOState.setValue(0, 6, (ushort)(DIO.GetIOInput(eDIName.PORTR_DET_UP) ? 1 : 0));
+
+            IOState.setValue(1, 4, (ushort)(DIO.GetIOInput(eDIName.PORTL_LIM_UP) ? 2 : 0));
+            IOState.setValue(1, 5, (ushort)(DIO.GetIOInput(eDIName.PORTC_LIM_UP) ? 2 : 0));
+            IOState.setValue(1, 6, (ushort)(DIO.GetIOInput(eDIName.PORTR_LIM_UP) ? 2 : 0));
+
+            IOState.setValue(1, 9, (ushort)(PUB.flag.get(eVarBool.FG_KEYENCE_TRIGGER) ? 2 : 0));
+
+            IOState.setValue(0, 10, (ushort)(PUB.flag.get(eVarBool.VS_DETECT_REEL_L) ? 2 : 0)); //reel-left detect
+            IOState.setValue(0, 11, (ushort)(PUB.flag.get(eVarBool.VS_DETECT_REEL_R) ? 2 : 0));  //reel-right detect
+
+            IOState.setValue(1, 10, (ushort)(PUB.flag.get(eVarBool.VS_DETECT_CONV_L) ? 2 : 0));  //conv-left detect
+            IOState.setValue(1, 11, (ushort)(PUB.flag.get(eVarBool.VS_DETECT_CONV_R) ? 2 : 0));  //conv-right detect
+
+            IOState.Invalidate();
+
+            if (PUB.Result.isSetvModel)
+            {
+                var modelVision = PUB.Result.vModel;
+                var modelName = modelVision.Title;
+                var modelNameM = string.Empty;
+
+                if (PUB.Result.isSetmModel) modelNameM = PUB.Result.mModel.Title;
+                if (modelNameM.ToUpper().StartsWith("CONV"))
+                {
+                    arLabel1.Text = "CONVEYOR ON";
+                    arLabel1.ForeColor = Color.Blue;
+                }
+                else
+                {
+                    arLabel1.Text = "CONVEYOR OFF";
+                    arLabel1.ForeColor = Color.Red;
+                }
+
+
+
+
+                //시스템바이패스
+                if (SETTING.Data.SystemBypass)
+                {
+                    lbModelName.Text = $"SYSTEM BYPASS";
+                    lbModelName.ForeColor = Color.White;
+                    lbModelName.BackColor = Color.Blue;
+                    lbModelName.BackColor2 = Color.DeepSkyBlue;
+                    lbModelName.ShadowColor = Color.DimGray;
+                }
+                else
+                {
+                    //바이패스는 색깔을 달리한다.
+                    if (modelName.ToUpper().Contains("BYPASS"))
+                    {
+                        lbModelName.Text = $"{modelName}";
+                        lbModelName.ForeColor = Color.DarkGreen;
+                        lbModelName.BackColor = Color.Gold;
+                        lbModelName.BackColor2 = Color.Yellow;
+                        lbModelName.ShadowColor = Color.WhiteSmoke;
+                    }
+                    else if (modelName.ToUpper().Contains("CONVERT"))
+                    {
+                        lbModelName.Text = $"{modelName}";
+                        lbModelName.ForeColor = Color.DarkBlue;
+                        lbModelName.BackColor = Color.Gold;
+                        lbModelName.BackColor2 = Color.Yellow;
+                        lbModelName.ShadowColor = Color.WhiteSmoke;
+                    }
+                    else
+                    {
+                        var custname = VAR.STR[eVarString.JOB_CUSTOMER_CODE];
+                        if (custname.isEmpty() == false)
+                            lbModelName.Text = $"[{custname}] {modelName}";
+                        else
+                            lbModelName.Text = $"{modelName}";
+                        lbModelName.ForeColor = Color.Black;
+                        lbModelName.BackColor = Color.White;
+                        lbModelName.BackColor2 = Color.WhiteSmoke;
+                        lbModelName.ShadowColor = Color.DimGray;
+                    }
+                }
+
+            }
+            else
+            {
+                lbModelName.Text = "Please select a model";
+                lbModelName.ForeColor = Color.Blue;
+                lbModelName.BackColor = Color.Tomato;
+                lbModelName.BackColor2 = Color.Red;
+                lbModelName.ShadowColor = Color.DimGray;
+            }
+            arLabel1.BackColor = lbModelName.BackColor;
+            arLabel1.BackColor2 = lbModelName.BackColor2;
+
+
+            try
+            {
+                //바코드정보표시
+                var row = 1;
+                var col = 1;
+                Class.VisionData visdata = PUB.Result.ItemDataL.VisionData;
+                listView21.SetText(row++, col, visdata.RID);
+                listView21.SetText(row++, col, visdata.SID);
+                listView21.SetText(row++, col, visdata.QTY);
+                listView21.SetText(row++, col, visdata.VNAME);
+                listView21.SetText(row++, col, visdata.VLOT);
+                listView21.SetText(row++, col, visdata.MFGDATE);
+                listView21.SetText(row++, col, visdata.PARTNO);
+                listView21.SetText(row++, col, visdata.ReelSize == eCartSize.None ? "--" : visdata.ReelSize.ToString());
+
+
+                if (PUB.flag.get(eVarBool.FG_ENABLE_LEFT) == false)
+                {
+                    sbVisTitle0.Text = "DISABLE";
+                    sbVisTitle0.BackColor = Color.Orange;
+                    sbVisTitle0.BackColor2 = Color.Tomato;
+                }
+                else
+                {
+                    listView21.SetText(0, col, DIO.getCartSize(0) == eCartSize.None ? "?" : DIO.getCartSize(0).ToString());
+                }
+
+                if (VAR.BOOL[eVarBool.Use_Conveyor]) listView21.GetStyle(0, 1).ForeColor = Color.White;
+                else
+                    listView21.GetStyle(0, 1).ForeColor = AR.SETTING.Data.Detect_CartL ? Color.White : Color.Red;
+
+                if (VAR.BOOL[eVarBool.Use_Conveyor]) listView21.GetStyle(0, 5).ForeColor = Color.White;
+                else
+                    listView21.GetStyle(0, 5).ForeColor = AR.SETTING.Data.Detect_CartR ? Color.White : Color.Red;
+                //lbSize0.ForeColor = COMM.SETTING.Data.Detect_CartL ? Color.White : Color.Red;
+
+                listView21.SetText(row, col, visdata.RID2);
+                if (visdata.RID2.isEmpty() == false && visdata.RID.Equals(visdata.RID2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col, 1);
+
+                listView21.SetText(row, col, visdata.SID2);
+                if (visdata.SID2.isEmpty() == false && visdata.SID.Equals(visdata.SID2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                if (visdata.QTY2.Equals("0")) listView21.SetText(row, 1, string.Empty);
+                else listView21.SetText(row, col, visdata.QTY2);
+                if (visdata.QTY2.isEmpty() == false && visdata.QTY2.Equals("0") == false && visdata.QTY.Equals(visdata.QTY2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+
+                listView21.SetText(row, col, visdata.VNAME2);
+                if (visdata.VNAME2.isEmpty() == false && visdata.VNAME.Equals(visdata.VNAME2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.VLOT2);
+                if (visdata.VLOT2.isEmpty() == false && visdata.VLOT.Equals(visdata.VLOT2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.MFGDATE2);
+                if (visdata.MFGDATE2.isEmpty() == false && visdata.MFGDATE.Equals(visdata.MFGDATE2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.PARTNO2);
+                if (visdata.PARTNO2.isEmpty() == false && visdata.PARTNO.Equals(visdata.PARTNO2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+            }
+            catch { }
+
+            try
+            {
+                var visdata = PUB.Result.ItemDataC.VisionData;
+                Color textColor = visdata.Confirm ? Color.Lime : Color.WhiteSmoke;
+
+                var row = 1;
+                var col = 3;
+                this.listView21.SetText(row, col, visdata.RID);
+                if (visdata.RID_Trust)
+                {
+                    if (visdata.RIDNew) //new reelid mode
+                    {
+                        listView21.SetColor(row++, col - 1, 3);
+                    }
+                    else
+                    {
+                        listView21.SetColor(row++, col - 1, 6);
+                    }
+                }
+                else
+                {
+                    listView21.SetColor(row++, col - 1, 0);
+                }
+
+                if (visdata.SID0.isEmpty())
+                    listView21.SetText(row, col, visdata.SID);
+                else
+                    listView21.SetText(row, col, visdata.SID + "\n<< " + visdata.SID0);
+
+                listView21.SetColor(row++, col - 1, (ushort)(visdata.SID_Trust ? 6 : 0));
+
+                if (PUB.Result.ItemDataC.VisionData.QTYRQ)
+                {
+                    listView21.SetText(row, col, "RQ:" + visdata.QTY);
+                    listView21.SetColor(row++, col - 1, 6);
+                }
+                else
+                {
+                    if (visdata.QTY.Equals("0")) listView21.SetText(row, col, string.Empty);
+                    else listView21.SetText(row, col, visdata.QTY);
+                    listView21.SetColor(row++, col - 1, (ushort)(visdata.QTY_Trust ? 6 : 0));
+                }
+
+                listView21.SetText(row, col, visdata.VNAME); listView21.SetColor(row++, col - 1, (ushort)(visdata.VNAME_Trust ? 6 : 0));
+                listView21.SetText(row, col, visdata.VLOT); listView21.SetColor(row++, col - 1, (ushort)(visdata.VLOT_Trust ? 6 : 0));
+                listView21.SetText(row, col, visdata.MFGDATE); listView21.SetColor(row++, col - 1, (ushort)(visdata.MFGDATE_Trust ? 6 : 0));
+                listView21.SetText(row, col, visdata.PARTNO); listView21.SetColor(row++, col - 1, (ushort)(visdata.PARTNO_Trust ? 6 : 0));
+
+                //lbSize1.Text = DIO.getCartSize(1) == eCartSize.None ? "?" : DIO.getCartSize(1).ToString();
+                listView21.SetText(0, col, DIO.getCartSize(1) == eCartSize.None ? "?" : DIO.getCartSize(1).ToString());
+                listView21.GetStyle(0, col - 1).ForeColor = AR.SETTING.Data.Detect_CartC ? Color.White : Color.Red;
+
+                listView21.SetText(row++, col, visdata.ReelSize == eCartSize.None ? "--" : visdata.ReelSize.ToString());
+
+                //Degree
+                row++; //gridView2.setTitle(row++, 1, visdata.PARTNO);
+
+                //QR
+                row++; //gridView2.setTitle(row++, 1, visdata.PARTNO);
+
+                //바코드수량
+                //listView21.SetText(row, col-1, "BACD");
+                listView21.SetText(row++, col, $"{visdata.barcodelist.Count}");
+
+                listView21.SetText(row, col - 1, "REGEX");
+                listView21.SetText(row++, col, $"{PUB.Result.BCDPattern.Count}");
+
+                row++;//
+                listView21.SetText(row, col - 1, "BATCH");
+                listView21.SetText(row++, col, $"{visdata.BATCH}");
+
+                listView21.SetText(row, col - 1, "MAX");
+                listView21.SetText(row++, col, $"{visdata.QTYMAX}");
+
+                var textcolor = visdata.Confirm ? 7 : 0;
+                var crow = 1;
+                listView21.SetColor(crow++, 3, textcolor);
+                listView21.SetColor(crow++, 3, textcolor);
+                listView21.SetColor(crow++, 3, textcolor);
+                listView21.SetColor(crow++, 3, textcolor);
+                listView21.SetColor(crow++, 3, textcolor);
+                listView21.SetColor(crow++, 3, textcolor);
+                listView21.SetColor(crow++, 3, textcolor);
+
+                //arLabel25.ForeColor = textColor;
+                //listView21.SetColor(2, 1, (visdata.QTYRQ ? 3 : 1));
+            }
+            catch { }
+
+
+            try
+            {
+                var row = 1;
+                var col = 5;
+                Class.VisionData visdata = PUB.Result.ItemDataR.VisionData;
+                listView21.SetText(row++, col, visdata.RID);
+                listView21.SetText(row++, col, visdata.SID);
+                listView21.SetText(row++, col, visdata.QTY);
+                listView21.SetText(row++, col, visdata.VNAME);
+                listView21.SetText(row++, col, visdata.VLOT);
+                listView21.SetText(row++, col, visdata.MFGDATE);
+                listView21.SetText(row++, col, visdata.PARTNO);
+                listView21.SetText(row++, col, visdata.ReelSize == eCartSize.None ? "--" : visdata.ReelSize.ToString());
+
+
+                if (PUB.flag.get(eVarBool.FG_ENABLE_RIGHT) == false)
+                {
+                    sbVisTitle2.Text = "DISABLE";
+                    sbVisTitle2.BackColor = Color.Orange;
+                    sbVisTitle2.BackColor2 = Color.Tomato;
+                }
+                else
+                {
+                    listView21.SetText(0, col, DIO.getCartSize(2) == eCartSize.None ? "?" : DIO.getCartSize(2).ToString());
+                }
+
+
+                listView21.GetStyle(0, col).ForeColor = AR.SETTING.Data.Detect_CartR ? Color.White : Color.Red;
+                //lbSize2.Text = DIO.getCartSize(2) == eCartSize.None ? "?" : DIO.getCartSize(2).ToString();
+                //lbSize2.ForeColor = COMM.SETTING.Data.Detect_CartR ? Color.White : Color.Red;
+
+                listView21.SetText(row, col, visdata.RID2);
+                if (visdata.RID2.isEmpty() == false && visdata.RID.Equals(visdata.RID2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.SID2);
+                if (visdata.SID2.isEmpty() == false && visdata.SID.Equals(visdata.SID2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                if (visdata.QTY2.Equals("0")) listView21.SetColor(row, col, 0);
+                else listView21.SetText(row, col, visdata.QTY2);
+                if (visdata.QTY2.isEmpty() == false && visdata.QTY2.Equals("0") == false && visdata.QTY.Equals(visdata.QTY2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+
+                listView21.SetText(row, col, visdata.VNAME2);
+                if (visdata.VNAME2.isEmpty() == false && visdata.VNAME.Equals(visdata.VNAME2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.VLOT2);
+                if (visdata.VLOT2.isEmpty() == false && visdata.VLOT.Equals(visdata.VLOT2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.MFGDATE2);
+                if (visdata.MFGDATE2.isEmpty() == false && visdata.MFGDATE.Equals(visdata.MFGDATE2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+
+                listView21.SetText(row, col, visdata.PARTNO2);
+                if (visdata.PARTNO2.isEmpty() == false && visdata.PARTNO.Equals(visdata.PARTNO2) == false) listView21.SetColor(row++, col - 1, 2);
+                else listView21.SetColor(row++, col - 1, 1);
+            }
+            catch { }
+
+            listView21.Invalidate();
+            listView21.Refresh();
+
+            lbLock0.BackColor = l0 ? Color.FromArgb(0xff, 0x4c, 0x0e) : Color.FromArgb(32, 32, 32);
+            lbLock0.BackColor2 = l0 ? Color.FromArgb(0xff, 0x4c, 0x0e) : Color.FromArgb(80, 80, 80);
+            lbLock1.BackColor = l1 ? Color.FromArgb(0xff, 0x4c, 0x0e) : Color.FromArgb(32, 32, 32);
+            lbLock1.BackColor2 = l1 ? Color.FromArgb(0xff, 0x4c, 0x0e) : Color.FromArgb(80, 80, 80);
+            lbLock2.BackColor = l2 ? Color.FromArgb(0xff, 0x4c, 0x0e) : Color.FromArgb(32, 32, 32);
+            lbLock2.BackColor2 = l2 ? Color.FromArgb(0xff, 0x4c, 0x0e) : Color.FromArgb(80, 80, 80);
+
+            //display mesasge
+            UpdateStatusMessage(); //left
+        }
+    }
+}

Handler/Project/RunCode/Display/_Interval_500ms.cs

@@ -0,0 +1,63 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using AR;
+
+namespace Project
+{
+	public partial class FMain
+	{
+
+
+		void _Display_Interval_500ms()
+		{
+
+            //홈진행중에는 모델쪽을 건드릴수 없게 한다
+            toolStripButton7.Enabled = !PUB.sm.Step.ToString().StartsWith("HOME");
+            //현재시간표시
+            if (PUB.sm.Step == eSMStep.INIT)
+				lbTime.Text = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+			else
+				lbTime.Text = PUB.sm.UpdateTime.ToString("yyyy-MM-dd HH:mm:ss");
+
+			//키엔스 데이터를 바로 표시한다.
+			tbBarcodeF.Text = KeyenceBarcodeDataF;
+            tbBarcodeR.Text = KeyenceBarcodeDataR;
+
+            lbCntLeft.Text = $"{VAR.I32[eVarInt32.LPickOfCount]}";
+			lbCntRight.Text = $"{VAR.I32[eVarInt32.RPickOfCount]}";
+			lbCntPicker.Text = $"{VAR.I32[eVarInt32.PickOfCount]}";
+			//lbCntPrnL.Text = $"{SETTING.Counter.CountPrintL}";
+			//lbCnrPrnR.Text = $"{SETTING.Counter.CountPrintR}";
+
+			if (AR.SETTING.Data.Enable_SpeedLimit)
+				grpProgress.Text = $"작업 수량(속도제한:{AR.SETTING.Data.LimitSpeed})";
+			else
+				grpProgress.Text = $"작업 수량";
+
+			//display Room Light
+			btLightRoom.BackColor = DIO.GetIOOutput(eDOName.ROOMLIGHT) ? Color.Gold : SystemColors.Control;
+
+			//상태를 DB에 저장한다.
+			//EEMStatus.UpdateStatusSQL(PUB.sm.Step);
+
+            //컨베이어 가동시간계싼
+            if(DIO.GetIOOutput(eDOName.LEFT_CONV) && VAR.TIME[eVarTime.CONVL_START].Year != 1982)
+            {
+                var t = (DateTime.Now - VAR.TIME[eVarTime.CONVL_START]).TotalSeconds;
+                if (t > 999) t = 999;
+                VAR.DBL[eVarDBL.CONVL_RUNTIME] = t;
+            }
+
+            if (DIO.GetIOOutput(eDOName.RIGHT_CONV) && VAR.TIME[eVarTime.CONVR_START].Year != 1982)
+            {
+                var t = (DateTime.Now - VAR.TIME[eVarTime.CONVR_START]).TotalSeconds;
+                if (t > 999) t = 999;
+                VAR.DBL[eVarDBL.CONVR_RUNTIME] = t;
+            }
+        }
+	}
+}

Handler/Project/RunCode/Display/_Interval_5min.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        void _Display_Interval_5min()
+        {
+            //남은디스크확인
+            PUB.CheckFreeSpace();
+        }
+
+    }
+}

Handler/Project/RunCode/Display/_TMDisplay.cs

@@ -0,0 +1,367 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+        DateTime tm500minute = DateTime.Now.AddDays(-1);
+        DateTime tm250minute = DateTime.Now.AddDays(-1);
+        DateTime tm1minute = DateTime.Now.AddDays(-1);
+        DateTime tm5minute = DateTime.Now;
+        Boolean displayOn = false;
+        Boolean needShowSummary = false;
+
+
+        private void _DisplayTimer(object sender, EventArgs e)
+        {
+            if (displayOn == false) displayOn = true;
+            else
+            {
+                PUB.log.AddAT("Display Timer Overlab");// Console.WriteLine("display overlab");
+                return;
+            }
+
+            //lbOnline.Text = COMM.SETTING.Data.OnlineMode ? "ON-LINE" : "OFF-LINE";
+            //lbOnline.ForeColor = COMM.SETTING.Data.OnlineMode ? Color.Black : Color.Red;
+            //toolStripLabel1.Visible =  Pub.Result.DryRun;
+            //if(Pub.Result.DryRun)
+            //{
+            //    if (toolStripLabel1.ForeColor == Color.Red) toolStripLabel1.ForeColor = Color.Black;
+            //    else toolStripLabel1.ForeColor = Color.Red;
+            //}
+            try
+            {
+                UpdateDisplayTimerData();
+            }
+            catch
+            {
+
+            }
+
+
+
+
+            //작업수량 업데이트
+            UpdateJobCount();
+
+            #region "250ms time 루틴"
+            var ts250 = DateTime.Now - tm250minute;
+            if (ts250.TotalMilliseconds >= 250)
+            {
+                _Display_Interval_250ms();
+                tm250minute = DateTime.Now;
+            }
+            #endregion
+
+            #region "500ms time 루틴"
+            var ts500 = DateTime.Now - tm500minute;
+            if (ts500.TotalMilliseconds >= 500)
+            {
+                _Display_Interval_500ms();
+                tm500minute = DateTime.Now;
+            }
+            #endregion
+
+            #region retgion"1분 time 루틴"
+            var ts = DateTime.Now - tm1minute;
+            if (ts.TotalMinutes >= 1)
+            {
+                //리셋카운트
+                _Display_Interval_1min();
+                tm1minute = DateTime.Now;
+            }
+            #endregion
+
+            #region retgion"5분 time 루틴"
+            ts = DateTime.Now - tm5minute;
+            if (ts.TotalMinutes >= 5)
+            {
+                //남은디스크확인
+                _Display_Interval_5min();
+                tm5minute = DateTime.Now;
+            }
+            #endregion
+
+            displayOn = false;
+        }
+
+
+
+        void UpdateDisplayTimerData()
+        {
+            if (PUB.sm.Step > eSMStep.INIT &&
+                panTopMenu.Enabled == false) panTopMenu.Enabled = true;
+
+            //쓰레드로인해서 메인에서 진행하게한다. SPS는 메인쓰레드에서 진행 됨
+            //팝을 제거 혹은 표시하는 기능
+            if (PUB.popup.needShow) PUB.popup.showMessage();
+            else if (PUB.popup.needClose) PUB.popup.Visible = false; // .setVision(false)();
+
+
+
+            ////업로드화면을 표시해야하느 ㄴ경우
+            if (needShowSummary)
+            {
+                ShowSummary();
+                needShowSummary = false;
+            }
+
+            //시스템 정보를 메인 UI에 표시한다
+            UpdateLoaderDisplay();
+
+
+        }
+        void UpdateJobCount()
+        {
+
+        }
+
+
+
+        void UpdateLoaderDisplay()
+        {
+            hmi1.L_PICK_FW = DIO.GetIOInput(eDIName.L_PICK_FW);  //피커의 실린더 전후진 상태
+            hmi1.L_PICK_BW = DIO.GetIOInput(eDIName.L_PICK_BW);  //피커의 실린더 전후진 상태
+            hmi1.R_PICK_FW = DIO.GetIOInput(eDIName.R_PICK_FW);  //피커의 실린더 전후진 상태
+            hmi1.R_PICK_BW = DIO.GetIOInput(eDIName.R_PICK_BW);  //피커의 실린더 전후진 상태
+
+            hmi1.PrintLPICK = DIO.GetIOInput(eDIName.L_PICK_VAC);
+            hmi1.PrintRPICK = DIO.GetIOInput(eDIName.R_PICK_VAC);
+
+            hmi1.arPortLItemOn = PUB.flag.get(eVarBool.FG_PORTL_ITEMON);
+            hmi1.arPortRItemOn = PUB.flag.get(eVarBool.FG_PORTR_ITEMON);
+
+            hmi1.arPLItemON = PUB.flag.get(eVarBool.FG_PL_ITEMON);
+            hmi1.arPRItemON = PUB.flag.get(eVarBool.FG_PR_ITEMON);
+
+            hmi1.arFGVision0RDY = PUB.flag.get(eVarBool.FG_PRC_VISIONL);
+            hmi1.arFGVision1RDY = false;// PUB.flag.get(eVarBool.RDY_VISION1);
+            hmi1.arFGVision2RDY = PUB.flag.get(eVarBool.FG_PRC_VISIONR);
+
+            hmi1.arFGVision0END = PUB.flag.get(eVarBool.FG_END_VISIONL);
+            hmi1.arFGVision1END = false;// PUB.flag.get(eVarBool.END_VISION1);
+            hmi1.arFGVision2END = PUB.flag.get(eVarBool.FG_END_VISIONR);
+
+            hmi1.arFGPrinter0RDY = PUB.flag.get(eVarBool.FG_RUN_PRINTL);
+            hmi1.arFGPrinter1RDY = PUB.flag.get(eVarBool.FG_RUN_PRINTR);
+
+            hmi1.arFGPrinter0END = PUB.flag.get(eVarBool.FG_OK_PRINTL);
+            hmi1.arFGPrinter1END = PUB.flag.get(eVarBool.FG_OK_PRINTR);
+
+            hmi1.arMagnet0 = DIO.GetIOOutput(eDOName.PORTL_MAGNET);
+            hmi1.arMagnet1 = DIO.GetIOOutput(eDOName.PORTC_MAGNET);
+            hmi1.arMagnet2 = DIO.GetIOOutput(eDOName.PORTR_MAGNET);
+
+            hmi1.arPickerSafeZone = DIO.GetIOInput(eDIName.PICKER_SAFE);
+
+            hmi1.arMotPosNamePX = MOT.GetPosName(eAxis.PX_PICK);
+            hmi1.arMotPosNamePZ = MOT.GetPosName(eAxis.PZ_PICK);
+            hmi1.arMotPosNameLM = MOT.GetPosName(eAxis.PL_MOVE);
+            hmi1.arMotPosNameLZ = MOT.GetPosName(eAxis.PL_UPDN);
+            hmi1.arMotPosNameRM = MOT.GetPosName(eAxis.PR_MOVE);
+            hmi1.arMotPosNameRZ = MOT.GetPosName(eAxis.PR_UPDN);
+
+            hmi1.arMotILockPKX = PUB.iLock[(int)eAxis.PX_PICK].IsEmpty() == false;
+            hmi1.arMotILockPKZ = PUB.iLock[(int)eAxis.PZ_PICK].IsEmpty() == false;
+            hmi1.arMotILockPLM = PUB.iLock[(int)eAxis.PL_MOVE].IsEmpty() == false;
+            hmi1.arMotILockPLZ = PUB.iLock[(int)eAxis.PL_UPDN].IsEmpty() == false;
+            hmi1.arMotILockPRM = PUB.iLock[(int)eAxis.PR_MOVE].IsEmpty() == false;
+            hmi1.arMotILockPRZ = PUB.iLock[(int)eAxis.PR_UPDN].IsEmpty() == false;
+
+            hmi1.arMotILockPRL = PUB.iLockPRL.IsEmpty() == false;
+            hmi1.arMotILockPRR = PUB.iLockPRR.IsEmpty() == false;
+            hmi1.arMotILockVS0 = PUB.iLockVS0.IsEmpty() == false;
+            hmi1.arMotILockVS1 = PUB.iLockVS1.IsEmpty() == false;
+            hmi1.arMotILockVS2 = PUB.iLockVS2.IsEmpty() == false;
+            hmi1.arMotILockCVL = PUB.iLockCVL.IsEmpty() == false;
+            hmi1.arMotILockCVR = PUB.iLockCVR.IsEmpty() == false;
+
+            hmi1.arIsRunning = PUB.sm.isRunning;
+            hmi1.arUnloaderSeq = PUB.Result.UnloaderSeq;
+
+            //연결상태            
+            hmi1.arConn_MOT = PUB.mot.IsInit;
+            hmi1.arConn_DIO = PUB.dio.IsInit;
+            hmi1.arAIRDetect = DIO.GetIOInput(eDIName.AIR_DETECT);
+            hmi1.arJobEND = PUB.flag.get(eVarBool.FG_JOB_END);
+            hmi1.arConn_REM = PUB.remocon.IsOpen();
+
+            hmi1.arDI_Emergency = DIO.GetIOInput(eDIName.BUT_EMGF) == true;
+            hmi1.arDI_SaftyOk = DIO.isSaftyDoorF();
+
+            hmi1.arVisionProcessL = PUB.flag.get(eVarBool.FG_PRC_VISIONL);
+            hmi1.arVisionProcessC = false;// PUB.flag.get(eVarBool.RDY_VISION1);
+            hmi1.arVisionProcessR = PUB.flag.get(eVarBool.FG_PRC_VISIONR);
+
+            try
+            {
+                hmi1.arVision_RID = PUB.Result.ItemDataC.VisionData.RID;    //200925
+                hmi1.arVision_SID = PUB.Result.ItemDataC.VisionData.SID; //200925
+                hmi1.arVar_Picker[0].PortPos = PUB.Result.ItemDataL.PortPos; //200925
+            }
+            catch { }
+
+
+            for (short i = 0; i < 3; i++)
+            {
+                if (PUB.mot != null && PUB.mot.IsInit)
+                {
+                    hmi1.arMOT_HSet[i] = PUB.mot.IsHomeSet(i);
+                    hmi1.arMOT_Alm[i] = PUB.mot.IsServAlarm(i);
+                    hmi1.arMOT_LimUp[i] = PUB.mot.IsLimitP(i);
+                    hmi1.arMOT_LimDn[i] = PUB.mot.IsLimitN(i);
+                    hmi1.arMOT_Origin[i] = PUB.mot.IsOrg(i);
+                    hmi1.arMOT_SVOn[i] = PUB.mot.IsServOn(i);
+                }
+                else
+                {
+                    hmi1.arMOT_HSet[i] = false;
+                    hmi1.arMOT_Alm[i] = false;
+                    hmi1.arMOT_LimUp[i] = false;
+                    hmi1.arMOT_LimDn[i] = false;
+                    hmi1.arMOT_Origin[i] = false;
+                    hmi1.arMOT_SVOn[i] = false;
+                }
+            }
+
+            //포트 리밋센서
+            hmi1.arVar_Port[0].LimitLower = DIO.GetIOInput(eDIName.PORTL_LIM_DN);        //front-left
+            hmi1.arVar_Port[0].LimitUpper = DIO.GetIOInput(eDIName.PORTL_LIM_UP);
+            hmi1.arVar_Port[0].DetectUp = DIO.GetIOInput(eDIName.PORTL_DET_UP);
+            hmi1.arVar_Port[0].SaftyErr = !DIO.isSaftyDoorF(0, false);
+            hmi1.arVar_Port[0].reelCount = SETTING.Counter.CountP0;
+            hmi1.arVar_Port[0].CartSize = (int)DIO.getCartSize(0);
+
+            hmi1.arVar_Port[1].LimitLower = DIO.GetIOInput(eDIName.PORTC_LIM_DN);        //front-right
+            hmi1.arVar_Port[1].LimitUpper = DIO.GetIOInput(eDIName.PORTC_LIM_UP);
+            hmi1.arVar_Port[1].DetectUp = DIO.GetIOInput(eDIName.PORTC_DET_UP);
+            hmi1.arVar_Port[1].SaftyErr = !DIO.isSaftyDoorF(1, false);
+            hmi1.arVar_Port[1].reelCount = SETTING.Counter.CountP1;
+            hmi1.arVar_Port[1].CartSize = (int)DIO.getCartSize(1);
+
+            hmi1.arVar_Port[2].LimitLower = DIO.GetIOInput(eDIName.PORTR_LIM_DN);        //front-left
+            hmi1.arVar_Port[2].LimitUpper = DIO.GetIOInput(eDIName.PORTR_LIM_UP);
+            hmi1.arVar_Port[2].DetectUp = DIO.GetIOInput(eDIName.PORTR_DET_UP);
+            hmi1.arVar_Port[2].SaftyErr = !DIO.isSaftyDoorF(2, false);
+            hmi1.arVar_Port[2].reelCount = SETTING.Counter.CountP2;
+            hmi1.arVar_Port[2].CartSize = (int)DIO.getCartSize(2);
+
+            hmi1.arCountPrint0 = SETTING.Counter.CountPrintL;
+            hmi1.arCountPrint1 = SETTING.Counter.CountPrintR;
+
+            if (VAR.BOOL[eVarBool.Use_Conveyor])
+            {
+                hmi1.arVar_Port[0].reelCount = VAR.I32[eVarInt32.LEFT_ITEM_COUNT];
+                hmi1.arVar_Port[2].reelCount = VAR.I32[eVarInt32.RIGT_ITEM_COUNT];
+            }
+
+            hmi1.arCountV1 = SETTING.Counter.CountV1;
+            hmi1.arCountV0 = SETTING.Counter.CountV0;
+            hmi1.arCountV2 = SETTING.Counter.CountV2;
+
+            //피커 백큠감지 상태(Front)
+            hmi1.arVar_Picker[0].VacOutput[0] = DIO.GetIOOutput(eDOName.PICK_VAC1);
+            hmi1.arVar_Picker[0].VacOutput[1] = DIO.GetIOOutput(eDOName.PICK_VAC2);
+            hmi1.arVar_Picker[0].VacOutput[2] = DIO.GetIOOutput(eDOName.PICK_VAC3);
+            hmi1.arVar_Picker[0].VacOutput[3] = DIO.GetIOOutput(eDOName.PICK_VAC4);
+            hmi1.arVar_Picker[0].ItemOn = PUB.flag.get(eVarBool.FG_PK_ITEMON);
+        }
+
+
+        Color StatusBackColor = Color.FromArgb(150, 150, 150);
+
+
+        /// <summary>
+        /// 상태표시라벨의 진행값을 변경 합니다
+        /// </summary>
+        /// <param name="idx"></param>
+        /// <param name="value"></param>
+        /// <param name="max"></param>
+        /// <param name="title"></param>
+        void SetStatusProgress(double value, string title, double max = 0, Color? textColor = null, Color? shadowColor = null)
+        {
+            arCtl.arLabel lbl = lbMsg;//idx == 0 ? lbMsgL : (idx == 1 ? lbMsgC : (idx == 2 ? lbMsgR : lbMsg));
+
+            if (lbl.ProgressEnable == false) lbl.ProgressEnable = true;
+            if (lbl.ProgressValue != value) lbl.ProgressValue = (float)value;
+            if (lbl.Text != title) lbl.Text = title;
+
+            if (max != 0)
+            {
+                if (lbl.ProgressMax != max) lbl.ProgressMax = (float)max;
+            }
+            if (textColor != null)
+            {
+                if (lbl.ProgressForeColor != textColor) lbl.ProgressForeColor = (Color)textColor;
+            }
+            if (shadowColor != null)
+            {
+                if (lbl.ShadowColor != shadowColor) lbl.ShadowColor = (Color)shadowColor;
+            }
+        }
+
+        ///// <summary>
+        ///// 상태표시라벨의 메세지를 변경 합니다
+        ///// </summary>
+        ///// <param name="idx"></param>
+        ///// <param name="dispmsg"></param>
+        ///// <param name="bColor"></param>
+        ///// <param name="bColor2"></param>
+        ///// <param name="fcolor"></param>
+        ///// <param name="shadow"></param>
+        ///// <param name="blank"></param>
+        //void SetStatusMessage(string dispmsg, Color bColor, Color bColor2, Color fcolor, Color? shadow = null, Boolean blank = false)
+        //{
+        //	arCtl.arLabel lbl = lbMsg;//idx == 0 ? lbMsgL : (idx == 1 ? lbMsgC : (idx == 2 ? lbMsgR : lbMsg));
+        //	if (shadow == null) shadow = Color.Transparent;
+        //	if (lbl.ProgressValue != 0 || dispmsg != lbl.Text || lbl.ForeColor != fcolor || lbl.ShadowColor != (Color)shadow || (lbl.BackColor != bColor && lbl.BackColor2 != bColor))
+        //	{
+        //		lbl.ProgressValue = 0;
+        //		lbl.BackColor = bColor;
+        //		lbl.BackColor2 = bColor2;
+        //		lbl.ForeColor = fcolor;
+        //		lbl.ShadowColor = (Color)shadow;
+        //		lbl.Text = dispmsg;
+        //		if (blank) lbl.Tag = "BLINK";
+        //		else lbl.Tag = null;
+        //	}
+        //}
+
+        void SetStatusMessage(string dispmsg, Color fcolor, Color backcolor, Color? backColor2 = null, Color? shadow = null, Boolean blank = false)
+        {
+            arCtl.arLabel lbl = lbMsg;//idx == 0 ? lbMsgL : (idx == 1 ? lbMsgC : (idx == 2 ? lbMsgR : lbMsg));
+
+            if (shadow == null) shadow = Color.Transparent;
+            if (backColor2 == null) backColor2 = backcolor;
+
+            var bg1ok = lbl.BackColor == backcolor && lbl.BackColor2 == backColor2;
+            var bg2ok = lbl.BackColor2 == backcolor && lbl.BackColor == backColor2;
+
+
+            if (lbl.ProgressValue != 0 || dispmsg != lbl.Text ||
+                lbl.ForeColor != fcolor || lbl.ShadowColor != (Color)shadow || (bg1ok == false && bg2ok == false))
+            {
+                lbl.ProgressValue = 0;
+                lbl.BackColor = backcolor;
+                lbl.BackColor2 = (Color)backColor2;
+
+                lbl.ForeColor = fcolor;
+                lbl.ShadowColor = (Color)shadow;
+                lbl.Text = dispmsg;
+                if (blank) lbl.Tag = "BLINK";
+                else lbl.Tag = null;
+            }
+            else if (lbl.ProgressEnable)
+            {
+                lbl.ProgressEnable = false;
+            }
+        }
+
+
+    }
+}

Handler/Project/RunCode/Display/_UpdateStatusMessage.cs

@@ -0,0 +1,210 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        /// <summary>
+        /// Automatic message change for status display labels
+        /// </summary>
+        /// <param name="idx"></param>
+        void UpdateStatusMessage()
+        {
+            arCtl.arLabel lbl = lbMsg;
+
+            //Check if message window should blink
+            if (lbl.Tag != null && lbl.Tag.ToString() == "BLINK")
+            {
+                var bg1 = lbl.BackColor;
+                var bg2 = lbl.BackColor2;
+                 if(bg2 != null) lbl.BackColor = (Color)bg2;
+                lbl.BackColor2 = bg1;
+                lbl.Invalidate();
+            }
+
+            if (PUB.sm.Step == eSMStep.INIT)
+            {
+                SetStatusMessage("Initialization in progress", Color.White, Color.FromArgb(0x38, 0x4d, 0x9d));
+            }
+            else if (PUB.sm.Step == eSMStep.IDLE)
+            {
+                //Check various I/O and display error messages
+
+                var msg = string.Empty;
+                bool errst = true;
+                if (PUB.mot.IsInit == false) msg = "Motion card not ready";
+                else if (PUB.dio.IsInit == false) msg = "I/O card not ready";
+                else if (PUB.dio.HasDIOn == false) msg = "Power check required (input port not detected)";
+                else if (PUB.mot.HasServoAlarm == true) msg = "Servo alarm occurred";
+                else if (PUB.mot.HasHoming == true) msg = "Home search in progress";
+                else if (PUB.mot.HasServoOff == true) msg = "Servo OFF occurred";
+                else if (DIO.GetIOOutput(eDOName.SOL_AIR) == false) msg = "AIR output failed (Press the front blue AIR button)";
+                else if (DIO.GetIOInput(eDIName.AIR_DETECT) == false) msg = "AIR not detected";
+                else if (DIO.isSaftyDoorF() == false) msg = "Front Door Safty Error";
+                else if (DIO.isSaftyDoorR() == false) msg = "Rear Door Safty Error";
+                else if (PUB.mot.HasHomeSetOff == true)
+                {
+                    if (DIO.GetIOInput(eDIName.PICKER_SAFE) == false)
+                    {
+                        msg = "Please move the picker (X) axis to center (Function-Management screen)";
+                    }
+                    else
+                    {
+                        msg = "Home search is required";
+                    }
+
+                }
+                else
+                {
+
+                    var limport = new List<string>();
+                    if (PUB.mot.HasLimitError == true)
+                    {
+                        for (short i = 0; i < SETTING.System.MotaxisCount; i++)
+                        {
+                            if (PUB.mot.IsUse(i) == false) continue;
+                            if (PUB.mot.IsLimitN(i))
+                            {
+                                var useOrgSensor = PUB.system_mot.GetUseOrigin;
+                                if (useOrgSensor[i] == true) limport.Add(i.ToString());
+                            }
+                            else if (PUB.mot.IsLimitP(i))
+                                limport.Add(i.ToString());
+                            else if (PUB.mot.IsLimitSWN(i))
+                                limport.Add(i.ToString());
+                            else if (PUB.mot.IsLimitSWP(i))
+                                limport.Add(i.ToString());
+                        }
+                    }
+                    if (limport.Any())
+                    {
+                        msg = "Servo LIMIT alarm occurred (Ax:" + string.Join(",", limport) + ")";
+                    }
+                    else
+                    {
+                        msg = "Press START to begin operation";
+                        errst = false;
+                    }
+
+
+                }
+
+                if (errst)
+                {
+                    SetStatusMessage(msg, Color.White, Color.Red, Color.IndianRed, Color.DimGray, blank: true);
+                }
+                else
+                {
+                    Color fColor = Color.FromArgb(200, 200, 200);
+                    Color bColor1 = Color.DimGray;
+                    Color bColor2 = Color.DarkGray;
+
+                    SetStatusMessage(msg, Color.Lime, bColor1, bColor2, Color.Black, true);
+                }
+
+            }
+
+            else if (PUB.sm.Step == eSMStep.WAITSTART)
+            {
+                SetStatusMessage("[Waiting to Start] ", Color.Gold, Color.FromArgb(50, 50, 50));
+            }
+            else if (PUB.sm.Step == eSMStep.ERROR)
+            {
+                var msglis = PUB.Result.ResultMessage.Split(new char[] { '\n' }, StringSplitOptions.RemoveEmptyEntries);
+                SetStatusMessage($"{msglis[0]}", Color.White, Color.Red);
+            }
+            else if (PUB.sm.Step == eSMStep.PAUSE)
+            {
+                SetStatusMessage("[Paused] ", Color.Gold, Color.FromArgb(50, 50, 50));
+            }
+            else if (PUB.sm.Step == eSMStep.HOME_FULL)// || Pub.sm.Step == eSMStep.QHOME)
+            {
+                SetStatusMessage($"Checking home position of all motion axes", Color.White, Color.FromArgb(0x98, 0x79, 0xd0), shadow: Color.DimGray);
+            }
+            else if (PUB.sm.Step == eSMStep.HOME_DELAY)// || Pub.sm.Step == eSMStep.QHOME)
+            {
+                SetStatusMessage($"Please wait a moment (homing in progress)", Color.White, Color.FromArgb(0x98, 0x79, 0xd0), shadow: Color.DimGray);
+            }
+            else if (PUB.sm.Step == eSMStep.HOME_CONFIRM)// || Pub.sm.Step == eSMStep.QHOME)
+            {
+                SetStatusMessage($"Completing home operation", Color.White, Color.FromArgb(0x98, 0x79, 0xd0), shadow: Color.DimGray);
+            }
+            else if (PUB.sm.Step == eSMStep.RUN)
+            {
+
+                double cur = PUB.sm.seq.GetTime(PUB.sm.Step).TotalSeconds;
+                double max = AR.SETTING.Data.Timeout_StepMaxTime;
+                string msg = $"In Progress";
+                Color fColor = Color.Gold;
+
+                if (PUB.flag.get(eVarBool.FG_JOB_END))
+                {
+                    msg = "Loader is empty. Operation will be completed shortly";
+                    cur = max = 0;
+                    fColor = Color.Lime;
+
+                }
+                else if (PUB.flag.get(eVarBool.FG_WAIT_LOADERINFO))
+                {
+                    msg = "Waiting for user information input";
+                    cur = 100;
+                    max = 100;
+                }
+                else //if (PUB.flag.get(eVarBool.RDY_VISION1) == true && PUB.flag.get(eVarBool.RDY_PORT_PC) == true && idx == 9)
+                {
+                    msg = "Working";
+                    if (PUB.flag.get(eVarBool.FG_PRC_VISIONL) && PUB.flag.get(eVarBool.FG_END_VISIONL) == false)
+                        msg += "(LEFT-QR validation)";
+                    if (PUB.flag.get(eVarBool.FG_PRC_VISIONR) && PUB.flag.get(eVarBool.FG_END_VISIONR) == false)
+                        msg += "(RIGHT-QR validation)";
+
+                    //Conveyor interlock check in conveyor usage mode
+                    if (VAR.BOOL[eVarBool.Use_Conveyor])
+                    {
+                        if (DIO.GetIOInput(eDIName.R_CONV1)  || DIO.GetIOInput(eDIName.R_CONV4))
+                        {
+                            if (PUB.iLockCVR.IsEmpty() == false)
+                                msg += "(Waiting for right conveyor interlock release)";
+                        }
+                        if (DIO.GetIOInput(eDIName.L_CONV1) || DIO.GetIOInput(eDIName.L_CONV4))
+                        {
+                            if (PUB.iLockCVL.IsEmpty() == false)
+                                msg += "(Waiting for left conveyor interlock release)";
+                        }
+                    }
+
+                    cur = VAR.TIME.RUN((int)eVarTime.LIVEVIEW1).TotalSeconds;
+                    max = AR.SETTING.Data.Timeout_VisionProcessL / 1000.0;
+                }
+                //else if (PUB.flag.get(eVarBool.RDY_ZL_PICKON))
+                //{
+                //    var ts = DateTime.Now - Pub.GetVarTime(eVarTime.JOB_END);
+                //    msg = string.Format("UNLOADER PICK ON #{0}", PUB.sm.seq.Get(step));
+                //    cur = Pub.getRunSteptime(0).TotalSeconds;//ts.TotalSeconds;
+                //    max = 10;//COMM.SETTING.Data.Timeout_JOBEnd;
+                //}
+                //else if (PUB.mot.IsMotion((int)eAxis.Y_PICKER])
+                //{
+                //    msg = string.Format("Moving");
+                //    cur = 0;// Pub.getRunSteptime(0).TotalSeconds;// ts.TotalSeconds;
+                //    max = 10;//COMM.SETTING.Data.Timeout_JOBEnd;
+                //}
+                SetStatusProgress(cur, msg, max, fColor, Color.FromArgb(50, 50, 50));
+            }
+            else if (PUB.flag.get(eVarBool.FG_MOVE_PICKER))
+            {
+                SetStatusMessage("X-axis can be moved with buttons", Color.Black, Color.White);
+            }
+            else
+            {
+                SetStatusMessage("[" + PUB.sm.Step.ToString() + "]", Color.Red, Color.White);
+            }
+        }
+    }
+}

Handler/Project/RunCode/Main/_SM_MAIN_ERROR.cs

@@ -0,0 +1,64 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+	public partial class FMain
+	{
+		private void _SM_MAIN_ERROR(Boolean isFirst, eSMStep Step, TimeSpan StepTime)
+		{
+			//모션의 위치를 저장해준다. - 재시작시 변경이 잇다면 오류로 처리한다
+			for (short i = 0; i < PUB.mot.DeviceCount; i++)
+				PUB.Result.PreventMotionPosition[i] = PUB.mot.GetLastCmdPos(i);
+
+			var errorMessage = string.Empty;
+
+			//에러메세지가 있는 경우에만 표시함
+			if (PUB.Result.ResultCode != eResult.NOERROR && PUB.Result.ResultMessage != "")
+				errorMessage += PUB.Result.ResultMessage;
+
+			//에러메세지가 있는 경우에만 표시함
+			if (errorMessage != "")
+			{
+				//사용자 값 입력창에서는 오류를 표시하지않는다
+				if (Step == eSMStep.PAUSE && PUB.flag.get(eVarBool.FG_WAIT_LOADERINFO))
+					PUB.log.Add("Pause message not displayed because barcode information input window is open");
+				else
+					PUB.popup.setMessage(errorMessage);
+			}
+
+
+			if (Step == eSMStep.EMERGENCY)
+			{
+				PUB.log.AddE("Enter Emergency Step");
+			}
+			else if (Step == eSMStep.PAUSE)
+			{
+				PUB.log.AddE("Enter Pause Step 1 : " + PUB.Result.ResultMessage);
+			}
+			else
+			{
+				//홈 검색실패로 인해 멈췄다면 모든 축을 멈춘다
+				if (Step == eSMStep.ERROR && PUB.Result.ResultCode == eResult.SAFTY)
+					PUB.mot.MoveStop("홈검색 실패");
+
+				PUB.log.AddE(string.Format("Enter Error Step 1 : {0}", PUB.Result.ResultMessage));
+			}
+
+			//lbMsgR.ProgressEnable = false;
+
+			DIO.SetBuzzer(true);
+			DIO.SetPortMotor(0, eMotDir.CW, false, "ERROR");
+			DIO.SetPortMotor(1, eMotDir.CW, false, "ERROR");
+			DIO.SetPortMotor(2, eMotDir.CW, false, "ERROR");
+
+            //컨베어멈춤
+            DIO.SetOutput(AR.eDOName.LEFT_CONV, false);
+            DIO.SetOutput(AR.eDOName.RIGHT_CONV, false);
+        }
+	}
+}

Handler/Project/RunCode/RunSequence/0_RUN_STARTCHK_SW.cs

@@ -0,0 +1,167 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        async public Task<bool> _SM_RUN_STARTCHKSW(bool isFirst, TimeSpan stepTime)
+        {
+            var mc = PUB.Result.mModel;
+            var mv = PUB.Result.vModel;
+
+            double free = 0;
+            var savepath = PUB.getSavePath(out free);
+            if (free < 3.0)
+            {
+                string msg = "FREE SPACE ERROR\n" +
+                    "Insufficient disk space (3%) to proceed with the work\n" +
+                 "Storage path: {0}\n" +
+                 "Please delete data or check the deletion cycle in settings";
+                msg = string.Format(msg, AR.SETTING.Data.GetDataPath());
+                PUB.popup.setMessage(msg);
+                DIO.SetBuzzer(true);
+                PUB.sm.SetNewStep(eSMStep.IDLE);
+                return false;
+            }
+
+
+
+            if (PUB.Result.isSetmModel == false)
+            {
+                string msg = "Motion model not selected\nPlease check the 'MOTION' item in the work model";
+                PUB.popup.setMessage(msg);
+                DIO.SetBuzzer(true);
+                PUB.sm.SetNewStep(eSMStep.IDLE);
+                return false;
+            }
+
+
+            //모션의 모든 위치가 원점이 아니라면 홈 초기화를 요청한다.
+            var initMsg = "";
+
+            if (initMsg != "")
+            {
+                PUB.popup.setMessage(initMsg);
+                DIO.SetBuzzer(true);
+                PUB.sm.SetNewStep(eSMStep.IDLE);
+                return false;
+            }
+
+            //모델정보가 설정되어있는지 확인
+            if (PUB.Result == null ||
+                PUB.Result.vModel == null ||
+                PUB.Result.vModel.Title.isEmpty())
+            {
+                PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOMODELV, eNextStep.ERROR);
+                return false;
+            }
+
+            //모션모델자동선택 230823
+            var motionmode = VAR.BOOL[eVarBool.Use_Conveyor] ? "Conveyor" : "Default";
+            if (PUB.SelectModelM(motionmode) == false)
+            {
+                PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOMODELM, eNextStep.ERROR);
+                return false;
+            }
+
+            //모델정보가 설정되어있는지 확인
+            if (PUB.Result == null ||
+                PUB.Result.mModel == null ||
+                PUB.Result.mModel.Title.isEmpty())
+            {
+                PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOMODELM, eNextStep.ERROR);
+                return false;
+            }
+
+            //ECS데이터확인 230823
+            var conv = VAR.BOOL[eVarBool.Use_Conveyor];
+            if (conv)
+            {
+                var sidinfo = await PUB.UpdateSIDInfo();
+                var systembypass = SETTING.Data.SystemBypass;
+                if (systembypass == false && sidinfo.Item1 == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOECSDATA, eNextStep.ERROR, sidinfo.Item2);
+                    return false;
+                }
+                //else if (systembypass == false && sidinfo.Item3 < 1)
+                //{
+                //    PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOECSDATAACTIVE, eNextStep.ERROR, sidinfo.Item2);
+                //    return false;
+                //}
+            }
+
+            //SID변환정보  필요  230823
+            //이값도  테이블에서  실시간으로  조회되므로  미리  불러올  필요  없다
+
+            //사용자추가정보  필요  230823
+            //기존에  사용하던  사용자  추가 정보
+            //ECS정보가  수신되면  기존 TABLE 을  삭제하는  구조이므로  병행할수  없음
+            //데이터는  테이블에서  실시간으로  조 회됨
+
+            //사용자스텝실행
+            if (PUB.flag.get(eVarBool.FG_USERSTEP))
+            {
+                PUB.flag.set(eVarBool.FG_USERSTEP, false, "STACHKSW");
+                PUB.log.AddI("H/W inspection ignore function disabled due to work start");
+            }
+
+            //Auto Reel Out 250926
+            PUB.Result.AutoReelOut = PUB.Result.vModel.AutoOutConveyor > 0;
+
+            //공용변수초기화
+            PUB.log.Add("Common variable (count) values initialized");
+            VAR.I32.Clear((int)eVarInt32.LPickOfCount);
+            VAR.I32.Clear((int)eVarInt32.LPickOnCount);
+            VAR.I32.Clear((int)eVarInt32.RPickOfCount);
+            VAR.I32.Clear((int)eVarInt32.RPickOnCount);
+            VAR.I32.Clear((int)eVarInt32.PickOfCount);
+            VAR.I32.Clear((int)eVarInt32.PickOnCount);
+            VAR.I32.Clear((int)eVarInt32.PickOnRetry);  //221102
+
+
+            PUB.flag.set(eVarBool.FG_RUN_LEFT, false, "POSREST");
+            PUB.flag.set(eVarBool.FG_RUN_RIGHT, false, "POSREST");
+
+            VAR.BOOL[eVarBool.JOB_Empty_SIDConvertInfo] = false;
+            VAR.BOOL[eVarBool.FG_AUTOOUTCONVL] = false;
+            VAR.BOOL[eVarBool.FG_AUTOOUTCONVR] = false;
+            AutoConvOutTimeL = new DateTime(1982, 11, 23);
+            AutoConvOutTimeR = new DateTime(1982, 11, 23);
+
+            PUB.Result.ItemDataL.Clear("START_CHKSW");
+            PUB.Result.ItemDataC.Clear("START_CHKSW");
+            PUB.Result.ItemDataR.Clear("START_CHKSW");
+
+            var modelName = PUB.Result.vModel.Title;
+            lock (PUB.Result.BCDPatternLock)
+            {
+                PUB.Result.BCDPattern = PUB.GetPatterns(modelName, false);
+                PUB.Result.BCDIgnorePattern = PUB.GetPatterns(modelName, true);
+                PUB.log.Add($"Model pattern loading: {PUB.Result.BCDPattern.Count}/{PUB.Result.BCDIgnorePattern.Count}");
+            }
+
+
+            //변환SID SID확인여부데이터 삭제
+            PUB.Result.DTSidConvertEmptyList.Clear();
+            PUB.Result.DTSidConvertMultiList.Clear();
+
+            PUB.Result.JobStartTime = DateTime.Now;
+            warninactivelist.Clear();
+
+            //작업락기능해제
+            LockPK.Set();
+            LockUserL.Set();
+            LockUserR.Set();
+
+
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/1_RUN_STARTCHK_HW.cs

@@ -0,0 +1,179 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+
+        /// <summary>
+        /// 장치의 초기화 여부를 우선 체크 한다.
+        /// 장치에 문제가 있는 경우에는 ERROR상황으로 뺀다
+        /// ERROR 상황은 RESET 시  IDLE로 전환된다.
+        /// 복구불가능한 오류 상황이다.
+        /// 
+        /// </summary>
+        /// <param name="isFirst"></param>
+        /// <param name="stepTime"></param>
+        /// <returns></returns>
+        public Boolean _SM_RUN_STARTCHKHW(bool isFirst, TimeSpan stepTime)
+        {
+            var mc = PUB.Result.mModel;
+            var mv = PUB.Result.vModel;
+
+            //최초시작이므로 - 셔틀2의 안전위치 이동 플래그를 OFF해준다.
+
+            //장치초기화 확인
+            if (PUB.mot.IsInit == false || PUB.dio.IsInit == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.AZJINIT, eNextStep.ERROR);
+                return false;
+            }
+
+            //서보 off 상태 확인
+            if (PUB.mot.HasServoOff)
+            {
+                PUB.Result.SetResultMessage(eResult.MOTION, eECode.MOT_SVOFF, eNextStep.ERROR);//, msg);
+                return false;
+            }
+
+            //홈 검색완료 체크1
+            if (PUB.mot.HasHomeSetOff)
+            {
+                PUB.Result.SetResultMessage(eResult.MOTION, eECode.MOT_HSET, eNextStep.ERROR);
+                return false;
+            }
+
+            //air확인
+            if (DIO.GetIOOutput(eDOName.SOL_AIR) == false)
+            {
+                PUB.Result.SetResultMessage(eResult.SENSOR, eECode.AIRNOOUT, eNextStep.ERROR);
+                return false;
+            }
+
+            //카메라초기화체크(초기화가 오래걸려서 쓰레드분리함) - 201229
+            if (VAR.BOOL[eVarBool.Opt_DisableCamera] == false && AR.SETTING.Data.Enable_Unloader_QRValidation && PUB.flag.get(eVarBool.FG_RDY_CAMERA_L) == false && AR.SETTING.Data.Disable_Left == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.CAM_LEFT, eNextStep.ERROR);
+                return false;
+            }
+
+            if (VAR.BOOL[eVarBool.Opt_DisableCamera] == false && AR.SETTING.Data.Enable_Unloader_QRValidation && PUB.flag.get(eVarBool.FG_RDY_CAMERA_R) == false && AR.SETTING.Data.Disable_Right == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.CAM_RIGHT, eNextStep.ERROR);
+                return false;
+            }
+
+            //안전위치 센서가 안들어와잇으면 오류 처리한다
+            if (DIO.GetIOInput(eDIName.PICKER_SAFE) == false)
+            {
+                PUB.Result.SetResultMessage(eResult.MOTION, eECode.NEED_JOBCANCEL, eNextStep.ERROR, eAxis.PL_MOVE, PUB.mot.ErrorMessage);
+                return false;
+            }
+
+            //프린터확인
+            if (PUB.flag.get(eVarBool.FG_INIT_PRINTER) == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTER, eNextStep.ERROR);
+                return false;
+            }
+
+            //부착 실린더 위치 확인
+            if (AR.SETTING.Data.Enable_PickerCylinder)
+            {
+                if (DIO.GetIOInput(eDIName.L_CYLUP) == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTER_LPRINTER_NOUP, eNextStep.ERROR);
+                    return false;
+                }
+                if (DIO.GetIOInput(eDIName.R_CYLUP) == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTER_RPRINTER_NOUP, eNextStep.ERROR);
+                    return false;
+                }
+            }
+
+            //부착 실린더 위치 확인
+            if (DIO.GetIOInput(eDIName.L_PICK_BW) == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTER_LPICKER_NOBW, eNextStep.ERROR);
+                return false;
+            }
+            if (DIO.GetIOInput(eDIName.R_PICK_BW) == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTER_RPICKER_NOBW, eNextStep.ERROR);
+                return false;
+            }
+
+            //컨베이어 모드에서 컨베이어에 릴이 감지되면 시작하지 못한다
+            if (VAR.BOOL[eVarBool.Use_Conveyor])
+            {
+                if (DIO.GetIOInput(eDIName.L_CONV1))
+                {
+                    //감지되면 안된다
+                    var ssname = $"X{eDIName.L_CONV1}";
+                    PUB.Result.SetResultMessage(eResult.OPERATION, eECode.LCONVER_REEL_DECTECT_ALL, eNextStep.ERROR, ssname);
+                    return false;
+                }
+
+                if (DIO.GetIOInput(eDIName.R_CONV1) ||
+                DIO.GetIOInput(eDIName.R_CONV4))
+                {
+                    //감지되면 안된다
+                    var ssname = $"X{eDIName.R_CONV1}";
+                    PUB.Result.SetResultMessage(eResult.OPERATION, eECode.RCONVER_REEL_DECTECT_ALL, eNextStep.ERROR, ssname);
+                    return false;
+                }
+            }
+
+            ////카메라체크
+            //for (int i = 0; i < _isCrevisOpen.Length; i++)
+            //{
+            //	if (COMM.SETTING.Data.DisableCamera(i) == true)
+            //	{
+            //		PUB.log.AddAT($"카메라({i})번 비활성 됨(환경설정)");
+            //	}
+            //	else if (_isCrevisOpen[i] == false)
+            //	{
+            //		if (i == 0 && COMM.SETTING.Data.DisableCamera0 == false && COMM.SETTING.Data.Disable_Left == false)
+            //		{
+            //			PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.VISION_NOCONN, eNextStep.ERROR, i);
+            //			return false;
+            //		}
+            //		if (i == 2 && COMM.SETTING.Data.DisableCamera2 == false && COMM.SETTING.Data.Disable_Right == false)
+            //		{
+            //			PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.VISION_NOCONN, eNextStep.ERROR, i);
+            //			return false;
+            //		}
+            //	}
+            //}
+
+            //트리거 OFF작업
+            WS_Send(eWorkPort.Left, PUB.wsL, "", "OFF", "");
+            WS_Send(eWorkPort.Right, PUB.wsR, "", "OFF", "");
+
+            var systembypassmode = SETTING.Data.SystemBypass;
+
+            //바코드설정업데이트
+            if (systembypassmode == false)
+            {
+                bool k1, k2;
+                k1 = PUB.MemLoadBarcodeConfig(PUB.keyenceF);
+                k2 = PUB.MemLoadBarcodeConfig(PUB.keyenceR);
+
+                if (k1 == false && k2 == false) //결과확인하도록함 230511
+                {
+                    PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.CONFIG_KEYENCE, eNextStep.ERROR);
+                    return false;
+                }
+
+            }
+
+
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/3_KEYENCE_READ.cs

@@ -0,0 +1,405 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Security.Cryptography;
+using System.Text;
+using AR;
+using Project.Class;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        public enum EResultKeyence
+        {
+            Wait = 0,
+            Complete,
+            TimeOut,
+            MultiSID,
+            Nothing,
+        }
+        public EResultKeyence KEYENCE_READ(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 itemC = PUB.Result.ItemDataC;
+            if (PUB.sm.getNewStep != eSMStep.RUN) return EResultKeyence.Wait;
+            //var Jobtype = VAR.STR[eVarString.JOB_TYPE];
+
+            var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+            var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
+            var OPT_CameraOff = PUB.OPT_CAMERA();
+            var OPT_BYPASS = PUB.OPT_BYPASS();
+
+            //데이터가 완료되었는지 확인
+            if (itemC.VisionData.Confirm)
+            {
+                PUB.log.AddAT("Removing barcode messages due to vision data completion");
+                itemC.VisionData.bcdMessage.Clear();
+                return EResultKeyence.Complete;
+            }
+
+            //사용자 입력 대기중이면 아에 처리하지 않는다 210203
+            if (PUB.flag.get(eVarBool.FG_WAIT_LOADERINFO) == true)
+            {
+                PUB.WaitMessage[1] = "Wait for User Confirm Interface";
+                return EResultKeyence.Wait;
+            }
+
+            //####################################################
+            //###	작업시작
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (PUB.Result.DryRun)
+                {
+                    PUB.log.Add($"[{target}] Completed due to DRY-RUN");
+                    SetDryrunData();
+                }
+                else
+                {
+                    PUB.logDbg.Add($"[{target}] Keyence reading started");
+                    if (PUB.keyenceF != null) PUB.keyenceF.Trigger(true);
+                    if (PUB.keyenceR != null) PUB.keyenceR.Trigger(true);
+                }
+
+                VAR.BOOL[eVarBool.Need_UserConfirm_Data] = false;
+                VAR.STR[eVarString.MULTISID_FIELDS] = string.Empty;
+                VAR.STR[eVarString.MULTISID_QUERY] = string.Empty;
+                VAR.TIME.Update(eVarTime.KEYENCEWAIT);
+                PUB.sm.seq.Update(cmdIndex);
+                return EResultKeyence.Wait;
+            }
+
+            //####################################################
+            //###
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //아무것도안함
+                PUB.sm.seq.Update(cmdIndex);
+                return EResultKeyence.Wait;
+            }
+
+            //####################################################
+            //###	키엔스데이터를 처리해준다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                bool vQtyOK = false;
+                var vdata = itemC.VisionData;
+                //동작중이아니라면 처리하지 않음
+                if (PUB.sm.getNewStep != eSMStep.RUN) return EResultKeyence.Wait;
+
+                //바이패스라면 무조건ok한다.
+                var systembypassmode = SETTING.Data.SystemBypass;
+                if (systembypassmode && PUB.flag.get(eVarBool.FG_RDY_PORT_PC))
+                {
+                    vdata.SetRID("BP" + DateTime.Now.ToString("yyyyMMddHHmmss"), "bp");
+                    vdata.SID = ("100000000");
+                    vdata.VNAME = "BYPASS";
+                    vdata.MFGDATE = DateTime.Now.ToString("yyyy-MM-dd");
+                    vdata.VLOT = "BYPASS";
+                    vdata.CUSTCODE = "0000";
+                    vdata.CUSTNAME = "BYPASS";
+                    vdata.QTY = "10000";
+                    vdata.ConfirmUser = true;
+                    vdata.PrintPositionData = "1";
+                    vdata.PrintPositionCheck = true;
+                    vdata.MFGDATE_Trust = true;
+                    vdata.PARTNO_Trust = true;
+                    vdata.QTY_Trust = true;
+                    vdata.RID_Trust = true;
+                    vdata.SID_Trust = true;
+                    vdata.VLOT_Trust = true;
+                    vdata.VNAME_Trust = true;
+                    return EResultKeyence.Complete;
+                }
+
+                //로더정보를 사용자가 처리중이면 동작 안함
+                if (VAR.BOOL[eVarBool.FG_WAIT_LOADERINFO]) return EResultKeyence.TimeOut;
+
+                //다중SID환경에서 데이터를 선택하고 있다.
+                if (VAR.BOOL[eVarBool.FG_WAIT_INFOSELECT]) return EResultKeyence.Wait;
+
+                //데이터 처리 시간을 넘어서면 사용자 확인 창을 띄운다 220621
+                var ts = VAR.TIME.RUN((int)eVarTime.KEYENCEWAIT);
+                if (VAR.BOOL[eVarBool.FG_RDY_PORT_PC] && ts.TotalMilliseconds > AR.SETTING.Data.Timeout_VisionProcessL)
+                {
+                    //화면업데이트를 종료한다
+                    if (PUB.keyenceF != null) PUB.keyenceF.Trigger(false);
+                    if (PUB.keyenceR != null) PUB.keyenceR.Trigger(false);
+
+                    //이미지저장용 작업시작
+                    var tempfileF = System.IO.Path.Combine(UTIL.CurrentPath, "Temp", "Image", DateTime.Now.ToString("yyyMMddHhmmss_fff" + "F.bmp"));
+                    var tempfileR = System.IO.Path.Combine(UTIL.CurrentPath, "Temp", "Image", DateTime.Now.ToString("yyyMMddHhmmss_fff" + "R.bmp"));
+                    var tempfiF = new System.IO.FileInfo(tempfileF);
+                    var tempfiR = new System.IO.FileInfo(tempfileR);
+                    if (tempfiF.Directory.Exists == false) tempfiF.Directory.Create();
+                    if (tempfiR.Directory.Exists == false) tempfiR.Directory.Create();
+
+                    //마지막 사진을 추출한다
+                    var CurImageF = PUB.keyenceF.SaveImage(tempfiF.FullName);
+                    var CurImageR = false;
+                    if (PUB.keyenceR != null) CurImageR = PUB.keyenceR.SaveImage(tempfiR.FullName);
+                  
+                    PUB.keyenceF.Trigger(true);
+                    PUB.keyenceR.Trigger(true);
+                    return EResultKeyence.TimeOut;
+                }
+
+
+                var prcResult = BCDProcess_ALL(itemC, "SEQ", true);
+                if (prcResult != EResultKeyence.Nothing)
+                    return prcResult;
+
+                PUB.sm.seq.Update(cmdIndex);
+                return EResultKeyence.Wait;
+            }
+
+            //####################################################
+            //###	
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                PUB.sm.seq.Update(cmdIndex);
+                return EResultKeyence.Wait;
+            }
+
+            PUB.sm.seq.Clear(cmdIndex);
+            return EResultKeyence.Complete;
+        }
+
+        /// <summary>
+        /// 데이터입력이 완료되었는지 확인 합니다
+        /// </summary>
+        /// <param name="item"></param>
+        /// <param name="Source"></param>
+        /// <param name="mainjob"></param>
+        void CheckDataComplte(Class.JobData item, string Source, bool mainjob)
+        {
+            Boolean NeedConfirm = false;
+            //var Jobtype = VAR.STR[eVarString.JOB_TYPE];
+            var OPT_BYPASS = SETTING.Data.SystemBypass;// Jobtype == "BP";
+            var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+            var CustomerCode = VAR.STR[eVarString.JOB_CUSTOMER_CODE];
+            if (item.VisionData.Confirm)
+            {
+                //사용자에의해 완성된 자료는 완료된 자료이다
+                if (item.VisionData.bcdMessage.Count > 0) item.VisionData.bcdMessage.Clear();
+                return;
+            }
+
+            //처음작업이면 반드시 확인을 한다
+            if (OPT_BYPASS == false && PUB.Result.JobFirst)
+            {
+                //사용자확인이 필요없는 상태라면 활성화해준다
+                //프린트를 하지 않는다면 처리하지 않는다.
+                if (VAR.BOOL[eVarBool.Opt_DisablePrinter] == false)
+                {
+                    if (mainjob && item.VisionData.bcdMessage.ContainsKey(6) == false) item.VisionData.bcdMessage.Add(6, "First reel confirmation required");
+                    NeedConfirm = true;
+                }
+            }
+
+            //서버의수량업데이트기능
+            if (OPT_BYPASS == false && VAR.BOOL[eVarBool.Opt_ServerQty])
+            {
+                //수량원본이 없는 경우
+                if (item.VisionData.QTY0.isEmpty())
+                {
+                    string msg = "Server quantity update feature is not applicable to WMS, contact developer if needed";
+                    var cnt = 0;// (int)(Amkor.RestfulService.get_stock_count(item.VisionData.RID, out msg));
+                    if (mainjob)
+                    {
+                        PUB.log.AddE("Server quantity update feature is not applicable to WMS, contact developer if needed");
+                    }
+                    if (cnt > 0)
+                    {
+                        //새로받은 데이터를 실제 수량에 추가한다
+                        item.VisionData.QTY0 = item.VisionData.QTY;
+                        item.VisionData.QTY = cnt.ToString();
+                        if (mainjob) PUB.log.Add($"Server quantity update RID:{item.VisionData.RID} Old:{item.VisionData.QTY}, New:{cnt}");
+                    }
+                    else
+                    {
+                        if (mainjob) PUB.log.AddE($"Quantity update failed rID:{item.VisionData.RID}, Message={msg}");
+                        NeedConfirm = true;
+                        if (mainjob && item.VisionData.bcdMessage.ContainsKey(1) == false)
+                            item.VisionData.bcdMessage.Add(1, "Quantity update failed");
+                    }
+                }
+            }
+
+            //수량입력 210708
+            if (OPT_BYPASS == false && VAR.BOOL[eVarBool.Opt_UserQtyRQ])
+            {
+                if (item.VisionData.QTYRQ && item.VisionData.QTY.isEmpty() == false)
+                {
+                    //RQ값이 이전 값이 오기도 하니 바코드 목록에서 값을 다시 써준다. 210825
+                    var rqBcd = PUB.Result.ItemDataC.VisionData.barcodelist.Where(t => t.Value.Data.StartsWith("RQ")).FirstOrDefault();
+                    if (rqBcd.Value != null)
+                    {
+                        var newqty = rqBcd.Value.Data.Substring(2).Trim();
+                        if (mainjob) PUB.log.Add($"Quantity update (01) {item.VisionData.QTY}->{newqty}");
+                        item.VisionData.QTY = newqty;
+                        if (mainjob) PUB.log.AddI("Manual quantity input mode but RQ value confirmed, no user confirmation required");
+                    }
+                    else
+                    {
+                        if (mainjob && item.VisionData.bcdMessage.ContainsKey(2) == false) item.VisionData.bcdMessage.Add(2, "RQ value error (auto mode not possible)");
+                        NeedConfirm = true;
+                    }
+                }
+                else
+                {
+                    if (mainjob && item.VisionData.bcdMessage.ContainsKey(3) == false) item.VisionData.bcdMessage.Add(3, "Manual quantity input required");
+                    NeedConfirm = true;
+                }
+            }
+
+
+            //프린트위치확인
+            BCDProcess_BCDPrint(item);
+            if (item.VisionData.PrintPositionData.isEmpty() == true || item.VisionData.PrintPositionCheck == false)
+            {
+                if (mainjob && item.VisionData.bcdMessage.ContainsKey(4) == false) item.VisionData.bcdMessage.Add(4, "Attachment position not found");
+                NeedConfirm = true;
+            }
+
+            //SID 존재여부 확인
+            if (OPT_BYPASS == false && item.VisionData.SID_Trust && VAR.BOOL[eVarBool.Opt_CheckSIDExist])
+            {
+                //ECS목록에 데이터가 업다면 오류로 처리한다
+                var SID = item.VisionData.SID;
+                var ta = new DataSet1TableAdapters.QueriesTableAdapter();
+                var exist = ta.CheckSIDExist(SID) > 0;
+                PUB.log.Add($"SID Exist Check SID:{item.VisionData.SID},Result={exist}");
+                if (exist == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOSIDINFOFROMDB, eNextStep.PAUSE, SID);
+                    return;
+                }
+            }
+
+            //sid변환기능확인
+            var SIDOK = false;
+            if (OPT_BYPASS == false &&
+                VAR.BOOL[eVarBool.Opt_SIDConvert] &&
+                PUB.flag.get(eVarBool.FG_WAIT_LOADERINFO) == false &&
+                VAR.BOOL[eVarBool.JOB_Empty_SIDConvertInfo] == false)
+            {
+                //시드값이 유효한지 확인한다.
+                SIDOK = item.VisionData.SID_Trust && item.VisionData.SID0.isEmpty() == false && item.VisionData.SID.isEmpty() == false;
+            }
+            else SIDOK = (item.VisionData.SID_Trust && item.VisionData.SID.isEmpty() == false); //시드변환을 사용하지 않으므로 시드값여부에따라 다르다
+
+            //수량확인
+            if (OPT_BYPASS == false)
+            {
+                if(double.TryParse(item.VisionData.QTY,out double qtyvalue)==false)
+                {
+                    if (mainjob && item.VisionData.bcdMessage.ContainsKey(8) == false) item.VisionData.bcdMessage.Add(8, "Qty invalid");
+                    NeedConfirm = true;
+                }
+            }
+
+
+            //사용자확인이 필요한 옵션이라면 사용한다
+            if (OPT_BYPASS == false && VAR.BOOL[eVarBool.Opt_UserConfim])
+            {
+                if (mainjob && item.VisionData.bcdMessage.ContainsKey(5) == false) item.VisionData.bcdMessage.Add(5, "User confirmation required");
+                NeedConfirm = true;
+            }
+
+
+
+
+            //변환작업인데 원본 값이 없다.
+            //혹은 변환값과 원본이 같다
+            if (OPT_BYPASS == false && VAR.BOOL[eVarBool.Opt_SIDConvert] && (item.VisionData.SID0.isEmpty() == true || item.VisionData.SID0 == item.VisionData.SID))
+            {
+                if (mainjob && item.VisionData.bcdMessage.ContainsKey(7) == false) item.VisionData.bcdMessage.Add(7, "SID conversion value confirmation required");
+                NeedConfirm = true;
+            }
+
+            //데이터의 신뢰성을 확인하고 모두 입력되었다면 자동 확정을 진행한다
+            if (item.VisionData.MFGDATE_Trust &&
+                item.VisionData.PARTNO_Trust &&
+                item.VisionData.QTY_Trust &&
+                item.VisionData.RID_Trust &&
+                item.VisionData.SID_Trust &&
+                SIDOK && item.VisionData.VLOT_Trust &&
+                item.VisionData.VNAME_Trust)
+            {
+                //데이터를 확정짓는다 다만 화면을 표시하지 않아야하는 경우에만 처리해준다
+                if (NeedConfirm == false)
+                {
+                    if (OPT_BYPASS)
+                    {
+                        PUB.log.Add("All data confirmed, proceeding with automatic confirmation (bypass mode)");
+                        if (item.VisionData.bcdMessage.Count > 0) item.VisionData.bcdMessage.Clear();
+                        item.VisionData.ConfirmBypass = true;
+                    }
+                    else if (item.VisionData.ConfirmAuto == false)
+                    {
+                        PUB.log.Add("All data confirmed, proceeding with automatic confirmation");
+                        if (item.VisionData.bcdMessage.Count > 0) item.VisionData.bcdMessage.Clear();
+                        item.VisionData.ConfirmAuto = true;
+                    }
+                }
+            }
+            else if (item.VisionData.QRInputRaw.isEmpty() == false)
+            {
+                if (mainjob)
+                {
+                    NeedConfirm = true;
+                    PUB.log.AddAT($"Data incomplete but QR has been read, showing confirmation window immediately");
+                }
+            }
+
+            //확인창을 띄우기 위해 Timeout 오류를 발생시킨다.
+            VAR.BOOL[eVarBool.Need_UserConfirm_Data] = NeedConfirm;
+            if (NeedConfirm)
+            {
+                if (mainjob)
+                {
+                    var newtime = DateTime.Now.AddMilliseconds(-AR.SETTING.Data.Timeout_VisionProcessL);
+                    VAR.TIME.Set(eVarTime.KEYENCEWAIT, newtime);
+                }
+            }
+            else if (PUB.Result.ItemDataC.VisionData.ConfirmAuto == false)
+            {
+                PUB.logDbg.Add($"Vision automatic confirmation processing {Source}");
+                PUB.Result.ItemDataC.VisionData.ConfirmAuto = true;
+            }
+
+        }
+
+        List<string> warninactivelist = new List<string>();
+        private void SetDryrunData()
+        {
+            var item = PUB.Result.ItemDataC;
+            PUB.log.AddAT("Dry run basic data input");
+            if (item.VisionData.QTY.isEmpty()) item.VisionData.QTY = DateTime.Now.ToString("HHmm");
+            if (item.VisionData.MFGDATE.isEmpty()) item.VisionData.MFGDATE = DateTime.Now.ToString("yy-MM-dd");
+            if (item.VisionData.SID.isEmpty()) item.VisionData.SID = "108" + "0" + DateTime.Now.ToString("HH").PadLeft(2, '0') + DateTime.Now.ToString("fff").PadLeft(3, '0');
+            if (item.VisionData.VLOT.isEmpty()) item.VisionData.VLOT = "SUPNAME" + DateTime.Now.ToString("fff");
+            if (item.VisionData.PARTNO.isEmpty()) item.VisionData.PARTNO = "PARTNO" + DateTime.Now.ToString("yyyyMMddHHmmss.fff");
+            if (item.VisionData.RID.isEmpty())
+            {
+                var newid = PUB.MakeNewREELID(item.VisionData.SID);// Amkor.RestfulService.Allocation_Unique_ReelID_AmkorSTD("1234", "4", "A", out string err);
+                if (newid.success == false) item.VisionData.SetRID("RID" + DateTime.Now.ToString("yyyyMMddHHmmss.fff"), "DRY");
+                else item.VisionData.SetRID(newid.newid, "DRY");
+            }
+            if (item.VisionData.PrintPositionData.isEmpty()) item.VisionData.PrintPositionData = "2";
+            item.VisionData.PrintPositionCheck = true;
+            item.VisionData.ConfirmAuto = true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/4_PICKER_ON.cs

@@ -0,0 +1,278 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        public Boolean PICKER_ON(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 CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+
+            //option check
+            var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
+            var OPT_CameraOff = PUB.OPT_CAMERA();
+            var OPT_BYPASS = PUB.OPT_BYPASS();
+
+            //####################################################
+            //###	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($"[{target}] Picker ON work started");
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	ON 위치로 이동
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (iLockX.IsEmpty() == false) return false;
+                if (iLockZ.IsEmpty() == false) return false;
+                var Pos = MOT.GetPXPos(ePXLoc.PICKON);
+                var PosZ = MOT.GetPZPos(ePZLoc.READY);
+                if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
+                if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
+                PUB.log.Add($"[{target}] Picker ON X,Y ready position confirmed");
+                DIO.SetPickerVac(true);
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Z축을 내린다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var PortRDY = PUB.flag.get(eVarBool.FG_RDY_PORT_PC);
+                if (PortRDY == false) return false;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Z축을 내린다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                // if (iLockX.IsEmpty() == false) return false;
+                if (iLockZ.IsEmpty() == false) return false;
+                var Pos = MOT.GetPZPos(ePZLoc.PICKON);
+                var PosMatch = MOT.getPositionMatch(Pos);
+                //var PortRDY = PUB.flag.get(eVarBool.RDY_PORT_PC);
+                //if (PosMatch==false ) return false;
+
+                if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
+                VAR.I32[eVarInt32.PickOnCount] += 1;
+                PUB.flag.set(eVarBool.FG_PK_ITEMON, true, funcName);
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Z축을 올린다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //if (iLockX.IsEmpty() == false) return false;
+                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.FG_PK_ITEMON, true, funcName);
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	프린트부착위치가 상/하가 아니라면 추가적인 회전이 필요하다 - 210207
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var vData = target == eWorkPort.Left ? PUB.Result.ItemDataL.VisionData : PUB.Result.ItemDataR.VisionData;
+                if (vData.PrintPositionData == "4") // 왼쪽찍기
+                {
+                    if (vData.ReelSize == eCartSize.Inch7)
+                    {
+                        vData.NeedCylinderForward = false;
+                        double targerPos = 0.0;
+                        if (target == eWorkPort.Left)  //left printer
+                        {
+                            vData.PositionAngle = -90; //90도 회전한다
+                        }
+                        else
+                        {
+                            vData.PositionAngle = -90;
+                        }
+                    }
+                    else
+                    {
+                        //13inch
+                        vData.NeedCylinderForward = true;
+                        if (target == eWorkPort.Left)  //left printer
+                        {
+                            vData.PositionAngle = -180;
+                        }
+                        else
+                        {
+                            vData.PositionAngle = 0;
+                        }
+                    }
+                }
+                else if (vData.PrintPositionData == "6") //오른쪽찍기
+                {
+                    if (vData.ReelSize == eCartSize.Inch7)
+                    {
+                        vData.NeedCylinderForward = false;
+                        if (target == eWorkPort.Left)  //left printer
+                        {
+                            vData.PositionAngle = 90; //90도 회전한다
+                        }
+                        else
+                        {
+                            vData.PositionAngle = 90; //90도 회전한다
+                        }
+                    }
+                    else
+                    {
+                        //13inch
+                        vData.NeedCylinderForward = true;
+                        double targerPos = 0.0;
+                        if (target == eWorkPort.Left)  //left printer
+                        {
+                            vData.PositionAngle = 0;
+                        }
+                        else
+                        {
+                            vData.PositionAngle = 180;
+                        }
+                    }
+                }
+                else
+                {
+                    vData.NeedCylinderForward = false; //상하에 붙이는건 실린더를 원위치해야함
+                    vData.PositionAngle = 0;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            //####################################################
+            //###	바코드에의한 자동 회전
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //속도값만 취한다
+                var thpos = MOT.GetPTPos(ePTLoc.READY);
+
+                // Baseangle 값으로 변경  210126 - qr의 각도가잇다면 그것이 기준이됨
+                double baseAngle = 0;
+                string baseSource = "F";
+                var vdata = target == eWorkPort.Left ? PUB.Result.ItemDataL.VisionData : PUB.Result.ItemDataR.VisionData;
+                if (vdata.BaseAngle(out string msg, out Class.KeyenceBarcodeData bcd))
+                {
+                    baseAngle = bcd.Angle;
+                    baseSource = bcd.barcodeSource; //230504 각도
+                    PUB.log.AddI($"[{target}] Angle calculation: {msg}, Barcode: {bcd.Data}, ID: {vdata.RID}"); //210602
+                }
+                else if (PUB.Result.DryRun)
+                {
+                    PUB.log.AddAT($"[{target}] Angle not applied due to dry run");
+                }
+                else
+                {
+                    PUB.log.AddE($"[{target}] base ange error : {msg},ID:{vdata.RID}");
+                }
+
+                var addangle = baseSource == "R" ? SETTING.Data.RearBarcodeRotate : SETTING.Data.FrontBarcodeRotate;
+                var rotAngle = baseAngle + addangle + vdata.PositionAngle;
+                PUB.log.AddI($"[{target}] Source: {baseSource} Rotation value (Base: {baseAngle} + Additional: {addangle} + Vision: {vdata.PositionAngle} = {rotAngle})");
+
+                int dir = -1;
+                while (true)
+                {
+                    if (rotAngle > 360.0)
+                        rotAngle = rotAngle - 360.0;  //한반퀴 더 도는것은 역 처리한다
+                    else break;
+                }
+                //rotAngle += 90; //비젼이 90도 돌아가잇으니 다시 적용필요함 //상단이위로가도록 함
+                if (rotAngle > 180)
+                {
+                    rotAngle = 360 - rotAngle;
+                    dir = 1;
+                }
+
+                PUB.log.AddI($"[{target}] Rotation (Final) [{rotAngle} degrees, Direction: {dir}], RID: {vdata.RID}");
+
+                if (target == eWorkPort.Left)
+                    PUB.Result.ItemDataL.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다
+                else
+                    PUB.Result.ItemDataR.VisionData.ApplyAngle = rotAngle; //회전각도를 넣는다
+
+                var curtheta = PUB.mot.GetActPos((int)eAxis.Z_THETA);
+                var newPos = curtheta + (dir * rotAngle);
+                PUB.log.Add($"Motor position before rotation: {curtheta}, Target position: {newPos}, Speed: {thpos.Speed}, Acceleration: {thpos.Acc}");
+
+                if (target == eWorkPort.Left)
+                    VAR.DBL[(int)eVarDBL.ThetaPositionL] = newPos;
+                else
+                    VAR.DBL[(int)eVarDBL.ThetaPositionR] = newPos;
+
+                //if (ByPassMode == false)
+                //{
+                //바이패스에서도 추가 회전을 한다
+                MOT.Move(eAxis.Z_THETA, newPos, thpos.Speed, thpos.Acc, false);
+                //}
+                //else PUB.log.AddAT($"bypass 로 인해 회전을 하지 않습니다");
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            return true;
+        }
+
+    }
+}

Handler/Project/RunCode/RunSequence/4_PICKER_RETRY.cs

@@ -0,0 +1,244 @@
+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;
+        }
+
+    }
+}

Handler/Project/RunCode/RunSequence/5_PICKER_OFF.cs

@@ -0,0 +1,458 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+        public Boolean PICKER_OFF(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 item = target == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
+            // var Jobtype = VAR.STR[eVarString.JOB_TYPE];
+            //var ByPassMode = Jobtype == "BP";
+            var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+
+            //option check
+            var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
+            var OPT_CameraOff = PUB.OPT_CAMERA();
+            var OPT_BYPASS = PUB.OPT_BYPASS();
+
+            var iLockX = PUB.iLock[(int)eAxis.PX_PICK];
+            var iLockZ = PUB.iLock[(int)eAxis.PZ_PICK];
+
+            //####################################################
+            //###	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++)
+            {
+                //컨베이어모드에서는 센서가 감지되면 내려놓지 않게 한다
+                if (CVMode)
+                {
+                    if (target == eWorkPort.Left)
+                    {
+                        if (DIO.GetIOInput(eDIName.L_CONV1)) return false;
+                        if (VAR.I32[eVarInt32.LEFT_ITEM_COUNT] > 0) return false;
+                    }
+                    else if (target == eWorkPort.Right)
+                    {
+                        if (DIO.GetIOInput(eDIName.R_CONV1)) return false;
+                        if (VAR.I32[eVarInt32.RIGT_ITEM_COUNT] > 0) return false;
+                    }
+                    PUB.log.Add($"Conveyor is empty in CV MODE");
+                }
+
+                PUB.log.Add($"[{target}] Picker OFF work started");
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Y축안전확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //PUB.log.Add($"[{target}] 프린터 Y축 위치 확인");
+                var Pos = target == eWorkPort.Left ? MOT.GetLMPos(eLMLoc.READY) : MOT.GetRMPos(eRMLoc.READY);
+                if (MOT.getPositionMatch(Pos) == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.OPERATION, eECode.POSITION_ERROR, eNextStep.PAUSE, "Printer Y-axis is not at ready position");
+                    return false;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	OFF 위치로 이동
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (iLockX.IsEmpty() == false) return false;
+                sPositionData PosX;
+                if (PUB.flag.get(eVarBool.FG_RUN_LEFT))
+                {
+                    PosX = MOT.GetPXPos(ePXLoc.PICKOFFL);
+                }
+                else
+                {
+                    PosX = MOT.GetPXPos(ePXLoc.PICKOFFR);
+                }
+                if (MOT.CheckMotionPos(seqTime, PosX, funcName) == false) return false;
+
+                //컨베이어모드라면 컨베이어를 멈추게한다
+                if (CVMode)
+                {
+                    if (target == eWorkPort.Left)
+                        PUB.iLockCVL.set((int)eILockCV.BUSY, true, funcName);
+                    else
+                        PUB.iLockCVR.set((int)eILockCV.BUSY, true, funcName);
+                }
+                else
+                {
+                    if (target == eWorkPort.Left)
+                        PUB.iLockCVL.set((int)eILockCV.BUSY, false, funcName);
+                    else
+                        PUB.iLockCVR.set((int)eILockCV.BUSY, false, funcName);
+                }
+
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            ////####################################################
+            ////###	프린트부착위치가 상/하가 아니라면 추가적인 회전이 필요하다 - 210207
+            ////####################################################
+            //if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            //{
+            //	var vData = item.VisionData;
+            //	if (vData.PrintPositionData == "4") // 왼쪽찍기
+            //	{
+            //		if (vData.ReelSize == eCartSize.Inch7)
+            //		{
+            //			vData.NeedCylinderForward = false;
+            //			double targerPos = 0.0;
+            //			if (target == eWorkShuttle.Left)  //left printer
+            //			{
+            //				targerPos = vData.ApplyAngle + 90; //90도 회전한다
+            //			}
+            //			else
+            //			{
+            //				targerPos = vData.ApplyAngle + 90;
+            //			}
+
+            //			//if (vData.ApplyAngle > 180.0) targerPos = vData.ApplyAngle - 180.0;
+            //			//else targerPos = vData.ApplyAngle + 180.0;
+
+            //			//추가보정
+            //			if (targerPos > 360.0) targerPos = targerPos - 360.0;
+            //			if (targerPos < -360.0) targerPos = targerPos + 360.0;
+
+            //			//지정값대로 추가 회전을 한다
+            //			var basePosInfo = MOT.GetPTPos(ePTLoc.READY);
+            //			basePosInfo.Position = targerPos;
+            //			if (MOT.CheckMotionPos(seqTime, basePosInfo, funcName) == false) return false;
+            //		}
+            //		else
+            //		{
+            //			//13inch
+            //			vData.NeedCylinderForward = true;
+            //			double targerPos = 0.0;
+            //			if (target == eWorkShuttle.Left)  //left printer
+            //			{
+            //				targerPos = vData.ApplyAngle + 180; //90도 회전한다
+            //			}
+            //			else
+            //			{
+            //				targerPos = vData.ApplyAngle + 0;
+            //			}
+
+            //			//if (vData.ApplyAngle > 180.0) targerPos = vData.ApplyAngle - 180.0;
+            //			//else targerPos = vData.ApplyAngle + 180.0;
+
+            //			//추가보정
+            //			if (targerPos > 360.0) targerPos = targerPos - 360.0;
+            //			if (targerPos < -360.0) targerPos = targerPos + 360.0;
+
+            //			//지정값대로 추가 회전을 한다
+            //			var basePosInfo = MOT.GetPTPos(ePTLoc.READY);
+            //			basePosInfo.Position = targerPos;
+            //			if (MOT.CheckMotionPos(seqTime, basePosInfo, funcName) == false) return false;
+            //		}
+
+            //	}
+            //	else if (vData.PrintPositionData == "6") //오른쪽찍기
+            //	{
+            //		if (vData.ReelSize == eCartSize.Inch7)
+            //		{
+            //			vData.NeedCylinderForward = false;
+            //			double targerPos = 0.0;
+            //			if (target == eWorkShuttle.Left)  //left printer
+            //			{
+            //				targerPos = vData.ApplyAngle - 90; //90도 회전한다
+            //			}
+            //			else
+            //			{
+            //				targerPos = vData.ApplyAngle - 90;
+            //			}
+
+            //			//if (vData.ApplyAngle > 180.0) targerPos = vData.ApplyAngle - 180.0;
+            //			//else targerPos = vData.ApplyAngle + 180.0;
+
+            //			//추가보정
+            //			if (targerPos > 360.0) targerPos = targerPos - 360.0;
+            //			if (targerPos < -360.0) targerPos = targerPos + 360.0;
+
+            //			//지정값대로 추가 회전을 한다
+            //			var basePosInfo = MOT.GetPTPos(ePTLoc.READY);
+            //			basePosInfo.Position = targerPos;
+            //			if (MOT.CheckMotionPos(seqTime, basePosInfo, funcName) == false) return false;
+            //		}
+            //		else
+            //		{
+            //			//13inch
+            //			vData.NeedCylinderForward = true;
+            //			double targerPos = 0.0;
+            //			if (target == eWorkShuttle.Left)  //left printer
+            //			{
+            //				targerPos = vData.ApplyAngle + 0; //90도 회전한다
+            //			}
+            //			else
+            //			{
+            //				targerPos = vData.ApplyAngle + 180;
+            //			}
+
+            //			//if (vData.ApplyAngle > 180.0) targerPos = vData.ApplyAngle - 180.0;
+            //			//else targerPos = vData.ApplyAngle + 180.0;
+
+            //			//추가보정
+            //			if (targerPos > 360.0) targerPos = targerPos - 360.0;
+            //			if (targerPos < -360.0) targerPos = targerPos + 360.0;
+
+            //			//지정값대로 추가 회전을 한다
+            //			var basePosInfo = MOT.GetPTPos(ePTLoc.READY);
+            //			basePosInfo.Position = targerPos;
+            //			if (MOT.CheckMotionPos(seqTime, basePosInfo, funcName) == false) return false;
+            //		}
+            //	}
+            //	else vData.NeedCylinderForward = false; //상하에 붙이는건 실린더를 원위치해야함
+            //	PUB.sm.seq.Update(cmdIndex);
+            //	return false;
+            //}
+
+            //####################################################
+            //###	사용자회전적용
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (item.VisionData.ApplyOffset == false)
+                {
+                    //적용옵셋
+                    var OffsetAngle = target == eWorkPort.Left ? AR.SETTING.Data.AngleOffsetL : AR.SETTING.Data.AngleOffsetR;
+                    if (OffsetAngle != 0f)
+                    {
+                        if (OPT_BYPASS == true || OPT_PrinterOff)
+                        {
+                            PUB.log.AddAT($"Additional rotation not performed due to bypass");
+                        }
+                        else
+                        {
+                            //모터회전
+                            //var thpos = MOT.GetPTPos(ePTLoc.READY); //적용할 속도값용
+                            //MOT.Move(eAxis.Z_THETA, OffsetAngle, thpos.Speed, thpos.Acc, true);
+                            MOT.Rotation(OffsetAngle, funcName);
+
+                            double theta = 0;
+                            if (target == eWorkPort.Left) theta = VAR.DBL[(int)eVarDBL.ThetaPositionL];
+                            else theta = VAR.DBL[(int)eVarDBL.ThetaPositionR];
+
+                            //값을 누적시켜준다
+                            item.VisionData.ApplyAngle += OffsetAngle;
+
+                            if (target == eWorkPort.Left) VAR.DBL[(int)eVarDBL.ThetaPositionL] = theta + OffsetAngle;
+                            else VAR.DBL[(int)eVarDBL.ThetaPositionR] = theta + OffsetAngle;
+
+                            if (AR.SETTING.Data.Log_Debug)
+                                PUB.logDbg.Add($"[{target}] Motor additional rotation: {OffsetAngle}");
+                        }
+
+                    }
+                    item.VisionData.ApplyOffset = true;
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	회전축 완료 확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_BYPASS == false && OPT_PrinterOff == false)
+                {
+                    var Theta = target == eWorkPort.Left ? VAR.DBL[(int)eVarDBL.ThetaPositionL] : VAR.DBL[(int)eVarDBL.ThetaPositionR];
+                    var Pos = MOT.GetPTPos(ePTLoc.READY);
+                    Pos.Position = Theta;
+                    if (MOT.CheckMotionPos(seqTime, Pos, funcName, false) == false) return false;
+                    PUB.log.Add($"[{target}] Rotation axis verification complete Position: {Theta}, Motor value: {PUB.mot.GetActPos((int)eAxis.Z_THETA)} => Position initialized");
+                    PUB.mot.ClearPosition((int)eAxis.Z_THETA);
+                }
+
+
+
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	포트상태확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                // if (iLockX.IsEmpty() == false) return false;
+                if (iLockZ.IsEmpty() == false) return false;
+                var PortRDY = target == eWorkPort.Left ? PUB.flag.get(eVarBool.FG_RDY_PORT_PL) : PUB.flag.get(eVarBool.FG_RDY_PORT_PR);
+                if (PortRDY == false) return false;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Z축을 내린다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                // if (iLockX.IsEmpty() == false) return false;
+                if (iLockZ.IsEmpty() == false) return false;
+
+                //컨베어모드라면 센서에 감지되는 것이 없어야 한다
+                if (OPT_BYPASS == false && VAR.BOOL[eVarBool.Use_Conveyor])
+                {
+                    if (target == eWorkPort.Left)
+                    {
+                        //컨베이어가 움직이고 있다면 단순 대기한다
+                        if (DIO.GetIOOutput(eDOName.LEFT_CONV) == false)
+                        {
+                            //놓일위치에서 센서가 감지되었다
+                            if (DIO.GetIOInput(eDIName.L_CONV1))
+                            {
+                                var ssname = $"X{eDIName.L_CONV1}";
+                                PUB.Result.SetResultMessage(eResult.OPERATION, eECode.LCONVER_REEL_DECTECT_IN, eNextStep.PAUSE, ssname);
+                                return false;
+                            }
+                        }
+                        else
+                        {
+                            if (seqTime.TotalSeconds > 10)
+                            {
+                                var ssname = $"Y{eDOName.LEFT_CONV}";
+                                PUB.Result.SetResultMessage(eResult.OPERATION, eECode.LCONVER_MOVING, eNextStep.PAUSE, ssname);
+                            }
+                            return false;
+                        }
+
+                    }
+                    else
+                    {
+                        //컨베이어가 움직이고 있다면 단순 대기한다
+                        if (DIO.GetIOOutput(eDOName.RIGHT_CONV) == false)
+                        {
+                            //놓일위치에서 센서가 감지되었다
+                            if (DIO.GetIOInput(eDIName.R_CONV1))
+                            {
+                                var ssname = $"X{eDIName.R_CONV1}";
+                                PUB.Result.SetResultMessage(eResult.OPERATION, eECode.RCONVER_REEL_DECTECT_IN, eNextStep.PAUSE, ssname);
+                                return false;
+                            }
+                        }
+                        else
+                        {
+                            if (seqTime.TotalSeconds > 10)
+                            {
+                                var ssname = $"Y{eDOName.RIGHT_CONV}";
+                                PUB.Result.SetResultMessage(eResult.OPERATION, eECode.RCONVER_MOVING, eNextStep.PAUSE, ssname);
+                            }
+                            return false;
+                        }
+
+                    }
+                }
+
+
+                var fg = target == eWorkPort.Left ? eVarBool.FG_RUN_LEFT : eVarBool.FG_RUN_RIGHT;
+                var Loc = target == eWorkPort.Left ? ePZLoc.PICKOFFL : ePZLoc.PICKOFFR;
+                var Pos = MOT.GetPZPos(Loc);
+                if (MOT.CheckMotionPos(seqTime, Pos, funcName) == false) return false;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            //####################################################
+            //###	진공파기
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                DIO.SetPickerVac(false);
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Z축을 올린다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                // if (iLockX.IsEmpty() == false) return false;
+                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.FG_PK_ITEMON, false, funcName);
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                IncCount(1, 1);
+                if (target == eWorkPort.Left)
+                {
+                    if (AR.SETTING.Data.Disable_PortL == false && AR.SETTING.Data.Disable_Left == false)
+                    {
+                        hmi1.arVar_Port[0].AlignReset();
+                    }
+
+                }
+                else
+                {
+                    if (AR.SETTING.Data.Disable_PortR == false && AR.SETTING.Data.Disable_Right == false)
+                    {
+                        hmi1.arVar_Port[2].AlignReset();
+                    }
+                }
+                VAR.I32[eVarInt32.PickOfCount] += 1;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/6.PRINT.cs

@@ -0,0 +1,246 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        public Boolean PRINTER(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 item = target == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
+            var Printer = target == eWorkPort.Left ? PUB.PrinterL : PUB.PrinterR;
+            //var Jobtype = VAR.STR[eVarString.JOB_TYPE];
+            var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+
+            //option check
+            var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
+            var OPT_CameraOff = PUB.OPT_CAMERA();
+            var OPT_BYPASS = PUB.OPT_BYPASS();
+
+
+
+            //####################################################
+            //###	작업시작
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                PUB.log.Add($"[{target}] Print operation started");
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //### 프린트 모션 위치 확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                sPositionData PosY, PosZ;
+                if (target == eWorkPort.Left)
+                {
+                    PosY = MOT.GetLMPos(eLMLoc.READY);
+                    PosZ = MOT.GetLZPos(eLZLoc.PICKON);
+                }
+                else
+                {
+                    PosY = MOT.GetRMPos(eRMLoc.READY);
+                    PosZ = MOT.GetRZPos(eRZLoc.PICKON);
+                }
+
+                if (MOT.CheckMotionPos(seqTime, PosY, funcName) == false) return false;
+                if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            //####################################################
+            //###	인쇄데이터 확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (item.VisionData.RID.isEmpty())
+                {
+                    if (target == eWorkPort.Left)
+                    {
+                        PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOPRINTLDATA, eNextStep.PAUSE);
+                    }
+                    else
+                    {
+                        PUB.Result.SetResultMessage(eResult.OPERATION, eECode.NOPRINTRDATA, eNextStep.PAUSE);
+                    }
+                    return false;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	인쇄데이터전송
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_PrinterOff == false)
+                {
+                    string zpl, qrdata;
+                    zpl = Printer.makeZPL_210908(new Class.Reel
+                    {
+                        SID = item.VisionData.SID,
+                        venderLot = item.VisionData.VLOT,
+                        venderName = item.VisionData.VNAME,
+                        qty = item.VisionData.QTY.isEmpty() ? -1 : int.Parse(item.VisionData.QTY),
+                        id = item.VisionData.RID,
+                        mfg = item.VisionData.MFGDATE,
+                        PartNo = item.VisionData.PARTNO,
+                    }, AR.SETTING.Data.DrawOutbox, out qrdata);
+                    item.VisionData.ZPL = zpl;
+                    item.VisionData.PrintQRData = qrdata;
+
+                    PUB.log.Add("PRINT", $"[{target}] Printing");//QR=" + item.VisionData.QRData);
+
+                    if (target == eWorkPort.Left)
+                    {
+                        var prn = Printer.Print(zpl);
+                        //PUB.PrintSend(true, zpl); //PUB.PrintL.Write(zpl);
+                        if (prn.result == false)
+                        {
+                            PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTL, eNextStep.ERROR);
+                            return false;
+                        }
+                        else
+                        {
+                            SETTING.Counter.CountPrintL += 1;
+                            item.PrintTime = DateTime.Now;
+                        }
+                    }
+                    else
+                    {
+                        var prn = Printer.Print(zpl);
+                        //PUB.PrintSend(false, zpl); //PUB.PrintR.Write(zpl);
+                        if (prn.result == false)
+                        {
+                            PUB.log.AddE(prn.errmessage);
+                            PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.PRINTR, eNextStep.ERROR);
+                            return false;
+                        }
+                        else
+                        {
+                            SETTING.Counter.CountPrintR += 1;
+                            item.PrintTime = DateTime.Now;
+                        }
+                    }
+                }
+                else PUB.log.AddAT($"[{target}] Printer function OFF (bypass or model or setting)");
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	잠시대기
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var WaitMS = target == eWorkPort.Left ? AR.SETTING.Data.PrintLWaitMS : AR.SETTING.Data.PrintRWaitMS;
+                if (OPT_PrinterOff == false && seqTime.TotalMilliseconds < WaitMS) return false;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	위쪽흡기 ON
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_PrinterOff == false)
+                {
+                    if (target == eWorkPort.Left)
+                    {
+                        DIO.SetPrintLVac(ePrintVac.inhalation);
+                    }
+                    else
+                    {
+                        DIO.SetPrintRVac(ePrintVac.inhalation);
+                    }
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            //####################################################
+            //###	잠시대기
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_PrinterOff == false && seqTime.TotalMilliseconds < 100) return false;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	아래쪽 블로우
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_PrinterOff == false && SETTING.Data.Disable_BottomAirBlow == false)
+                {
+                    if (target == eWorkPort.Left)
+                    {
+                        DIO.SetPrintLAir(true);
+                    }
+                    else
+                    {
+                        DIO.SetPrintRAir(true);
+                    }
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	잠시대기
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_PrinterOff == false && seqTime.TotalMilliseconds < 100) return false;
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	장비기술데이터저장
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                PUB.log.Add($"6.PRINT : EE-SAVE");
+                SaveData_EE(item, (target == eWorkPort.Left ? "L" : "R"), "","printer");
+                //RefreshList();  //목록업데이트
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //### spare
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/7_PRINTER_ON.cs

@@ -0,0 +1,224 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        public Boolean PRINTER_ON(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 item = target == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
+            var Printer = target == eWorkPort.Left ? PUB.PrinterL : PUB.PrinterR;
+            //var Jobtype = VAR.STR[eVarString.JOB_TYPE];
+            //var ByPassMode = Jobtype == "BP";
+            var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+
+            //option check
+            var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
+            var OPT_CameraOff = PUB.OPT_CAMERA();
+            var OPT_BYPASS = PUB.OPT_BYPASS();
+            //####################################################
+            //###	인터락 확인
+            //####################################################
+            Boolean MotMoveM, MotMoveZ;
+            AR.CInterLock iLockM, iLockZ;
+            eAxis axisM = target == eWorkPort.Left ? eAxis.PL_MOVE : eAxis.PR_MOVE;
+            eAxis axisZ = target == eWorkPort.Left ? eAxis.PL_UPDN : eAxis.PR_UPDN;
+            if (target == eWorkPort.Left)
+            {
+                MotMoveM = PUB.mot.IsMotion((int)eAxis.PL_MOVE);
+                MotMoveZ = PUB.mot.IsMotion((int)eAxis.PL_UPDN);
+                iLockM = PUB.iLock[(int)eAxis.PL_MOVE];
+                iLockZ = PUB.iLock[(int)eAxis.PL_UPDN];
+            }
+            else
+            {
+                MotMoveM = PUB.mot.IsMotion((int)eAxis.PR_MOVE);
+                MotMoveZ = PUB.mot.IsMotion((int)eAxis.PR_UPDN);
+                iLockM = PUB.iLock[(int)eAxis.PR_MOVE];
+                iLockZ = PUB.iLock[(int)eAxis.PR_UPDN];
+            }
+
+            if (iLockM.IsEmpty() == false && MotMoveM)
+            {
+                var locklistX = MOT.GetActiveLockList(axisM, iLockM);
+                PUB.mot.MoveStop("ILock(" + string.Join(",", locklistX) + ")", (short)axisM);
+            }
+
+            if (iLockZ.IsEmpty() == false && MotMoveZ)
+            {
+                var locklistZ = MOT.GetActiveLockList(axisZ, iLockZ);
+                PUB.mot.MoveStop("ILock(" + string.Join(",", locklistZ) + ")", (short)axisZ);
+            }
+
+
+
+            //####################################################
+            //###	작업시작
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                PUB.log.Add($"[{target}] Print ON operation started");
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //### 종이감지확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var 용지감지센서 = target == eWorkPort.Left ? eDIName.L_PICK_VAC : eDIName.R_PICK_VAC;
+                var 용지감지기능 = target == eWorkPort.Left ? AR.SETTING.Data.Detect_PrintL : AR.SETTING.Data.Detect_PrintR;
+
+                if (OPT_PrinterOff == false)
+                {
+                    if (용지감지기능 == false)
+                    {
+                        if (seqTime.TotalMilliseconds < 100) return false;
+                        PUB.log.AddAT($"[{target}] Paper detection function OFF(proceed after 3 seconds)");
+                    }
+                    else
+                    {
+                        var ioresult = DIO.checkDigitalO(용지감지센서, seqTime, true, 0, false);
+                        if (ioresult == eNormalResult.Error)
+                        {
+                            var errCode = target == eWorkPort.Left ? eECode.NO_PAPER_DETECT_L : eECode.NO_PAPER_DETECT_R;
+                            PUB.Result.SetResultMessage(eResult.HARDWARE, errCode, eNextStep.PAUSE, 용지감지센서);
+                            return false;
+                        }
+                        else if (ioresult == eNormalResult.False) return false;
+                    }
+
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	Z올리기(slow)
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (iLockZ.IsEmpty() == false) return false;
+                if (OPT_BYPASS == false)
+                {
+                    if (seqTime.TotalMilliseconds < 3000) return false;
+                    sPositionData PosZ;
+                    if (target == eWorkPort.Left)
+                    {
+                        PosZ = MOT.GetLZPos(eLZLoc.PICKON);
+                    }
+                    else
+                    {
+                        PosZ = MOT.GetRZPos(eRZLoc.PICKON);
+                    }
+                    PosZ.Position -= 10;
+                    if (PosZ.Position < 1) PosZ.Position = 1;
+                    PosZ.Speed = 5;
+                    if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
+
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //### 종이감지확인
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (OPT_PrinterOff == false)
+                {
+                    var 용지감지센서 = target == eWorkPort.Left ? eDIName.L_PICK_VAC : eDIName.R_PICK_VAC;
+                    var 용지감지기능 = target == eWorkPort.Left ? AR.SETTING.Data.Detect_PrintL : AR.SETTING.Data.Detect_PrintR;
+
+                    if (용지감지기능 == false)
+                    {
+                        if (seqTime.TotalMilliseconds < 100) return false;
+                        PUB.log.AddAT($"[{target}] Paper detection function OFF(proceed after 3 seconds)");
+                    }
+                    else
+                    {
+                        var ioresult = DIO.checkDigitalO(용지감지센서, seqTime, true, 0, false);
+                        if (ioresult == eNormalResult.Error)
+                        {
+                            var errCode = target == eWorkPort.Left ? eECode.NO_PAPER_DETECT_L : eECode.NO_PAPER_DETECT_R;
+                            PUB.Result.SetResultMessage(eResult.HARDWARE, errCode, eNextStep.PAUSE, 용지감지센서);
+                            return false;
+                        }
+                        else if (ioresult == eNormalResult.False) return false;
+                    }
+                }
+
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            //####################################################
+            //###	Z올리기
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (iLockZ.IsEmpty() == false) return false;
+                if (OPT_BYPASS == false)
+                {
+                    sPositionData PosZ;
+                    if (target == eWorkPort.Left)
+                    {
+                        PosZ = MOT.GetLZPos(eLZLoc.READY);
+                    }
+                    else
+                    {
+                        PosZ = MOT.GetRZPos(eRZLoc.READY);
+                    }
+                    if (MOT.CheckMotionPos(seqTime, PosZ, funcName) == false) return false;
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //###	
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //air off
+                if (target == eWorkPort.Left)
+                {
+                    DIO.SetPrintLAir(false);
+                    if (OPT_BYPASS == false)
+                        VAR.I32[eVarInt32.LPickOnCount] += 1;
+                    PUB.flag.set(eVarBool.FG_PL_ITEMON, true, funcName);
+                }
+                else
+                {
+                    DIO.SetPrintRAir(false);
+                    if (OPT_BYPASS == false)
+                        VAR.I32[eVarInt32.RPickOnCount] += 1;
+                    PUB.flag.set(eVarBool.FG_PR_ITEMON, true, funcName);
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/8_PRINTER_OFF.cs

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

Handler/Project/RunCode/RunSequence/90_SaveData.cs

@@ -0,0 +1,147 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        delegate void savedataeehandler(Class.JobData item, string Loc, string inboundok, string reason);
+
+        public void SaveData_EE(Class.JobData item, string Loc, string inboundok, string reason)
+        {
+            if (this.InvokeRequired)
+            {
+                //이자료를 복사해서 데이터를 넘겨줘야한다.
+                var a = new Class.JobData(999);
+                item.CopyTo(ref a);
+                this.BeginInvoke(new savedataeehandler(SaveData_EE), a, Loc, inboundok, reason);
+                return;
+            }
+
+            var retval = false;
+            if (AR.SETTING.Data.OnlineMode == false)
+            {
+                PUB.log.AddAT($"[SAVE-EE] Not saving in offline mode");
+                return;
+            }
+
+
+            DateTime savestart = DateTime.Now;
+            try
+            {
+                var save_month = DateTime.Now.ToString("YY") + DateTime.Now.Month.ToString("X");
+                var save_sn = string.Empty;
+                if (item.VisionData.RID.Length == 15)
+                {
+                    save_month = item.VisionData.RID.Substring(8, 3); //21A 식으로 년도와 월이 나온다
+                    save_sn = item.VisionData.RID.Substring(item.VisionData.RID.Length - 4); //뒷에서 4자리 끊는다
+                }
+                //var Jobtype = VAR.STR[eVarString.JOB_TYPE];
+                //var ByPassMode = Jobtype == "BP";
+                var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+                //option check
+                //var OPT_PrinterOff = PUB.OPT_PRINTEROFF(target);
+                //var OPT_CameraOff = PUB.OPT_CAMERA(target);
+                var OPT_BYPASS = SETTING.Data.SystemBypass;// PUB.OPT_BYPASS(target);
+
+
+                using (var taResult = new DataSet1TableAdapters.K4EE_Component_Reel_ResultTableAdapter())
+                {
+                    //QTY 0값은 없을 수도있다(해당 값은 서버조회여부에다라 다르다)
+                    int? qtyorg = null;
+                    if (int.TryParse(item.VisionData.QTY0, out int vqty0))
+                        qtyorg = vqty0;
+                    string remark = string.Empty;
+                    if (item.VisionData.ConfirmAuto) remark = "[자동]" + remark; //자동확인문구
+                    else if (item.VisionData.ConfirmUser) remark = "[확인]" + remark;  //사용자 확인데이터 비고에 추가
+                    if (OPT_BYPASS) remark = "(BYPASS)" + remark;
+
+                    DataSet1.K4EE_Component_Reel_ResultRow newdr = this.dataSet1.K4EE_Component_Reel_Result.Where(t => t.JGUID.Equals(item.guid)).FirstOrDefault();
+                    if (newdr == null) newdr = this.dataSet1.K4EE_Component_Reel_Result.NewK4EE_Component_Reel_ResultRow();
+                    //else newdr = dt.Rows[0] as DataSet1.Component_Reel_ResultRow;
+
+                    if (item.JobStart.Year != 1982) newdr.STIME = item.JobStart;
+                    else newdr.STIME = DateTime.Now;
+
+                    if (item.JobEnd.Year != 1982) newdr.ETIME = item.JobEnd;
+                    if (item.PrintTime.Year != 1982) newdr.PTIME = item.PrintTime;
+
+                    newdr.ATIME = item.Attachtime;
+                    newdr.PDATE = save_month;
+                    newdr.JTYPE = PUB.Result.vModel.Title;// PUB.Result.JobType2;
+                    if (newdr.JTYPE.Length > 10) newdr.JTYPE = newdr.JTYPE.Substring(0, 9);
+
+                    newdr.SID = item.VisionData.SID;
+                    newdr.SID0 = item.VisionData.SID0;
+                    newdr.RID = item.VisionData.RID;
+                    newdr.RID0 = item.VisionData.RID0;
+                    newdr.RSN = save_sn;
+                    newdr.QR = item.VisionData.PrintQRData;
+                    newdr.ZPL = item.VisionData.ZPL;
+                    newdr.POS = item.VisionData.PrintPositionData;
+                    newdr.LOC = Loc;
+                    newdr.ANGLE = item.VisionData.ApplyAngle;
+                    if (int.TryParse(item.VisionData.QTY, out int oqty))
+                        newdr.QTY = oqty;
+                    else
+                        newdr.QTY = 0;
+
+                    newdr.MFGDATE = item.VisionData.MFGDATE;//210326 날짜도 추가함
+                    if (qtyorg != null) newdr.QTY0 = (int)qtyorg;
+                    newdr.VNAME = item.VisionData.VNAME;
+                    newdr.VLOT = item.VisionData.VLOT; ///210326
+					newdr.PRNATTACH = item.PrintAttach;
+                    newdr.PRNVALID = item.PrintQRValid;
+                    newdr.REMARK = remark;
+                    if (inboundok.isEmpty() == false) newdr.iNBOUND = inboundok;//230622		
+                    newdr.MC = AR.SETTING.Data.McName;
+                    newdr.PARTNO = item.VisionData.PARTNO;
+                    newdr.CUSTCODE = item.VisionData.CUSTCODE;
+                    newdr.MCN = item.VisionData.MCN;
+                    newdr.target = item.VisionData.Target;
+
+                    //220921 - batch qtymax
+                    newdr.BATCH = item.VisionData.BATCH;
+                    if (int.TryParse(item.VisionData.QTYMAX, out int qtymax))
+                        newdr.qtymax = qtymax;
+                    else newdr.qtymax = -1;
+
+                    
+
+                    //new mode
+                    if (newdr.RowState == System.Data.DataRowState.Detached)
+                    {
+                        newdr.GUID = PUB.Result.guid;   //220921
+                        newdr.JGUID = item.guid;
+                        newdr.wdate = DateTime.Now;
+                        this.dataSet1.K4EE_Component_Reel_Result.AddK4EE_Component_Reel_ResultRow(newdr);
+                    }
+                    else newdr.EndEdit();
+
+                    var ta = new DataSet1TableAdapters.K4EE_Component_Reel_ResultTableAdapter();
+                    var cnt = ta.Update(newdr);
+                    newdr.AcceptChanges();
+                    if (cnt == 0) PUB.log.AddE("Save Error");
+                }
+
+                retval = true;
+            }
+            catch (Exception ex)
+            {
+                PUB.log.AddE($"[EE-SAVE] {ex.Message}");
+                retval = false;
+            }
+
+            var ts = DateTime.Now - savestart;
+            PUB.log.AddI($"data save time : {ts.TotalSeconds:N2}");
+
+            ListFormmatData();
+
+
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/9_QRValid.cs

@@ -0,0 +1,175 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        public Boolean QR_VALIDATION(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 item = target == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
+            var WS = target == eWorkPort.Left ? PUB.wsL : PUB.wsR;
+
+            //####################################################
+            //###	작업시작
+            //####################################################
+            var CIDX = PUB.sm.seq.Get(cmdIndex);
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //작업 플래그 설정
+                if (target == eWorkPort.Left)
+                {
+                    VAR.BOOL[eVarBool.VisionL_Retry] = false;
+                    PUB.flag.set(eVarBool.FG_END_VISIONL, false, funcName);
+                    PUB.flag.set(eVarBool.FG_PRC_VISIONL, true, funcName);
+                    //PUB.iLockCVL.set((int)eILockCV.VISION, true, funcName);
+                }
+                else
+                {
+                    VAR.BOOL[eVarBool.VisionR_Retry] = false;
+                    PUB.flag.set(eVarBool.FG_END_VISIONR, false, funcName);
+                    PUB.flag.set(eVarBool.FG_PRC_VISIONR, true, funcName);
+                    //PUB.iLockCVR.set((int)eILockCV.VISION, true, funcName);
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //카메라 트리거 전송
+                var sendok = WS_Send(target, WS, item.guid, "TRIG", item.VisionData.PrintQRData);
+                PUB.log.Add($"Send QR Vision trigger ({target}) = {sendok} CMD=TRIG,DATA={item.VisionData.PrintQRData}");
+                if(sendok==false) //230512 전송실패시 오류로 한다
+                {
+                    PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.VISION_TRIGERROR, eNextStep.PAUSE);
+                    return false;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+            //####################################################
+            //### 수신된 바코드 값을 기다린다.
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //타임아웃시간을 넘어서면 오류처리한다
+                if (seqTime.TotalMilliseconds >= AR.SETTING.Data.Timeout_VisionProcessU)
+                {
+                    //
+                    if (target == eWorkPort.Left)
+                    {
+                        if (VAR.BOOL[eVarBool.VisionL_Retry] == false)
+                        {
+                            PUB.log.AddAT("Vision (L) failed once, retrying");
+                            VAR.BOOL[eVarBool.VisionL_Retry] = true;
+                            PUB.sm.seq.Update(cmdIndex, -1);
+                            return false;
+                        }
+
+                        if (item.VisionData.RID2.isEmpty() == false && item.VisionData.MatchValidation == false)
+                        {
+                            PUB.Result.SetResultMessage(eResult.OPERATION, eECode.QRDATAMISSMATCHL, eNextStep.PAUSE, target, item.VisionData.RID, item.VisionData.RID2);
+                        }
+                        else
+                        {
+                            PUB.Result.SetResultMessage(eResult.OPERATION, eECode.VISION_NORECV, eNextStep.PAUSE, target);
+                        }
+                    }
+                    else
+                    {
+                        if (VAR.BOOL[eVarBool.VisionR_Retry] == false)
+                        {
+                            PUB.log.AddAT("Vision (R) failed once, retrying");
+                            VAR.BOOL[eVarBool.VisionR_Retry] = true;
+                            PUB.sm.seq.Update(cmdIndex, -1);
+                            return false;
+                        }
+
+
+                        if (item.VisionData.RID2.isEmpty() == false && item.VisionData.MatchValidation == false)
+                        {
+                            PUB.Result.SetResultMessage(eResult.OPERATION, eECode.QRDATAMISSMATCHR, eNextStep.PAUSE, target, item.VisionData.RID, item.VisionData.RID2);
+                        }
+                        else
+                        {
+                            PUB.Result.SetResultMessage(eResult.OPERATION, eECode.VISION_NORECV, eNextStep.PAUSE, target);
+                        }
+                    }
+
+
+                    PUB.sm.seq.Update(cmdIndex, -1);    // 재시작시 트리거 전송할 수 있게 위로 옮김
+                    return false;
+                }
+                else
+                {
+                    //타임아웃되지 않은 조건
+
+                    if (target == eWorkPort.Left)
+                    {
+                        if (PUB.flag.get(eVarBool.FG_END_VISIONL))    //종료신호가 설정되어있다면 완료된 경우다
+                        {
+                            PUB.log.AddI($"{target} Completed processing due to vision end signal");
+                            item.PrintQRValid = true;
+                        }
+                        else if (PUB.flag.get(eVarBool.FG_PRC_VISIONL) == false) //사용자가 취소했다면 넘어간다
+                        {
+                            PUB.log.AddAT($"{target} Skip QR verification due to user cancellation");
+                            item.PrintQRValid = false;
+                        }
+                        else return false; //아직 완료전이므로 리턴한다
+                    }
+                    else
+                    {
+                        if (PUB.flag.get(eVarBool.FG_END_VISIONR))
+                        {
+                            PUB.log.AddI($"{target} Completed processing due to vision end signal");
+                            item.PrintQRValid = true;
+                        }
+                        else if (PUB.flag.get(eVarBool.FG_PRC_VISIONR) == false) //사용자가 취소했다면 넘어간다
+                        {
+                            PUB.log.AddAT($"{target} Skip QR verification due to user cancellation");
+                            item.PrintQRValid = false;
+                        }
+                        else return false; //아직 완료전이므로 리턴한다
+                    }
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            //####################################################
+            //###	
+            //####################################################
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                PUB.log.Add($"{target} Vision verification completed (Result: {item.PrintQRValid})");
+
+                if (target == eWorkPort.Left)
+                    PUB.flag.set(eVarBool.FG_PRC_VISIONL, false, funcName);
+                else
+                    PUB.flag.set(eVarBool.FG_PRC_VISIONR, false, funcName);
+
+                PUB.sm.seq.Update(cmdIndex);
+                return false;
+            }
+
+
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/RunSequence/_RUN_MOT_PORT.cs

@@ -0,0 +1,324 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+	public partial class FMain
+	{
+
+		/// <summary>
+		/// 로더용 포트 조작
+		/// </summary>
+		/// <param name="idx"></param>
+		/// <param name="isFirst"></param>
+		/// <param name="StepTime"></param>
+		void _SM_RUN_MOT_PORT(int idx, Boolean isFirst, TimeSpan StepTime)
+		{
+            //포트 비활성 체크
+            eVarBool FG_RDY_PORT;
+			eDIName DI_LIMUP, DI_DETUP;
+			eDOName DO_PORTRUN;
+			Boolean PORT_DISABLE;
+
+			//인덱스에 맞는 플래그와 DI값 설정
+			if (idx == 0)
+			{
+				PORT_DISABLE = AR.SETTING.Data.Disable_PortL || AR.SETTING.Data.Disable_Left;
+				FG_RDY_PORT = eVarBool.FG_RDY_PORT_PL; DI_DETUP = eDIName.PORTL_DET_UP;
+				DI_LIMUP = eDIName.PORTL_LIM_UP; DO_PORTRUN = eDOName.PORTL_MOT_RUN;
+			}
+			else if (idx == 1)
+			{
+				PORT_DISABLE = AR.SETTING.Data.Disable_PortC;
+				FG_RDY_PORT = eVarBool.FG_RDY_PORT_PC; DI_DETUP = eDIName.PORTC_DET_UP;
+				DI_LIMUP = eDIName.PORTC_LIM_UP; DO_PORTRUN = eDOName.PORTC_MOT_RUN;
+			}
+			else
+			{
+				PORT_DISABLE = AR.SETTING.Data.Disable_PortR || AR.SETTING.Data.Disable_Right;
+				FG_RDY_PORT = eVarBool.FG_RDY_PORT_PR; DI_DETUP = eDIName.PORTR_DET_UP;
+				DI_LIMUP = eDIName.PORTR_LIM_UP; DO_PORTRUN = eDOName.PORTR_MOT_RUN;
+			}
+
+			//포트가 비활성화되어있다면 DETECT ON하고 , LIMIT는 해제한다 -201224
+			if (PORT_DISABLE)
+			{
+				if (PUB.flag.get(FG_RDY_PORT) == false)
+                    PUB.flag.set(FG_RDY_PORT, true, "DISABLE PORT");
+				this.hmi1.arVar_Port[idx].AlignOK = 1;
+                hmi1.arVar_Port[idx].errorCount = 0;
+                return;
+            }
+
+
+			//비활성화(좌/우 기능사용여부확인)
+			//if (idx == 0 && COMM.SETTING.Data.Disable_Left == true)
+			//{
+			//	this.hmi1.arVar_Port[idx].AlignOK = 1;
+			//	return;
+			//}
+			//else if (idx == 2 && COMM.SETTING.Data.Disable_Right == true)
+			//{
+			//	this.hmi1.arVar_Port[idx].AlignOK = 1;
+			//	return;
+			//}
+
+
+			//오류가 일정횟수 발생하면 RDY를 풀어준다(이경우에는 오류처리를 해서 알림을 해야할듯함!)
+			if (hmi1.arVar_Port[idx].errorCount > 5)
+			{
+				if (hmi1.arVar_Port[idx].AlignOK != 1) hmi1.arVar_Port[idx].AlignOK = 1;
+				if (PUB.flag.get(FG_RDY_PORT) == true) PUB.flag.set(FG_RDY_PORT, false, "RUN_MOT_P");
+				return;
+			}
+
+			//동작중에 X가 pICK 위치에 있다면. Z축이 홈인지 체크한다.
+			if (PUB.sm.Step == eSMStep.RUN)
+			{
+				var PKZ_UNSAFE = MOT.getPositionOffset(eAxis.PZ_PICK, MOT.GetPZPos(ePZLoc.READY).Position) > 2;
+				//var PKX_POS = MOT.GetPKX_PosName();
+				var BSTOP = false;
+
+				//Z축이 Ready 위치보다 낮게 있다면 멈추게한다
+				if (idx == 0 && MOT.getPositionMatch(MOT.GetPXPos(ePXLoc.PICKOFFL)) && PKZ_UNSAFE) BSTOP = true;
+				else if (idx == 1 && MOT.getPositionMatch(MOT.GetPXPos(ePXLoc.PICKON)) && PKZ_UNSAFE) BSTOP = true;
+				else if (idx == 2 && MOT.getPositionMatch(MOT.GetPXPos(ePXLoc.PICKOFFR)) && PKZ_UNSAFE) BSTOP = true;
+				if (BSTOP)
+				{
+					if (DIO.GetIOOutput(DO_PORTRUN) == true) DIO.SetPortMotor(idx, eMotDir.CCW, false, "Z-NOTREADY");
+					return;
+				}
+			}
+
+			var PORTALIGN_OK = hmi1.arVar_Port[idx].AlignOK;
+			if (PORTALIGN_OK != 1) //align이 진행되지 않았다면 align을 잡기위해 처리를 해줘야한다
+			{
+                if (idx != 1)
+                {
+                    //
+                }
+                   
+				//안전센서동작여부 확인
+				var BSafty = DIO.isSaftyDoorF(idx, true);
+
+				//안전이 확보된 경우에만 얼라인 ok를한다 - 임시로 해제를 한다?  상단리밋에 걸리것을 처리안하려는 코드인듯!
+				//if (isPortDetUp(idx) == false && isPortLimUP(idx) == true && BSafty == true) PORTALIGN_OK = 1;
+
+				if (PORTALIGN_OK == 0) //얼라인이 완료되지 않은상태라면 모터 하강
+				{
+					//모터하강시작시간
+					PUB.Result.PortAlignTime[idx] = DateTime.Now.Ticks;
+
+					//리밋이 감지된 상태에서 작업하는거면 좀더 오래 내린다
+					//if (isPortLimUP(idx))
+					//{
+					if (idx == 1) PUB.Result.PortAlignWaitSec[idx] = AR.SETTING.Data.PortAlignDownTimeL;
+					else PUB.Result.PortAlignWaitSec[idx] = AR.SETTING.Data.PortAlignDownTimeU;
+
+					//좌우측음 좀 덜 내려간다
+					//}
+					//else Pub.Result.PortAlignWaitSec[idx] = 1.2f;
+					//Pub.Result.PortAlignWaitSec[idx] -= 1.0f; //1초제거  210108
+
+					//모터하강
+					if (DIO.GetPortMotorDir(idx) != eMotDir.CCW && DIO.GetPortMotorRun(idx) == true)
+					{
+						DIO.SetPortMotor(idx, eMotDir.CCW, false, "하강전멈춤");
+						System.Threading.Thread.Sleep(100);
+					}
+
+					DIO.SetPortMotor(idx, eMotDir.CCW, true, "얼라인(DN)");
+
+					//하강검사시작
+					hmi1.arVar_Port[idx].AlignOK = 2;
+					//Pub.log.AddAT($"포트({idx}) 얼라인(DOWN) 작업 시작");
+
+					//포트가 이제 안정화하지 않았으니 안정화를 풀어준다
+					PUB.flag.set(FG_RDY_PORT, false, "MOT_PORT_ALIGNSTART");
+				}
+				else if (PORTALIGN_OK == 2) //하강해서 찾는중
+				{
+					//자재감지센서가 감지안되고 일정시간이 지나면 정방향으로 전환한다
+					if (isPortDetUp(idx) == false)
+					{
+						var waitSec = PUB.Result.PortAlignWaitSec[idx];
+						var ts = new TimeSpan(DateTime.Now.Ticks - PUB.Result.PortAlignTime[idx]);
+						if (ts.TotalSeconds >= waitSec)
+						{
+							if (DIO.GetPortMotorDir(idx) != eMotDir.CW && DIO.GetPortMotorRun(idx) == true)
+							{
+								DIO.SetPortMotor(idx, eMotDir.CW, false, "상승전멈춤");
+								System.Threading.Thread.Sleep(100);
+							}
+
+							DIO.SetPortMotor(idx, eMotDir.CW, true, "얼라인(UP)");
+							hmi1.arVar_Port[idx].AlignOK = 9; //올린다
+															  //Pub.log.AddAT($"포트({idx}) 얼라인(UP) 작업 시작");
+						}
+					}
+					else
+					{
+						//하강하는데 자재가 감지되고있네? - 하강상태가이면 하강한다
+						if (DIO.GetIOOutput(DO_PORTRUN) == false)
+						{
+							if (DIO.GetPortMotorDir(idx) != eMotDir.CCW && DIO.GetPortMotorRun(idx) == true)
+							{
+								DIO.SetPortMotor(idx, eMotDir.CCW, false, "하강전멈춤");
+								System.Threading.Thread.Sleep(100);
+							}
+
+							DIO.SetPortMotor(idx, eMotDir.CCW, true, "얼라인(DN)");
+							PUB.log.Add("PORT", "Force port to descend");
+						}
+
+						//자재가 감지되면 시간을 다시 초기화해서 충분히 내려가도록 한다  210402
+						PUB.Result.PortAlignTime[idx] = DateTime.Now.Ticks;
+					}
+
+					//하단 리밋에 걸렷다면 반전시켜준다.  200708
+					if (isPortLimDN(idx) == true)
+					{
+						if (DIO.GetPortMotorDir(idx) != eMotDir.CW && DIO.GetPortMotorRun(idx) == true)
+						{
+							DIO.SetPortMotor(idx, eMotDir.CW, false, "리밋전환전멈춤");
+							System.Threading.Thread.Sleep(100);
+						}
+
+						DIO.SetPortMotor(idx, eMotDir.CW, true, "얼라인(LIM)");
+						hmi1.arVar_Port[idx].AlignOK = 9;
+						//Pub.log.AddAT($"포트({idx}) 얼라인(UP-LIM) 작업 시작");
+					}
+				}
+				else if (PORTALIGN_OK == 9) //상승해서 찾는중
+				{
+					if (isPortDetUp(idx) || isPortLimUP(idx))
+					{
+						hmi1.arVar_Port[idx].AlignOK = 1; //정렬완료로처리
+														  //Pub.log.AddAT($"포트({idx}) 얼라인 작업 완료");
+					}
+					else if (isPortDetUp(idx) == false || isPortLimUP(idx) == false)
+					{
+						//둘다 켜지 않은 상태에서 모터가 멈춰있다면 올려준다
+						if (DIO.GetIOOutput(DO_PORTRUN) == false)
+						{
+							if (DIO.GetPortMotorDir(idx) != eMotDir.CW && DIO.GetPortMotorRun(idx) == true)
+							{
+								DIO.SetPortMotor(idx, eMotDir.CW, false, "강제상승전멈춤");
+								System.Threading.Thread.Sleep(100);
+							}
+
+							DIO.SetPortMotor(idx, eMotDir.CW, true, "MOT_PORT");
+							PUB.log.Add("PORT", "Force ascend (stopped at position 9)");
+						}
+					}
+				}
+				else if (PORTALIGN_OK == 1)
+				{
+					//정렬완료로처리 - 201229
+					hmi1.arVar_Port[idx].AlignOK = 1;
+				}
+				else
+					hmi1.arVar_Port[idx].AlignOK = 0; //알수없는 상태이므로 처음부터 시작하게 한다
+			}
+			else
+			{
+				//여기코드는 PORT ALIGN 이 완료된상태(=1) 일 때 동작하는 코드이다
+				if (PUB.flag.get(FG_RDY_PORT) == false)
+				{
+                    if(idx != 1)
+                    {
+
+                    }
+					if (hmi1.arVar_Port[idx].errorCount > 5)
+					{
+						//5회이상 오류 발생햇으니 처리하지 않음
+					}
+					else if (isPortLimUP(idx) == true)
+					{
+						//상단 리밋이 확인됨(자재가 없는 경우임)
+						if (idx != 1)
+						{
+							//언로더 포트는 리밋에 걸리더라도 사용해야한다(놓는것은 가능 함)
+							//최초 상태에서는 반드시 이 상태가 된다
+							PUB.flag.set(FG_RDY_PORT, true, "MOT_PORT_UNLOADER ON");
+						}
+						else
+						{
+							if (isPortDetUp(idx))
+							{
+								PUB.flag.set(FG_RDY_PORT, true, "MOT_PORT_UNLOADER ON");
+							}
+						}
+					}
+					else if (isPortDetUp(idx) == true)
+					{
+						//자재감지가 완료되었다?
+						PUB.flag.set(FG_RDY_PORT, true, "RUN_MOT_P");
+					}
+					else
+					{
+						//모터를 올리는 작업을 진행해서 P-LIMIT를 찾아야 한다
+						Boolean runMot = DIO.GetPortMotorDir(idx) == eMotDir.CCW;
+						if (runMot == false)
+						{
+							if (DIO.GetIOOutput(DO_PORTRUN) == false) runMot = true;
+						}
+						if (runMot)
+						{
+							if (DIO.GetPortMotorDir(idx) != eMotDir.CW && DIO.GetPortMotorRun(idx) == true)
+							{
+								DIO.SetPortMotor(idx, eMotDir.CW, false, "얼라인(#1)전멈춤");
+								System.Threading.Thread.Sleep(100);
+							}
+
+							DIO.SetPortMotor(idx, eMotDir.CW, true, "얼라인(#1)");
+						}
+					}
+				}
+				else //포트가 준비되면 아무것도 안한다
+				{
+					//LIMIT이 들어와있는데 DETECT 센서도 들어와 있다면 다시 얼라인 잡게한다.
+					if (DIO.GetIOInput(DI_LIMUP) == true)
+					{
+						//언로더포트 0,2번은 Ready 를 풀지 않는다.
+						//그것은 P-LIM 상태라도 작업이 가능해야 한다
+						if (idx == 1)
+						{
+							if (isPortDetUp(idx) == false)
+								PUB.flag.set(FG_RDY_PORT, false, "RUN_MOT_P");
+						}
+					}
+
+					//자재가 감지되지 않았는데. LIMIT 가 아니라면 up을 시켜준다.
+					if (DIO.GetIOInput(DI_DETUP) == false && DIO.GetIOInput(DI_LIMUP) == false)
+					{
+						//RDY를 해제 해준다
+						PUB.flag.set(FG_RDY_PORT, false, "RUN_MOT_P");
+
+						if (DIO.GetIOOutput(DO_PORTRUN) == false)
+						{
+							if (DIO.GetPortMotorDir(idx) != eMotDir.CW && DIO.GetPortMotorRun(idx) == true)
+							{
+								DIO.SetPortMotor(idx, eMotDir.CW, false, "얼라인(#2)전멈춤");
+								System.Threading.Thread.Sleep(100);
+							}
+
+							DIO.SetPortMotor(idx, eMotDir.CW, true, "얼라인(#2)");
+						}
+					}
+				}
+			}
+
+			if (idx == 0)
+				PUB.sm.seq.UpdateTime(eSMStep.RUN_COM_PT0);
+			else if (idx == 1)
+				PUB.sm.seq.UpdateTime(eSMStep.RUN_COM_PT1);
+			else
+				PUB.sm.seq.UpdateTime(eSMStep.RUN_COM_PT2);
+
+		}
+	}
+}

Handler/Project/RunCode/StateMachine/_Events.cs

@@ -0,0 +1,127 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using arDev;
+using AR;
+
+namespace Project
+{
+	public partial class FMain
+	{
+
+		private void SM_StateProgress(object sender, AR.StateMachine.StateProgressEventArgs e)
+		{
+			arCtl.arLabel lbl = lbMsg;
+
+			lbl.BeginInvoke(new Action(() =>
+			{
+				var title = e.Message;
+				var max = e.MaxProgress;
+				var value = e.Progress;
+
+
+				if (lbl.ProgressEnable == false) lbl.ProgressEnable = true;
+				if (lbl.ProgressValue != value) lbl.ProgressValue = (float)value;
+				if (lbl.Text != title) lbl.Text = title;
+
+				if (max != 0)
+				{
+					if (lbl.ProgressMax != max) lbl.ProgressMax = (float)max;
+				}
+				if (e.ForeColor != null)
+				{
+					if (lbl.ProgressForeColor != e.ForeColor) lbl.ProgressForeColor = (Color)e.ForeColor;
+				}
+				if (e.ShadowColor != null)
+				{
+					if (lbl.ShadowColor != e.ShadowColor) lbl.ShadowColor = (Color)e.ShadowColor;
+				}
+				if (e.ProgressBackColor1 != null)
+				{
+					if (lbl.ProgressColor1 != e.ProgressBackColor1) lbl.ProgressColor1 = (Color)e.ProgressBackColor1;
+				}
+				if (e.ProgressBackColor2 != null)
+				{
+					if (lbl.ProgressColor2 != e.ProgressBackColor2) lbl.ProgressColor1 = (Color)e.ProgressBackColor2;
+				}
+
+				if (e.BackColor1 != null)
+				{
+					if (lbl.BackColor != e.BackColor1) lbl.BackColor = (Color)e.BackColor1;
+				}
+				if (e.BackColor2 != null)
+				{
+					if (lbl.BackColor2 != e.BackColor2) lbl.BackColor2 = (Color)e.BackColor2;
+				}
+			}));
+		}
+
+		private void SM_StepCompleted(object sender, EventArgs e)
+		{
+			PUB.log.Add($"Step completed({PUB.sm.Step})");
+
+			//초기화가 완료되면 컨트롤 글자를 변경 해준다.
+			if (PUB.sm.Step == eSMStep.INIT)
+				SM_InitControl(null, null);
+
+		}
+
+		private void SM_StepStarted(object sender, EventArgs e)
+		{
+			switch (PUB.sm.Step)
+			{
+				case eSMStep.IDLE:
+
+					//IDLE의 시작작업이 완료되었다면 각 버튼을 사용할 수 있도록 한다
+					this.Invoke(new Action(() =>
+					{
+						btStart.Enabled = true;
+						btStop.Enabled = true;
+						btReset.Enabled = true;
+					}));
+
+					break;
+			}
+
+		}
+
+		private void SM_InitControl(object sender, EventArgs e)
+		{
+			//작업시작전 컨트롤 초기화 코드
+			var mc = PUB.Result.mModel;
+			var mv = PUB.Result.vModel;
+
+			this.Invoke(new Action(() =>
+			{
+
+				//진행 중 표시되는 상태값 초기화
+				lbCntRight.ProgressValue = 0;
+				lbCntRight.Text = "--";
+				lbCntLeft.Text = "--";
+			}));
+
+		}
+
+
+
+		void SM_Message(object sender, StateMachine.StateMachineMessageEventArgs e)
+		{
+			//상태머신에서 발생한 메세지
+			PUB.log.Add(e.Header, e.Message);
+		}
+
+
+		void SM_StepChanged(object sender, StateMachine.StepChangeEventArgs e)
+		{
+			var o = (eSMStep)e.Old;
+			var n = (eSMStep)e.New;
+			PUB.log.AddI($"Step transition({o} >> {n})");
+
+			//230313
+			//EEMStatus.AddStatusSQL(n);
+		}
+
+	}
+}

Handler/Project/RunCode/StateMachine/_Loop.cs

@@ -0,0 +1,246 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using arDev;
+using AR;
+
+namespace Project
+{
+	public partial class FMain
+	{
+		DateTime lastDeleteTime = DateTime.Now;
+		DateTime HomeSuccessTime;
+		DateTime HomeChkTime;
+	
+
+		void SM_Loop(object sender, StateMachine.RunningEventArgs e)
+		{
+			//main loop
+			var step = (eSMStep)e.Step;
+			var obj = this.GetType();
+
+			var stepName = step.ToString();
+			var methodName = $"_STEP_{stepName}";
+			var methodNameStart = $"_STEP_{stepName}_START";
+			var runMethodName = $"_{stepName}";
+
+			var method = obj.GetMethod(methodName);
+			var methodS = obj.GetMethod(methodNameStart);
+
+			switch (step)
+			{
+				case eSMStep.NOTSET:
+					PUB.log.Add("S/M Initialize Start");
+					PUB.sm.SetNewStep(eSMStep.INIT);
+					break;
+
+				case eSMStep.WAITSTART:
+					if (e.isFirst) PUB.log.Add("EVENT WAITSTART");
+					break;
+
+				case eSMStep.PAUSE:
+				case eSMStep.EMERGENCY:
+				case eSMStep.ERROR:
+					if (e.isFirst)
+						_SM_MAIN_ERROR(e.isFirst, (eSMStep)e.Step, e.StepTime);
+					break;
+
+				default:
+
+					if (e.isFirst)
+					{
+						//시작명령은 반드시 구현할 필요가 없다
+						if (methodS != null) methodS.Invoke(this, new object[] { step });
+						else
+						{
+							hmi1.ClearMessage();
+							PUB.log.Add($"Undefined STEP({step}) started");
+						}
+
+						if (step == eSMStep.HOME_QUICK || step == eSMStep.HOME_FULL || PUB.sm.getOldStep == eSMStep.IDLE || PUB.sm.getOldStep == eSMStep.FINISH)
+						{
+							PUB.sm.seq.ClearData(step);
+							PUB.sm.seq.Clear(step);
+						}
+
+						PUB.sm.seq.ClearTime();
+						PUB.sm.RaiseStepStarted();
+					}
+
+					if (PUB.popup.needClose) System.Threading.Thread.Sleep(10);
+					else
+					{
+						//스텝번호값 보정 220313
+						if (PUB.sm.seq.Get(step) < 1) PUB.sm.seq.Update(step, 1);
+
+						if (method == null)
+						{
+							var runMethod = obj.GetMethod(runMethodName);
+							if (runMethod == null)
+							{
+								PUB.log.AddE($"The following command is not implemented {methodName}/{runMethodName}");
+								PUB.Result.SetResultMessage(eResult.DEVELOP, eECode.NOFUNCTION, eNextStep.ERROR, methodName, runMethodName);
+							}
+							else
+							{
+								var stepName2 = step.ToString();
+
+								//실행코드는 있으니 처리한다.
+								if (PUB.popup.needClose) System.Threading.Thread.Sleep(10); //팝업이 닫힐때까지 기다린다.
+								else
+								{
+									//실행가능여부를 확인 합니다
+									if (CheckSystemRunCondition() == true)
+									{
+										//동작상태가 아니라면 처리하지 않는다.
+										if (PUB.sm.Step == step && PUB.sm.getNewStep == step)
+										{
+											var param = new object[] { step };
+											var rlt = (bool)runMethod.Invoke(this, param);
+											if (rlt == true)
+											{
+												PUB.log.AddI("User step(automatic) execution completed, switching to idle state");
+												PUB.sm.SetNewStep(eSMStep.IDLE, true);
+											}
+										}
+									}
+								}
+							}
+						}
+						else
+						{
+							var param = new object[] { step, e.StepTime, PUB.sm.seq.GetTime(step) };
+							var rlt = (StepResult)method.Invoke(this, param);
+							if (rlt == StepResult.Complete) PUB.sm.RaiseStepCompleted();
+							else
+							{
+								//사용자 스텝이 설정되어있다면 자동으로 멈춘다  220223
+								if (rlt == StepResult.Error)
+								{
+									if (PUB.sm.getNewStep != eSMStep.ERROR)
+										PUB.sm.SetNewStep(eSMStep.ERROR);
+								}
+
+								if (PUB.flag.get(eVarBool.FG_USERSTEP) == true)
+								{
+									if (PUB.sm.Step >= eSMStep.RUN && PUB.sm.getNewStep >= eSMStep.RUN &&
+										PUB.sm.Step < eSMStep.FINISH && PUB.sm.getNewStep < eSMStep.FINISH)
+									{
+										//유저스텝에 걸려있지 않다면 자동으로 멈춘다
+										if (LockUserL.WaitOne(10) && LockUserR.WaitOne(10))
+										{
+											//Pub.Result.SetResultMessage(eResult.OPERATION, eECode.USER_STOP)
+											PUB.Result.ResultMessage = string.Empty;
+											PUB.sm.SetNewStep(eSMStep.PAUSE);
+										}
+									}
+								}
+							}
+						}
+					}
+					break;
+			}
+		}
+
+		void DeleteFile(string path)
+		{
+			var basetime = DateTime.Now.AddDays(-1 * AR.SETTING.Data.AutoDeleteDay);
+			var di = new System.IO.DirectoryInfo(path);
+			if (di.Exists)
+			{
+				var dirYear = di.GetDirectories().OrderBy(t => t.Name).FirstOrDefault();
+				if (dirYear != null)
+				{
+					var dirMon = dirYear.GetDirectories().OrderBy(t => t.Name).FirstOrDefault();
+					if (dirMon != null)
+					{
+						var dirDay = dirMon.GetDirectories().OrderBy(t => t.Name).FirstOrDefault();
+						if (dirDay != null)
+						{
+							var curDay = DateTime.Parse(string.Format("{0}-{1}-{2} 00:00:00", dirYear.ToString(), dirMon.ToString(), dirDay.ToString()));
+							if (curDay < basetime)
+							{
+								var dirLot = dirDay.GetDirectories().OrderBy(t => t.Name).FirstOrDefault();
+								if (dirLot != null)
+								{
+									var delfile = dirLot.GetFiles().FirstOrDefault();
+									if (delfile != null)
+									{
+										try
+										{
+											PUB.log.AddI("Remove Fle : " + delfile.FullName + ",time=" + delfile.LastWriteTime.ToString());
+											delfile.Delete();
+										}
+										catch (Exception ex)
+										{
+											PUB.log.AddE("deleete error : " + ex.Message);
+										}
+									}
+									else
+									{
+										string delpath = dirLot.FullName;
+										try
+										{
+											dirLot.Delete(true);
+										}
+										catch (Exception ex)
+										{
+											PUB.log.AddE("remove dir" + ex.Message + "," + delpath);
+										}
+
+									}
+								}
+								else
+								{
+									//이 폴더아래에 다른 폴더가 하나도 없다 즉 비어 있따.
+									string delpath = dirDay.FullName;
+									try
+									{
+										dirDay.Delete(true);
+									}
+									catch (Exception ex)
+									{
+										PUB.log.AddE("remove dir" + ex.Message + "," + delpath);
+									}
+								}
+							}
+
+						}
+						else
+						{
+							//날짜에 해당하는 폴더가 하나도 없다. 월 폴더를 제거한다.
+							string delpath = dirMon.FullName;
+							try
+							{
+								dirMon.Delete(true);
+							}
+							catch (Exception ex)
+							{
+								PUB.log.AddE("remove dir" + ex.Message + "," + delpath);
+							}
+						}
+					}
+					else
+					{
+						//이 달에 해당하는 데이터가 없다. 이 년도를 삭제한다.
+						string delpath = dirYear.FullName;
+						try
+						{
+							dirYear.Delete(true);
+						}
+						catch (Exception ex)
+						{
+							PUB.log.AddE("remove dir" + ex.Message + "," + delpath);
+						}
+					}
+				}
+				//년도별폴더목록을 정리함
+				//가장작은 년도를 기준으로 파일을 검색해서 1개씩 삭제함
+			}
+		}
+
+
+	}
+}

Handler/Project/RunCode/StateMachine/_SM_DIO.cs

@@ -0,0 +1,122 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+	public partial class FMain
+	{
+		private void Dio_IOValueChanged(object sender, arDev.DIO.IOValueEventArgs e)
+		{
+			if (e.Direction == arDev.DIO.eIOPINDIR.INPUT)
+			{
+				var diPin = DIO.Pin.input.Where(t=>t.terminalno == e.ArrIDX).FirstOrDefault();
+                if(diPin == null)
+                {
+                    PUB.log.AddE($"No terminal target found for DI INDEX:{e.ArrIDX}");
+                }
+                else
+                {
+                    var pin = (eDIName)diPin.idx;
+                    if (AR.SETTING.Data.Log_DI)
+                    {
+                        PUB.log.Add("DIO", String.Format("DI:IDX={0},DIR={1},VAL={2},NM={3}", e.ArrIDX, e.Direction, e.NewValue, diPin));
+                    }
+                    var value =  DIO.GetIOInput(pin);
+                    _DIO_INPUT_VALUE_CHANGED(pin, value);
+                }
+			}
+			else
+			{
+                var doPin = DIO.Pin.output.Where(t => t.terminalno == e.ArrIDX).FirstOrDefault();
+                if (doPin == null)
+                {
+                    PUB.log.AddE($"No terminal target found for DO INDEX:{e.ArrIDX}");
+                }
+                else
+                {
+                    var pin = (eDOName)doPin.idx;
+
+                    if (AR.SETTING.Data.Log_DO)
+                    {
+                        //타워램프는 제외하낟.
+                        if (e.ArrIDX != (byte)eDOName.TWR_GRNF &&
+                            e.ArrIDX != (byte)eDOName.TWR_REDF &&
+                            e.ArrIDX != (byte)eDOName.TWR_YELF &&
+                            e.ArrIDX != (byte)eDOName.BUT_STARTF &&
+                            e.ArrIDX != (byte)eDOName.BUT_STOPF &&
+                            e.ArrIDX != (byte)eDOName.BUT_RESETF)
+                            PUB.log.Add("DIO", String.Format("DO:IDX={0},DIR={1},VAL={2}", e.ArrIDX, e.Direction, e.NewValue));
+                    }
+                    _DIO_OUTPUT_VALUE_CHANGED(pin, e.NewValue);
+
+                }
+              
+			}
+		}
+
+		void _DIO_IOMessage(object sender, arDev.DIO.MessageEventArgs e)
+		{
+			if (e.IsError)
+			{
+				if (e.Message.ToLower().IndexOf("inposi") != -1 || e.Message.ToLower().IndexOf("동일위치") != -1)
+				{
+					PUB.log.AddAT("DIO:" + e.Message);
+				}
+				else
+				{
+					PUB.log.AddE("DIO:" + e.Message);
+				}
+			}
+			else PUB.log.Add("DIO:" + e.Message);
+		}
+
+		//void IO_SaftySensor_Changed(eDIName pin, eFlag flag, eVar_Date varDt_On, eVar_Date varDt_Off, bool value)
+		//{
+		//    //안전센서는 일정 시간 동작하는것을 체크한다
+		//    Pub.log.AddAT(string.Format("{0} Sensor : {1}", pin, value));
+		//    if (value) Pub.Var_dateTime[(int)varDt_On] = DateTime.Now;
+		//    else Pub.Var_dateTime[(int)varDt_Off] = DateTime.Now;
+		//}
+
+		void IncCount(int seq, int port, int value = 1)
+		{
+			if (SETTING.Counter.DateStr != DateTime.Now.ToShortDateString())
+			{
+				if (port == 0) SETTING.Counter.CountDP1 = value;
+				if (port == 1) SETTING.Counter.CountDP2 = value;
+				if (port == 2) SETTING.Counter.CountDP3 = value;
+				if (port == 3) SETTING.Counter.CountDP4 = value;
+				SETTING.Counter.DateStr = DateTime.Now.ToShortDateString();
+			}
+			else
+			{
+				if (port == 0) SETTING.Counter.CountDP1 += value;
+				if (port == 1) SETTING.Counter.CountDP2 += value;
+				if (port == 2) SETTING.Counter.CountDP3 += value;
+				if (port == 3) SETTING.Counter.CountDP4 += value;
+			}
+
+
+			//각 포트별 수량은 차수별 작업이므로 차수가 변경되면 리셋됨
+			//리셋되는 코드 필요함
+			if (port == 0) SETTING.Counter.CountP0 += value;
+			if (port == 1) SETTING.Counter.CountP1 += value;
+			if (port == 2) SETTING.Counter.CountP2 += value;
+			if (port == 3) SETTING.Counter.CountPrintR += value;
+			else
+			{
+				PUB.log.AddAT(string.Format("[{0}] Cannot increase quantity as it is an unspecified port", seq));
+			}
+
+			//Pub.log.AddI("수량정보가 저장 되었습니다");
+			SETTING.Counter.Save();
+		}
+
+
+
+		
+	}
+}

Handler/Project/RunCode/StateMachine/_SM_RUN.cs

@@ -0,0 +1,43 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        #region "Common Utility"
+
+    
+
+
+        /// <summary>
+        /// 지정된 시간만큼 대기하며 완료되면 true를 반환합니다.
+        /// </summary>
+        /// <param name="time"></param>
+        /// <returns></returns>
+        Boolean WaitForSeconds(eWaitType wait, double timems)
+        {
+            var idx = (byte)wait;
+            if (PUB.Result.WaitForVar[idx] == null || PUB.Result.WaitForVar[idx].Year == 1982)
+            {
+                PUB.Result.WaitForVar[idx] = PUB.Result.WaitForVar[idx] = DateTime.Now;
+                //Pub.log.Add(string.Format("Wait for [{0}], Wait Time:{1}ms", wait, timems));
+            }
+            var ts = DateTime.Now - PUB.Result.WaitForVar[idx];
+            if (ts.TotalSeconds >= timems) return true;
+            else return false;
+        }
+
+        void ResetWaitForSeconds(eWaitType wait)
+        {
+            var idx = (byte)wait;
+            PUB.Result.WaitForVar[idx] = DateTime.Parse("1982-11-23");
+        }
+
+        #endregion
+
+    }//cvass
+}

Handler/Project/RunCode/StateMachine/_SPS.cs

@@ -0,0 +1,265 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text.RegularExpressions;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        void SM_SPS(object sender, EventArgs e)
+        {
+            //명령어 가져오기 7:3개의 데이터 확인
+            if (PUB.plc != null && PUB.plc.Init)
+            {
+                if (PUB.plc.ReadBytes(0, 16, out byte[] plcbuffer))
+                {
+                    //내부버퍼에 상태를 기록한다
+                    Array.Copy(plcbuffer, 0, PUB.swPLCBuffer, 0, plcbuffer.Length);
+                }
+            }
+
+            //인터락설정(공용)
+            Set_InterLock();
+
+            //230905
+            hmi1.CVLeftBusy = PUB.iLockCVL.get((int)eILockCV.BUSY);
+            hmi1.CVLeftReady = PUB.iLockCVL.get((int)eILockCV.EXTBUSY);
+            hmi1.CVRightBusy = PUB.iLockCVR.get((int)eILockCV.BUSY);
+            hmi1.CVRightReady = PUB.iLockCVR.get((int)eILockCV.EXTBUSY);
+
+            //XMOVE 시에 RESET 키를 이용한 장치 초기화 작업
+            if (PUB.sm.Step == eSMStep.IDLE)
+                if (PUB.mot.HasHomeSetOff == true)
+                    if (DIO.GetIOInput(eDIName.BUT_RESETF) == true)
+                        if (DIO.GetIOInput(eDIName.PICKER_SAFE) == true)
+                            if (PUB.Result.ResetButtonDownTime.Year != 1982)
+                                if ((DateTime.Now - PUB.Result.ResetButtonDownTime).TotalSeconds >= 5)
+                                    Func_sw_initialize();
+
+            //비상정지체크
+            if (PUB.dio.IsInit == true)
+            {
+                if (DIO.IsEmergencyOn() == true)
+                {
+                    //모터에 비상정지신호를 바로 전송한다
+                    //Util_DO.SetMotEmergency(true);
+                    DIO.SetMotPowerOn(false);
+                    DIO.SetMotEmergency(true);
+                    if (PUB.sm.Step > eSMStep.IDLE)
+                    {
+                        string EmgButtonState = string.Empty;
+                        if (DIO.GetIOInput(eDIName.BUT_EMGF)) EmgButtonState = "EMG-FRONT";
+
+                        if (PUB.sm.Step != eSMStep.EMERGENCY &&
+                            PUB.sm.getNewStep != eSMStep.EMERGENCY)
+                        {
+                            PUB.mot.MoveStop("EmgBut", true);    //모든 축 강제정지 (물리시그널에 의해 미리 정지 된 상태임)
+
+                            //비상상태가 아니라면 비상으로 전환해준다.
+
+                            PUB.Result.ResultCode = eResult.EMERGENCY;
+                            PUB.Result.ResultMessage = string.Format("EMERGENCY\n" +
+                                "Emergency stop button ({0}) has been pressed\n" +
+                                "All motions are forced to stop\n" +
+                                "Please check the emergency stop button and initialize the system", EmgButtonState);
+
+                            PUB.log.AddI("SPS:Reserve Emergency Step");
+                            PUB.sm.SetNewStep(eSMStep.EMERGENCY);
+                        }
+                    }
+                }
+                else
+                {
+                    //이머전시가 해제되었으므로 파워를 복원한다.
+                    DIO.SetMotPowerOn(true);
+                    DIO.SetMotEmergency(false);
+                }
+            }
+
+            //룸조명(자동)
+            if (PUB.dio.IsInit)
+                Func_AutoRoomLight();
+
+            //부저확인
+            if (PUB.dio.IsInit)
+                Func_BuzzerControl();
+
+            //충돌검사()
+            if (PUB.dio.IsInit && PUB.mot.IsInit)
+                CheckCollision();
+
+            //포트의 UP/DN 모터
+            PortZMotorAutoOff();
+
+            //포트의 마그넷 작동
+            PortMagnet();
+
+            //동작중에 데이터가 reset 되는 코드 임시로 모니터링한다.
+            if (PUB.sm.Step != eSMStep.IDLE && PUB.sm.Step != eSMStep.HOME_FULL && PUB.sm.Step != eSMStep.HOME_QUICK)
+            {
+                var currid = PUB.Result.ItemDataC.VisionData.RID;
+                if (currid.Equals(lastridv1) == false)
+                {
+                    PUB.AddDebugLog("[SPS] RID값 변경 감지 :" + currid);
+                    lastridv1 = currid;
+                }
+            }
+
+            //process barcode
+            BarcodeProcess();
+            AutoOutConveyor();
+        }
+        string lastridv1 = string.Empty;
+
+
+
+        System.Diagnostics.Stopwatch UnloaderWatch = new System.Diagnostics.Stopwatch();
+
+        void PortMagnet()
+        {
+            if (PUB.flag.get(eVarBool.FG_WAT_MAGNET0) && DIO.GetIOOutput(eDOName.PORTL_MAGNET) == false)
+            {
+                var ts = DateTime.Now - VAR.TIME[(int)eVarTime.MAGNET0];
+                if (ts.TotalMilliseconds > AR.SETTING.Data.WaitTime_Magnet0)
+                {
+                    DIO.SetPortMagnet(0, true); //Util_DO.SetOutput(eDOName.CART_MAG0, true);
+                    PUB.flag.set(eVarBool.FG_WAT_MAGNET0, false, "SPS-MAGON");
+                }
+            }
+            if (PUB.flag.get(eVarBool.FG_WAT_MAGNET0) == true && DIO.GetIOOutput(eDOName.PORTL_MAGNET) == true)
+            {
+                PUB.flag.set(eVarBool.FG_WAT_MAGNET0, false, "SPS-MAGOFF");
+            }
+
+            if (PUB.flag.get(eVarBool.FG_WAT_MAGNET1) && DIO.GetIOOutput(eDOName.PORTC_MAGNET) == false)
+            {
+                var ts = DateTime.Now - VAR.TIME[(int)eVarTime.MAGNET1];
+                if (ts.TotalMilliseconds > AR.SETTING.Data.WaitTime_Magnet1)
+                {
+                    DIO.SetPortMagnet(1, true); // Util_DO.SetOutput(eDOName.CART_MAG1, true);
+                    PUB.flag.set(eVarBool.FG_WAT_MAGNET1, false, "SPS-MAGON");
+                }
+            }
+            if (PUB.flag.get(eVarBool.FG_WAT_MAGNET1) == true && DIO.GetIOOutput(eDOName.PORTC_MAGNET) == true)
+            {
+                PUB.flag.set(eVarBool.FG_WAT_MAGNET1, false, "SPS-MAGOFF");
+            }
+
+
+            if (PUB.flag.get(eVarBool.FG_WAT_MAGNET2) && DIO.GetIOOutput(eDOName.PORTR_MAGNET) == false)
+            {
+                var ts = DateTime.Now - VAR.TIME[(int)eVarTime.MAGNET2];
+                if (ts.TotalMilliseconds > AR.SETTING.Data.WaitTime_Magnet2)
+                {
+                    DIO.SetPortMagnet(2, true); //  Util_DO.SetOutput(eDOName.CART_MAG2, true);
+                    PUB.flag.set(eVarBool.FG_WAT_MAGNET2, false, "SPS-MAGON");
+                }
+            }
+            if (PUB.flag.get(eVarBool.FG_WAT_MAGNET2) == true && DIO.GetIOOutput(eDOName.PORTR_MAGNET) == true)
+            {
+                PUB.flag.set(eVarBool.FG_WAT_MAGNET2, false, "SPS-MAGOFF");
+            }
+        }
+
+        int intlockcnt = 0;
+
+        /// <summary>
+        /// 이 기능은 DIO 에서도 처리된다. - 해당 위치가 더 빠를듯 하여 ,그곳에서도 처리되고 이곳에서도 추가 처리를 한다
+        /// </summary>
+        private void PortZMotorAutoOff()
+        {
+            //dir 이 켜져있다면 Up/ 꺼져있다면 down
+            var P0DirUp = DIO.GetPortMotorDir(0) == eMotDir.CW;
+            var P1DirUp = DIO.GetPortMotorDir(1) == eMotDir.CW;
+            var P2DirUp = DIO.GetPortMotorDir(2) == eMotDir.CW;
+
+            var P0Run = DIO.GetIOOutput(eDOName.PORTL_MOT_RUN);
+            var P1Run = DIO.GetIOOutput(eDOName.PORTC_MOT_RUN);
+            var P2Run = DIO.GetIOOutput(eDOName.PORTR_MOT_RUN);
+
+            var P0LimUp = DIO.GetIOInput(eDIName.PORTL_LIM_UP);
+            var P1LimUp = DIO.GetIOInput(eDIName.PORTC_LIM_UP);
+            var P2LimUp = DIO.GetIOInput(eDIName.PORTR_LIM_UP);
+
+            var P0DetUp = DIO.GetIOInput(eDIName.PORTL_DET_UP);
+            var P1DetUp = DIO.GetIOInput(eDIName.PORTC_DET_UP);
+            var P2DetUp = DIO.GetIOInput(eDIName.PORTR_DET_UP);
+
+            var P0LimDn = DIO.GetIOInput(eDIName.PORTL_LIM_DN);
+            var P1LimDn = DIO.GetIOInput(eDIName.PORTC_LIM_DN);
+            var P2LimDn = DIO.GetIOInput(eDIName.PORTR_LIM_DN);
+
+            //현재 출력중이고, 상단이 켜져있는데 상단 센서가 들어와잇다면 OFF 한다
+            if (P0Run && P0DirUp && (P0LimUp || P0DetUp)) DIO.SetPortMotor(0, eMotDir.CCW, false, "SPS");
+            if (P1Run && P1DirUp && (P1LimUp || P1DetUp)) DIO.SetPortMotor(1, eMotDir.CCW, false, "SPS");
+            if (P2Run && P2DirUp && (P2LimUp || P2DetUp)) DIO.SetPortMotor(2, eMotDir.CCW, false, "SPS");
+
+            //현재 출력중이고, 하단이 켜져있는데. 하단 센서가 들어와 있다면 Off 한다
+            if (P0Run && P0DirUp == false && P0LimDn) DIO.SetPortMotor(0, eMotDir.CW, false, "SPS");
+            if (P1Run && P1DirUp == false && P1LimDn) DIO.SetPortMotor(1, eMotDir.CW, false, "SPS");
+            if (P2Run && P2DirUp == false && P2LimDn) DIO.SetPortMotor(2, eMotDir.CW, false, "SPS");
+
+            //작업이 종료되어서 포트가 내려가고 있다면 5초뒤에 멈춘다 - 210405
+            if (PUB.flag.get(eVarBool.FG_PORT1_ENDDOWN) && AR.SETTING.Data.Port1FisnishDownTime > 0)
+            {
+                var runtime = DateTime.Now - VAR.TIME[(int)eVarTime.PORT1];
+                if (runtime.TotalMilliseconds >= AR.SETTING.Data.Port1FisnishDownTime)
+                {
+                    if (P1Run && PUB.sm.isRunning == false && DIO.GetPortMotorDir(1) == eMotDir.CCW)
+                    {
+                        DIO.SetPortMotor(1, eMotDir.CW, false, "SPS");
+                    }
+                    PUB.flag.set(eVarBool.FG_PORT1_ENDDOWN, false, "SPS");
+                    VAR.TIME.Update(eVarTime.PORT1);
+                }
+            }
+        }
+
+        DateTime CollCheckTime = DateTime.Now;
+        private void CheckCollision()
+        {
+            //충돌검검사 (홈 이 완료안된 모터에는 처리하지 않는다)
+            if (PUB.sm.Step != eSMStep.RUN || PUB.sm.getNewStep != eSMStep.RUN) return;
+
+            //초당 20번 검사하게 함
+            var ts = DateTime.Now - CollCheckTime;
+            if (ts.TotalMilliseconds < 50) return;
+
+
+
+            //현재 시간으로 설정
+            CollCheckTime = DateTime.Now;
+        }
+
+        private void Func_AutoRoomLight()
+        {
+            if (AR.SETTING.Data.Enable_AutoLight == false) return;
+
+        }
+
+
+        private void Func_BuzzerControl()
+        {
+            //if (AR.SETTING.Data.Disable_Buzzer == false) return;
+            if (PUB.BuzzerTime.Year == 1982) return;    //시간설정이없으면 out
+            if (DIO.GetIOOutput(eDOName.BUZZER) == false) return; //부저가 꺼져있다면 out
+            if (AR.SETTING.Data.buzz_run_ms != 0) //시간이 설정된 경우에만 작동190509
+            {
+                if (PUB.BuzzerTime.Year == 1982) PUB.BuzzerTime = DateTime.Now;
+                else
+                {
+                    var ts = DateTime.Now - PUB.BuzzerTime;
+                    if (ts.TotalMilliseconds >= AR.SETTING.Data.buzz_run_ms)  //지정시간이 초과된경우에만 OFF
+                    {
+                        PUB.log.Add("Auto Buzzer Off by SPS");
+                        DIO.SetBuzzer(false); //지정시간초과로 부저를 OFF 한다.
+                    }
+                }
+            }
+        }
+
+    }
+}

Handler/Project/RunCode/StateMachine/_SPS_AutoOutConveyor.cs

@@ -0,0 +1,87 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text.RegularExpressions;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        //컨베이어 배출신호를 자동 해제한다.(지정시간-초)
+        DateTime AutoConvOutTimeL = new DateTime(1982, 11, 23);
+        DateTime AutoConvOutTimeR = new DateTime(1982, 11, 23);
+        void AutoOutConveyor()
+        {
+            //동작중에만 사용한다
+            if (PUB.sm.Step != eSMStep.RUN) return;
+
+            //컨베이어 사용시에만.
+            if (VAR.BOOL[eVarBool.Use_Conveyor] == false) return;
+
+            //모델정보 필수
+            if (PUB.Result.vModel == null || PUB.Result.isSetvModel == false) return;
+
+            //자동 해제 시간확인 (0=비활성)
+            var AutoReleaseSecond = PUB.Result.vModel.AutoOutConveyor;
+            if (AutoReleaseSecond < 1) return;
+
+            //현재 모델의 사용여부 확인 (UI상단에서 버튼으로 클릭가능하다)
+            if (PUB.Result.AutoReelOut == false) return;
+
+            //외부신호 대기중일때만 사용
+            if (PUB.iLockCVL.get((int)eILockCV.EXTBUSY) && DIO.GetIOInput(eDIName.L_CONV4))
+            {
+                if (VAR.BOOL[eVarBool.FG_AUTOOUTCONVL] == false)
+                {
+                    if (AutoConvOutTimeL.Year == 1982) AutoConvOutTimeL = DateTime.Now;
+                    var ts = DateTime.Now - AutoConvOutTimeL;
+                    if (ts.TotalSeconds > AutoReleaseSecond)
+                    {
+                        PUB.log.AddI($"Auto Conveyor(L) Output - On");
+                        VAR.BOOL[eVarBool.FG_AUTOOUTCONVL] = true;
+                        AutoConvOutTimeL = DateTime.Now;
+                    }
+                }
+            }
+            else if (VAR.BOOL[eVarBool.FG_AUTOOUTCONVL] == true)
+            {
+                var ts = DateTime.Now - AutoConvOutTimeL;
+                if (ts.TotalSeconds > SETTING.Data.Timeout_AutoOutConvSignal)
+                {
+                    PUB.log.Add($"Auto Conveyor(L) Output - Off");
+                    VAR.BOOL[eVarBool.FG_AUTOOUTCONVL] = false;
+                    AutoConvOutTimeL = new DateTime(1982, 11, 23);
+                }
+            }
+
+            //외부신호 대기중일때만 사용
+            if (PUB.iLockCVR.get((int)eILockCV.EXTBUSY) && DIO.GetIOInput(eDIName.R_CONV4))
+            {
+                if (VAR.BOOL[eVarBool.FG_AUTOOUTCONVR] == false)
+                {
+                    if (AutoConvOutTimeR.Year == 1982) AutoConvOutTimeR = DateTime.Now;
+                    var ts = DateTime.Now - AutoConvOutTimeR;
+                    if (ts.TotalSeconds > AutoReleaseSecond)
+                    {
+                        PUB.log.AddI($"Auto Conveyor(R) Output - On");
+                        VAR.BOOL[eVarBool.FG_AUTOOUTCONVR] = true;
+                        AutoConvOutTimeR = DateTime.Now;
+                    }
+                }          
+            }
+            else if (VAR.BOOL[eVarBool.FG_AUTOOUTCONVR] == true)
+            {
+                var ts = DateTime.Now - AutoConvOutTimeR;
+                if (ts.TotalSeconds > SETTING.Data.Timeout_AutoOutConvSignal)
+                {
+                    PUB.log.Add($"Auto Conveyor(R) Output - Off");
+                    VAR.BOOL[eVarBool.FG_AUTOOUTCONVR] = false;
+                    AutoConvOutTimeR = new DateTime(1982, 11, 23);
+                }
+            }
+        }
+
+    }
+}

Handler/Project/RunCode/StateMachine/_SPS_BarcodeProcess.cs

@@ -0,0 +1,266 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text.RegularExpressions;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        Tuple<int, List<string>> BarcodeRegExProcess(
+            List<Class.RegexPattern> patterns,
+            List<Class.RegexPattern> patternsEx,
+            Class.VisionData vdata, string barcodeSymbol,
+            string bcd, out bool IgnoreBarcode, out bool findregex)
+        {
+            //var patterns = PUB.Result.BCDPattern;
+            IgnoreBarcode = false;
+            findregex = false;
+            if (barcodeSymbol == "6") barcodeSymbol = "11"; //250930
+
+            //get : same symbol data
+            List<Class.RegexPattern> pats;
+            if (patterns != null)
+            {
+                if (barcodeSymbol.isEmpty() == false) pats = patterns.Where(t => t.IsEnable == true && (string.IsNullOrEmpty(t.Symbol) || t.Symbol == barcodeSymbol)).OrderBy(t => t.Seq).ToList();
+                else pats = patterns.Where(t => t.IsEnable == true).OrderBy(t => t.Seq).ToList();
+            }
+            else pats = new List<Class.RegexPattern>();
+
+
+            List<Class.RegexPattern> patsEx;
+            if (patternsEx == null) patsEx = new List<Class.RegexPattern>();
+            else
+            {
+                if (barcodeSymbol.isEmpty() == false) patsEx = patternsEx.Where(t => string.IsNullOrEmpty(t.Symbol) || t.Symbol == barcodeSymbol).OrderBy(t => t.Seq).ToList();
+                else patsEx = patternsEx.Where(t => t.IsEnable == true).OrderBy(t => t.Seq).ToList();
+            }
+
+
+
+            //모델정보의  허용  심볼인지  확인한다  221017
+            var vm = PUB.Result.vModel;
+            if (vm != null)
+            {
+                if (vm.BCD_DM == false && barcodeSymbol == "2")
+                {
+                    PUB.log.AddAT($"Inactive in model Symbol Setting(DM):{bcd}");
+                    IgnoreBarcode = true;
+                    return new Tuple<int, List<string>>(0, new List<string>());
+                }
+                else if (vm.BCD_1D == false && (barcodeSymbol == "6" || barcodeSymbol == "11"))
+                {
+                    PUB.log.AddAT($"Inactive in model Symbol Setting(1D):{bcd}");
+                    IgnoreBarcode = true;
+                    return new Tuple<int, List<string>>(0, new List<string>());
+                }
+                else if (vm.BCD_QR == false && (barcodeSymbol == "1"))
+                {
+                    PUB.log.AddAT($"Inactive in model Symbol Setting(QR):{bcd}");
+                    IgnoreBarcode = true;
+                    return new Tuple<int, List<string>>(0, new List<string>());
+                }
+            }
+
+            //check barcode pattern
+            if (pats.Any() == false)
+            {
+                PUB.log.AddAT($"No registered pattern(SYM={barcodeSymbol}) Model:{vm.Title}");
+                return new Tuple<int, List<string>>(0, new List<string>());
+            }
+
+            //이 바코드가 무시바코드에 있는지 먼저 검사한다 220718
+            foreach (var pt in patsEx)
+            {
+                //skip disable item
+                if (pt.IsEnable == false) continue;
+
+                //check regex
+                var regx = new Regex(pt.Pattern, RegexOptions.IgnoreCase, new TimeSpan(0, 0, 10));
+                if (regx.IsMatch(bcd))
+                {
+                    PUB.log.AddAT($"Ignore barcode:{bcd},PAT:{pt.Pattern},SYM:{pt.Symbol}");
+                    IgnoreBarcode = true;
+                    break;
+                }
+            }
+            if (IgnoreBarcode)
+            {
+                return new Tuple<int, List<string>>(0, new List<string>());
+            }
+
+
+            //동작중에 들어오는 바코드의 자동처리코드 추가 250926
+            if (PUB.sm.Step == eSMStep.RUN || PUB.sm.Step == eSMStep.PAUSE || PUB.sm.Step == eSMStep.WAITSTART)
+            {
+
+                var OPT_PrinterOff = VAR.BOOL[eVarBool.Opt_DisablePrinter];
+                var OPT_CameraOff = PUB.OPT_CAMERA();
+                var OPT_BYPASS = PUB.OPT_BYPASS();
+
+                if (OPT_BYPASS == false)
+                {
+                    //기본 벤더이름
+                    if (PUB.Result.vModel.Def_Vname.isEmpty() == false)
+                    {
+                        if (vdata.VNAME.Equals(PUB.Result.vModel.Def_Vname) == false)
+                        {
+                            vdata.VNAME = PUB.Result.vModel.Def_Vname;
+                            vdata.VNAME_Trust = true;
+                            PUB.log.Add($"Defaul V.Name Set to {PUB.Result.vModel.Def_Vname}");
+                        }
+                    }
+
+                    //기본 MFG
+                    if (PUB.Result.vModel.Def_MFG.isEmpty() == false)
+                    {
+                        if (vdata.MFGDATE.Equals(PUB.Result.vModel.Def_MFG) == false)
+                        {
+                            vdata.MFGDATE = PUB.Result.vModel.Def_MFG;
+                            vdata.MFGDATE_Trust = true;
+                            PUB.log.Add($"Defaul MFGDATE Set to {PUB.Result.vModel.Def_MFG}");
+                        }
+                    }
+
+                    //파트넘버무시
+                    if (PUB.Result.vModel.IgnorePartNo)
+                    {
+                        vdata.PARTNO_Trust = true;
+                    }
+
+                    //배치무시
+                    if (PUB.Result.vModel.IgnoreBatch)
+                    {
+
+                    }
+
+                    //프린트를 하지 않는 경우에는 프린트 위치를 자동으로 처리한다.
+                    if (OPT_PrinterOff == true)
+                    {
+                        vdata.PrintPositionData = "0";
+                        vdata.PrintPositionCheck = true;
+                    }
+                }
+                else
+                {
+                    if (vdata.VNAME_Trust == false)
+                    {
+                        vdata.VNAME = "BYPASS";
+                        vdata.VNAME_Trust = true;
+                    }
+                }
+            }
+
+            var ValueApplyCount = 0;
+            ValueApplyCount = 0;
+            List<string> list = new List<string>();
+            findregex = false;
+            foreach (var pt in pats)
+            {
+                //skip disable item
+                if (pt.IsEnable == false) continue;
+
+                var regx = new Regex(pt.Pattern, RegexOptions.IgnoreCase, new TimeSpan(0, 0, 5));
+                try
+                {
+                    if (regx.IsMatch(bcd))
+                    {
+                        findregex = true;
+                        //find data
+                        var matchs = regx.Matches(bcd);
+                        foreach (System.Text.RegularExpressions.Match mat in matchs)
+                        {
+
+                            if (vdata == null) ValueApplyCount += 1;
+                            else
+                            {
+                                foreach (var matchdata in pt.Groups)
+                                {
+                                    if (matchdata.GroupNo <= mat.Groups.Count)
+                                    {
+                                        var data = mat.Groups[matchdata.GroupNo];
+                                        if (PUB.SetBCDValue(vdata, matchdata.TargetPos, data.Value, pt.IsTrust))
+                                            ValueApplyCount += 1;
+                                    }
+                                }
+                            }
+                        }
+
+                        if (vdata != null && pt.IsAmkStd)// && bcdObj.barcodeSymbol == "1")
+                        {
+                            vdata.QRInputRaw = bcd;
+                        }
+
+                        if (vdata != null)
+                            PUB.log.AddI($"[{pt.Description}]=>{bcd}");
+
+                        list.Add(pt.Customer + "|" + pt.Description);
+                    }
+                    else
+                    {
+                        //PUB.log.AddAT($"(X)Match ({pt.Pattern}) Data={bcd}");
+                    }
+                }
+                catch (Exception ex)
+                {
+                    PUB.log.AddE($"BarcodeRegEx Error : {ex.Message}");
+                }
+       
+            }
+            return new Tuple<int, List<string>>(ValueApplyCount, list);
+        }
+
+        /// <summary>
+        /// barcod eprocess
+        /// </summary>
+        void BarcodeProcess()
+        {
+            var itemC = PUB.Result.ItemDataC;
+            var vdata = itemC.VisionData;
+
+            //No Run - Confirm Data
+            if (vdata.Confirm) return;
+            var vm = PUB.Result.vModel;
+
+            lock (vdata.barcodelist)
+            {
+                foreach (var item in vdata.barcodelist)
+                {
+                    //var src = item.Value.barcodeSource;
+                    var bcd = item.Value.Data;
+                    var bcdObj = item.Value;
+
+                    //already checked
+                    if (bcdObj.RegExConfirm) continue;
+
+                    lock (PUB.Result.BCDPatternLock)
+                    {
+                        var ValueApplyCount = BarcodeRegExProcess(PUB.Result.BCDPattern, PUB.Result.BCDIgnorePattern, vdata, bcdObj.barcodeSymbol, bcd, out bool IgnoreBcd, out bool findregex);
+                        bcdObj.Ignore = IgnoreBcd;
+
+                        //기타바코드 무시기능 적용 221018
+                        if (vm != null && vm.IgnoreOtherBarcode == true && findregex == false)
+                            bcdObj.Ignore = true;
+
+                        bcdObj.RefExApply = (ValueApplyCount?.Item1 ?? 0);
+                        bcdObj.RegExConfirm = true;
+                    }
+
+
+
+                }
+            }
+
+            //all process sequence
+            if (BCDProcess_ALL(itemC, "SPS", PUB.sm.Step == eSMStep.RUN) != EResultKeyence.Nothing)
+            {
+                //nothing : multisid condition
+            }
+
+
+        }
+    }
+}

Handler/Project/RunCode/StateMachine/_SPS_RecvQRProcess.cs

@@ -0,0 +1,147 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text.RegularExpressions;
+using Newtonsoft.Json.Linq;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        bool RecvQRProcess(List<string> qrdatas, eWorkPort vIdx)
+        {
+            //데이터가없으면 처리하지 않는다.
+            if (qrdatas == null || qrdatas.Count < 1) return false;
+
+            bool FindData = false;
+            var idata = vIdx == eWorkPort.Left ? PUB.Result.ItemDataL : PUB.Result.ItemDataR;
+
+            //표준바코드라면 그 값을 표시해준다
+            lock (PUB.Result.BCDPatternLock)
+            {
+                var patterns = PUB.Result.BCDPattern;
+
+                foreach (var datas in qrdatas)
+                {
+                    // JSON 구조에서 "data" 필드 추출
+                    string barcodeData = datas;
+                    try
+                    {
+                        var jobj = JObject.Parse(datas);
+                        if (jobj["data"] != null)
+                        {
+                            barcodeData = jobj["data"].ToString();
+                        }
+                    }
+                    catch
+                    {
+                        // JSON 파싱 실패 시 원본 데이터 사용
+                        barcodeData = datas;
+                    }
+
+                    //원본자료를 체크한다
+                    if (barcodeData.Equals(idata.VisionData.PrintQRData))
+                    {
+                        //인쇄한 자료와 동일한 자료이다
+                        FindData = true;
+                    }
+
+                    //표준 바코드 형태만 취한다
+                    var pats = patterns.Where(t => t.IsAmkStd && t.IsEnable).OrderBy(t => t.Seq).ToList();
+                    if (pats.Any())
+                    {
+                        //패턴을 확인하여 값을 표시해준다
+                        //var ValueApplyCount = 0;
+                        foreach (var pt in pats)
+                        {
+                            var regx = new Regex(pt.Pattern, RegexOptions.IgnoreCase, new TimeSpan(0, 0, 10));
+                            if (regx.IsMatch(barcodeData))    //패턴이 일치하다면 이것만 사용한다
+                            {
+                                //find data
+                                var matchs = regx.Matches(barcodeData);
+                                foreach (System.Text.RegularExpressions.Match mat in matchs)
+                                {
+                                    foreach (var matchdata in pt.Groups)
+                                    {
+                                        if (matchdata.GroupNo <= mat.Groups.Count)
+                                        {
+                                            var data = mat.Groups[matchdata.GroupNo];
+                                            switch (matchdata.TargetPos.ToUpper())
+                                            {
+                                                case "SID":
+                                                    idata.VisionData.SID2 = data.Value;
+                                                    break;
+                                                case "RID":
+                                                    idata.VisionData.RID2 = data.Value;
+                                                    break;
+                                                case "VLOT":
+                                                    idata.VisionData.VLOT2 = data.Value;
+                                                    break;
+                                                case "VNAME":
+                                                    idata.VisionData.VNAME2 = data.Value;
+                                                    break;
+                                                case "MFG":
+                                                    idata.VisionData.MFGDATE2 = data.Value;
+                                                    break;
+                                                case "QTY":
+                                                    idata.VisionData.QTY2 = data.Value;
+                                                    break;
+                                                case "PART":
+                                                    idata.VisionData.PARTNO2 = data.Value;
+                                                    break;
+                                            }
+                                        }
+                                    }
+                                }
+                                break;
+                            }
+                        }
+                    }
+                }
+
+            }
+
+
+            //자료는 있었지만 바코드검증이 실패된 경우이다
+            //타임아웃까지 기다리지 않고 바로 오류처리를 한다.
+            if (FindData == true)
+            {
+                //데이터를 찾았다면 완료처리를 해준다
+                idata.VisionData.Complete = true;
+                //PUB.Result.ItemData[vIdx].VisionData.Complete = true;
+                return true;
+
+            }
+
+            return false;
+
+            //else
+            //{
+            //	var item = Pub.Result.ItemData[vIdx];
+            //	var tsGrab = DateTime.Now - Pub.GetVarTime(VAR_LIVEVIEW);
+            //	var timeoutVision = vIdx == 1 ? COMM.SETTING.Data.Timeout_VisionProcessL : COMM.SETTING.Data.Timeout_VisionProcessU;
+            //	if (tsGrab.TotalMilliseconds >= timeoutVision)
+            //	{
+            //		//다음 바코드가 있다면 추가 진행을 위해서 남겨준다
+            //		_SM_SAVEIMAGE(vIdx, DateTime.Now, "Images(QRValid)");
+
+
+            //		WS_Send((idx == 0 ? 0 : 1), Pub.wsL, Pub.Result.ItemData[idx].guid, "OFF");
+
+
+            //		var barcodepos = vIdx == 0 ? "LEFT" : "RIGHT";
+            //		Pub.log.AddE("(" + barcodepos + ")바코드를 검증했지만 일치하지 않습니다");
+            //		Pub.Result.SetResultMessage(eResult.OPERATION, eECode.BARCODEVALIDERR, eNextStep.pause,
+            //			vIdx, Pub.Result.ItemData[vIdx].VisionData.RID, Pub.Result.ItemData[vIdx].VisionData.RID2,
+            //			Pub.Result.ItemData[vIdx].VisionData.QTY, Pub.Result.ItemData[vIdx].VisionData.QTY2,
+            //			Pub.Result.ItemData[vIdx].VisionData.SID, Pub.Result.ItemData[vIdx].VisionData.SID2,
+            //			Pub.Result.ItemData[vIdx].VisionData.MFGDATE, Pub.Result.ItemData[vIdx].VisionData.MFGDATE2,
+            //			barcodepos);
+            //		return;
+            //	}
+            //}
+        }
+
+    }
+}

Handler/Project/RunCode/Step/_STEP_FINISH.cs

@@ -0,0 +1,49 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+namespace Project
+{
+	public partial class FMain
+	{
+
+		public void _STEP_FINISH_START(eSMStep step)
+		{
+			//포트1번을 아래로 이동한다(모든포트를 내린다)
+			DIO.SetPortMotor(1, eMotDir.CCW, true, "FINISH"); //210326
+
+            var cvMODE = VAR.BOOL[eVarBool.Use_Conveyor];
+            if(cvMODE==false)
+            {
+                if (AR.SETTING.Data.Disable_Left == false) DIO.SetPortMotor(0, eMotDir.CCW, true, "FINISH"); //210326
+                if (AR.SETTING.Data.Disable_Right == false) DIO.SetPortMotor(2, eMotDir.CCW, true, "FINISH"); //210326
+            }
+
+            //picker move to center
+            if (DIO.GetIOInput(eDIName.PICKER_SAFE) == false)
+			{
+				var PosX = MOT.GetPXPos(ePXLoc.PICKON);
+				MOT.Move(PosX);
+			}
+
+			PUB.Result.JobEndTime = DateTime.Now;
+
+            //컨베어OFF
+            DIO.SetOutput(eDOName.LEFT_CONV, false);
+            DIO.SetOutput(eDOName.RIGHT_CONV, false);
+
+			DIO.SetBuzzer(true, AR.SETTING.Data.Force_JobEndBuzzer);
+			PUB.log.AddI("Work has been completed");
+			needShowSummary = true;
+		}
+
+		public StepResult _STEP_FINISH(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+		{
+			return StepResult.Wait;
+		}
+
+	}
+}

Handler/Project/RunCode/Step/_STEP_HOME_CONFIRM.cs

@@ -0,0 +1,150 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+        public void _STEP_HOME_CONFIRM_START(eSMStep step)
+        {
+            PUB.sm.seq.Clear(step);
+        }
+
+        public StepResult _STEP_HOME_CONFIRM(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+            byte idx = 1;
+            var cmdIndex = step;
+            if (PUB.sm.seq.Get(cmdIndex) < idx) PUB.sm.seq.Set(cmdIndex, idx);
+
+            //*********************
+            //**    하드웨어 조건 확인
+            //*********************
+            if (CheckHomeProcess_HW_Available(false) == false)
+            {
+                return StepResult.Error;
+            }
+
+            //  전체 홈 시간을 체크한다.
+            if (stepTime.TotalSeconds >= AR.SETTING.Data.Timeout_HomeSearch)
+            {
+                PUB.Result.SetResultMessage(eResult.TIMEOUT, eECode.HOME_TIMEOUT, eNextStep.NOTHING, AR.SETTING.Data.Timeout_HomeSearch); //, eECode.(eResult.HomeTimeout,msg ,false);
+                return StepResult.Error;
+            }
+
+
+            //모든축의 완료여부 확인
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                //모든축이 완료되었다면 완료처리를 한다.
+                if (
+                    PUB.mot.IsHomeSet((short)eAxis.PX_PICK) &&
+                    PUB.mot.IsHomeSet((short)eAxis.PZ_PICK) &&
+                    PUB.mot.IsHomeSet((short)eAxis.Z_THETA) &&
+                    PUB.mot.IsHomeSet((short)eAxis.PL_MOVE) &&
+                    PUB.mot.IsHomeSet((short)eAxis.PR_MOVE) &&
+                    PUB.mot.IsHomeSet((short)eAxis.PL_UPDN) &&
+                    PUB.mot.IsHomeSet((short)eAxis.PR_UPDN))
+                {
+                    //완료처리
+                    hmi1.Scean = UIControl.HMI.eScean.Nomal;
+                    PUB.sm.seq.Update(cmdIndex);
+                }
+                return StepResult.Wait;
+            }
+
+
+            //X축을 안전위치로 보낸다
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var Pos = MOT.GetPXPos(ePXLoc.PICKON);
+                Pos.Speed = 200;
+                if (MOT.CheckMotionPos(seqTime, Pos, "HOME_SEARCH", false) == false) return StepResult.Wait;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //자재를 들고 있는가(왼쪽)
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                if (DIO.isVacOKL() > 0)
+                {
+                    //로더에 다시 놓아야 한다
+                    var Pos = MOT.GetPXPos(ePXLoc.PICKON);
+                    if (MOT.CheckMotionPos(seqTime, Pos, "#6") == false) return 0;
+
+                    //피커의Z축은 가져오는 위치에서 +10mm 에서 처리한다
+                    var PosZ = MOT.GetPZPos(ePZLoc.PICKON);
+                    PosZ.Position -= 60;
+
+                    //theta 는 0으로 원복한다
+                    if (MOT.CheckMotionPos(eAxis.Z_THETA, seqTime, 0, 400, 1000, 1000, "QUICK") == false) return 0;
+                    if (MOT.CheckMotionPos(seqTime, PosZ, "QUICK") == false) return 0;
+
+                    //진공끈다(진공이꺼지면 감지 센서도 같이 꺼진다 - 이 프로젝트에는 감지 센서가 없고 , 출력센서를 그대로 감지로 이용한다)
+                    DIO.SetPickerVac(false, true);
+
+                    //로더의 얼라인을 해제해준다.
+                    hmi1.arVar_Port[1].AlignReset();// = 0; loader1.arVar_Port[1].errorCount = 0;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+            //피커 Z축 정렬 후 Y축을 준비위치로 옮긴다
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var PosZ = MOT.GetPZPos(ePZLoc.READY);
+                if (MOT.CheckMotionPos(seqTime, PosZ, "#7") == false) return StepResult.Wait;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //중앙포트(로더)를 아래로 내림
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                //if (DIO.GetIOInput(eDIName.PORTC_LIM_UP) == true)
+                    DIO.SetPortMotor(1, eMotDir.CCW, true, "FINISH", true); //210326
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //연관플래그 소거
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                //진공상태를 초기화 해준다.
+                DIO.SetPrintLVac(ePrintVac.off, true);
+                DIO.SetPrintRVac(ePrintVac.off, true);
+
+                DIO.SetOutput(eDOName.PRINTL_AIRON, false);
+                DIO.SetOutput(eDOName.PRINTR_AIRON, false);
+
+                PUB.Result.Clear("home");
+                FlagClear(false);
+
+                //트리거 OFF작업
+                WS_Send(eWorkPort.Left, PUB.wsL, "", "OFF","");
+                WS_Send(eWorkPort.Right, PUB.wsR, "", "OFF","");
+
+                //컨베어off
+                DIO.SetOutput(eDOName.LEFT_CONV, false);
+                DIO.SetOutput(eDOName.RIGHT_CONV, false);
+
+                if (PUB.keyenceF != null && PUB.keyenceF.IsConnect)
+                    PUB.keyenceF.Trigger(false);
+                if (PUB.keyenceR != null && PUB.keyenceR.IsConnect)
+                    PUB.keyenceR.Trigger(false);
+
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            PUB.sm.SetNewStep(eSMStep.IDLE);
+            return StepResult.Complete;
+        }
+    }
+}

Handler/Project/RunCode/Step/_STEP_HOME_DELAY.cs

@@ -0,0 +1,55 @@
+using AR;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        public void _STEP_HOME_DELAY_START(eSMStep step)
+        {
+            //각 파트의 초기 값을 설정해준다.
+            DIO.SetBuzzer(false);
+
+            //홈이완료되었으므로 3초정도 기다려준다.
+            PUB.log.AddAT("Timer started for home completion confirmation");
+            HomeSuccessTime = DateTime.Now;
+        }
+
+        public StepResult _STEP_HOME_DELAY(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+            //*********************
+            //**    하드웨어 조건 확인
+            //*********************
+            if (CheckHomeProcess_HW_Available(false) == false)
+            {
+                return StepResult.Error;
+            }
+
+            var tsHome = DateTime.Now - HomeSuccessTime;
+            if (tsHome.TotalSeconds >= 3.0)
+            {
+                if (PUB.mot.HasMoving == false)
+                {
+                    //모든축의 위치를 0으로 한다
+                    //Pub.mot.ClearPosition();
+
+                    //각 파트의 초기 값을 설정해준다.
+                    DIO.SetBuzzer(false);
+
+                    PUB.flag.set(eVarBool.FG_USERSTEP, false, "SM_HOME");
+                    PUB.log.AddI("Moving to home verification code due to home operation completion");
+
+                    HomeChkTime = DateTime.Now;
+                    PUB.sm.SetNewStep(eSMStep.HOME_CONFIRM);
+                }
+            }
+            return StepResult.Wait;
+        }
+
+    }
+}

Handler/Project/RunCode/Step/_STEP_HOME_FULL.cs

@@ -0,0 +1,564 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.Commands;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+        public void _STEP_HOME_FULL_START(eSMStep step)
+        {
+            //ClearBarcode();
+            //Pub.popup.needClose = true; // Pub.popup.CloseAll();
+
+            //181225
+            if (PUB.dio.IsInit)
+                DIO.SetBuzzer(false);
+
+            if (PUB.mot.IsInit)
+            {
+                //알람클리어작업
+                if (PUB.mot.HasServoAlarm)
+                {
+                    PUB.mot.SetAlarmClearOn();
+                    System.Threading.Thread.Sleep(200);
+                    PUB.mot.SetAlarmClearOff();
+                }
+            }
+
+            HomeSuccessTime = DateTime.Parse("1982-11-23");
+
+
+            //홈모드로 전환
+            hmi1.Scean = UIControl.HMI.eScean.MotHome;
+            hmi1.arHomeProgress[0] = 0;
+            hmi1.arHomeProgress[1] = 0;
+            hmi1.arHomeProgress[2] = 0;
+            hmi1.arHomeProgress[3] = 0;
+            hmi1.arHomeProgress[4] = 0;
+            hmi1.arHomeProgress[5] = 0;
+            hmi1.arHomeProgress[6] = 0;
+
+            //실린더 상태 복귀
+            DIO.SetOutput(eDOName.PRINTL_FWD, false);
+            DIO.SetOutput(eDOName.PRINTR_FWD, false);
+            DIO.SetOutput(eDOName.L_CYLDN, false);
+            DIO.SetOutput(eDOName.R_CYLDN, false);
+        }
+        public StepResult _STEP_HOME_FULL(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+            //전체 홈 시간을 체크한다.
+            if (stepTime.TotalSeconds >= AR.SETTING.Data.Timeout_HomeSearch)
+            {
+                PUB.Result.SetResultMessage(eResult.TIMEOUT, eECode.HOME_TIMEOUT, eNextStep.NOTHING, AR.SETTING.Data.Timeout_HomeSearch); //, eECode.(eResult.HomeTimeout,msg ,false);
+                return StepResult.Error;
+            }
+
+            //*********************
+            //**    하드웨어 조건 확인
+            //*********************
+            if (CheckHomeProcess_HW_Available(false) == false)
+            {
+
+                return StepResult.Error;
+            }
+
+
+            int idx = 1;
+            var cmdIndex = step;
+
+            //Check X Safty Area
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //안전위치 센서가 안들어와잇으면 오류 처리한다
+                if (DIO.GetIOInput(eDIName.PICKER_SAFE) == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.MOTION,
+                        eECode.MOTX_SAFETY,
+                        eNextStep.ERROR,
+                        eAxis.PL_MOVE, PUB.mot.ErrorMessage);
+                    return StepResult.Error;
+                }
+
+
+                //포트 모두내리기(221013 - 박형철)
+                if (VAR.BOOL[eVarBool.Use_Conveyor] == false && AR.SETTING.Data.Disable_HomePortDown == false)
+                {
+                    DIO.SetPortMotor(0, eMotDir.CCW, true, "HOME");
+                    DIO.SetPortMotor(1, eMotDir.CCW, true, "HOME");
+                    DIO.SetPortMotor(2, eMotDir.CCW, true, "HOME");
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //홈 설정여부플래그 OFF
+                for (short i = 0; i < PUB.mot.DeviceCount; i++)
+                {
+                    if (PUB.mot.IsUse(i) == false) continue;
+                    PUB.mot.SetHomeSet(i, false);
+                }
+
+                //부저 OFF
+                DIO.SetBuzzer(false);
+
+                //프린터부착헤드 후진
+                if (DIO.GetIOInput(eDIName.L_PICK_BW) == false)
+                    DIO.SetOutput(eDOName.PRINTL_FWD, false);
+
+                if (DIO.GetIOInput(eDIName.R_PICK_BW) == false)
+                    DIO.SetOutput(eDOName.PRINTR_FWD, false);
+
+
+                if (DIO.GetIOInput(eDIName.L_CYLUP) == false)
+                    DIO.SetOutput(eDOName.L_CYLDN, false);
+
+                if (DIO.GetIOInput(eDIName.R_CYLUP) == false)
+                    DIO.SetOutput(eDOName.R_CYLDN, false);
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //피커실린더 상승
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                DIO.SetOutput(eDOName.L_CYLDN, false);
+                DIO.SetOutput(eDOName.R_CYLDN, false);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                if (AR.SETTING.Data.Enable_PickerCylinder)
+                {
+
+                    if (DIO.checkDigitalO(eDIName.L_CYLUP, seqTime, true, timeoutcode: eECode.PICKER_LCYL_NOUP) != eNormalResult.True) return StepResult.Wait;
+                    if (DIO.checkDigitalO(eDIName.R_CYLUP, seqTime, true, timeoutcode: eECode.PICKER_RCYL_NOUP) != eNormalResult.True) return StepResult.Wait;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터 부착헤드 후진 검사
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //프린터부착헤드 후진
+                if (DIO.GetIOInput(eDIName.L_PICK_BW) == false)
+                {
+                    if (stepTime.TotalSeconds > 5)
+                    {
+                        PUB.Result.SetResultMessage(eResult.MOTION, eECode.PRINTER_LPICKER_NOBW, eNextStep.PAUSE);
+                    }
+                    return StepResult.Wait;
+                }
+                if (DIO.GetIOInput(eDIName.R_PICK_BW) == false)
+                {
+                    if (stepTime.TotalSeconds > 5)
+                    {
+                        PUB.Result.SetResultMessage(eResult.MOTION, eECode.PRINTER_RPICKER_NOBW, eNextStep.PAUSE);
+                    }
+                    return StepResult.Wait;
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터 부착헤드 후진 검사
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //프린터부착헤드 후진
+                if (AR.SETTING.Data.Enable_PickerCylinder)
+                {
+                    if (DIO.GetIOInput(eDIName.L_CYLUP) == false)
+                    {
+                        if (stepTime.TotalSeconds > 5)
+                        {
+                            PUB.Result.SetResultMessage(eResult.MOTION, eECode.PRINTER_LPRINTER_NOUP, eNextStep.PAUSE);
+                        }
+                        return StepResult.Wait;
+                    }
+                    if (DIO.GetIOInput(eDIName.R_CYLUP) == false)
+                    {
+                        if (stepTime.TotalSeconds > 5)
+                        {
+                            PUB.Result.SetResultMessage(eResult.MOTION, eECode.PRINTER_RPRINTER_NOUP, eNextStep.PAUSE);
+                        }
+                        return StepResult.Wait;
+                    }
+                }
+                else
+                {
+                    //전진이  들어와  있다면  오류  로한다
+                    if (DIO.GetIOInput(eDIName.L_CYLDN))
+                    {
+                        PUB.Result.SetResultMessage(eResult.MOTION, eECode.PRINTER_LPRINTER_NOUP, eNextStep.PAUSE);
+                        return StepResult.Wait;
+                    }
+                    if (DIO.GetIOInput(eDIName.R_CYLDN))
+                    {
+                        PUB.Result.SetResultMessage(eResult.MOTION, eECode.PRINTER_RPRINTER_NOUP, eNextStep.PAUSE);
+                        return StepResult.Wait;
+                    }
+                }
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+
+            //피커의 Z축을 우선 진행
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var rlt1 = MOT.Home("RUN_SAFTY_HOME", eAxis.PZ_PICK);
+                if (rlt1 == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.MOTION,
+                        eECode.MOT_HSEARCH,
+                        eNextStep.ERROR,
+                         eAxis.PL_UPDN, PUB.mot.ErrorMessage);
+                    return StepResult.Error;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //Z축 안전위치 대기
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (PUB.mot.IsHomeSet((short)eAxis.PZ_PICK) == false && PUB.mot.IsLimitN((short)eAxis.PZ_PICK) == false && PUB.mot.IsOrg((short)eAxis.PZ_PICK) == false)
+                {
+                    System.Threading.Thread.Sleep(10);
+                    return StepResult.Wait;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터의 Z축을 먼저 한다 221013
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var rlt1 = MOT.Home("RUN_SAFTY_HOME", eAxis.PL_UPDN);
+                var rlt2 = MOT.Home("RUN_SAFTY_HOME", eAxis.PR_UPDN);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //Z축 안전위치 대기
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (PUB.mot.IsHomeSet((short)eAxis.PL_UPDN) == false && PUB.mot.IsLimitN((short)eAxis.PL_UPDN) == false && PUB.mot.IsOrg((short)eAxis.PL_UPDN) == false)
+                {
+                    System.Threading.Thread.Sleep(10);
+                    return StepResult.Wait;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+            //Z축 안전위치 대기
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (PUB.mot.IsHomeSet((short)eAxis.PR_UPDN) == false && PUB.mot.IsLimitN((short)eAxis.PR_UPDN) == false && PUB.mot.IsOrg((short)eAxis.PR_UPDN) == false)
+                {
+                    System.Threading.Thread.Sleep(10);
+                    return StepResult.Wait;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+
+            //각 프린터의 Y,Z 축의 홈을 진행한다.
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //유효성 검사를 하지 않는다.. 하게되면 오류남 201208
+                var rlt1 = MOT.Home("RUN_SAFTY_HOME", eAxis.PL_MOVE, false);
+                var rlt2 = MOT.Home("RUN_SAFTY_HOME", eAxis.PR_MOVE, false);
+                //var rlt3 = MOT.Home("RUN_SAFTY_HOME", eAxis.PL_UPDN, false);
+                //var rlt4 = MOT.Home("RUN_SAFTY_HOME", eAxis.PR_UPDN, false);
+                if (rlt1 == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.MOTION,
+                        eECode.MOT_HSEARCH,
+                        eNextStep.ERROR,
+                        eAxis.PL_MOVE, PUB.mot.ErrorMessage);
+                    return StepResult.Error;
+                }
+                if (rlt2 == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.MOTION,
+                        eECode.MOT_HSEARCH,
+                        eNextStep.ERROR,
+                        eAxis.PR_MOVE, PUB.mot.ErrorMessage);
+                    return StepResult.Error;
+                }
+                //if (rlt3 == false)
+                //{
+                //	PUB.Result.SetResultMessage(eResult.MOTION,
+                //		eECode.MOT_HSEARCH,
+                //		eNextStep.ERROR,
+                //		eAxis.PL_UPDN, PUB.mot.ErrorMessage);
+                //	return StepResult.Error;
+                //}
+                //if (rlt4 == false)
+                //{
+                //	PUB.Result.SetResultMessage(eResult.MOTION,
+                //		eECode.MOT_HSEARCH,
+                //		eNextStep.ERROR,
+                //		eAxis.PR_UPDN, PUB.mot.ErrorMessage);
+                //	return StepResult.Error;
+                //}
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터축의 Y,Z축이 완료되기를 기다린다.
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                if (PUB.mot.IsHomeSet((short)eAxis.PL_MOVE) &&
+                PUB.mot.IsHomeSet((short)eAxis.PR_MOVE) &&
+                PUB.mot.IsHomeSet((short)eAxis.PL_UPDN) &&
+                PUB.mot.IsHomeSet((short)eAxis.PR_UPDN))
+                {
+                    //현재위치를 0으로 설정한다.
+                    PUB.mot.ClearPosition((int)eAxis.PL_MOVE);
+                    PUB.mot.ClearPosition((int)eAxis.PR_MOVE);
+
+                    //var p1 = MOT.GetLMPos(eLMLoc.READY);
+                    //MOT.Move(eAxis.PL_MOVE, p1.Position, 200, 500, false, false, false);
+
+                    //var p2 = MOT.GetRMPos(eRMLoc.READY);
+                    //p2.Speed = 100;
+                    //MOT.Move(eAxis.PR_MOVE, p2.Position, 200, 500, false, false, false);
+
+                    PUB.sm.seq.Update(cmdIndex);
+                }
+                return StepResult.Wait;
+            }
+
+            //실린더를OFF한다 - 210207
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                DIO.SetOutput(eDOName.PRINTL_FWD, false);
+                DIO.SetOutput(eDOName.PRINTR_FWD, false);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //실린더 OFF 확인 - 210207
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //IO가 완료되지 안항ㅆ다면 대기한다
+                if (DIO.checkDigitalO(eDIName.L_PICK_BW, seqTime, true) != eNormalResult.True) return StepResult.Wait;
+                if (DIO.checkDigitalO(eDIName.R_PICK_BW, seqTime, true) != eNormalResult.True) return StepResult.Wait;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+
+            //프린터 move 축 안전지대로이동
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var PosLM = MOT.GetLMPos(eLMLoc.READY);
+                var PosRM = MOT.GetRMPos(eRMLoc.READY);
+                PosLM.Speed = 200;
+                PosRM.Speed = 200;
+                MOT.Move((eAxis)PosLM.Axis, PosLM.Position, PosLM.Speed, PosLM.Acc, false, false, false);
+                MOT.Move((eAxis)PosRM.Axis, PosRM.Position, PosRM.Speed, PosRM.Acc, false, false, false);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터 move 축 안전지대로이동
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var PosLM = MOT.GetLMPos(eLMLoc.READY);
+                var PosRM = MOT.GetRMPos(eRMLoc.READY);
+                PosLM.Speed = 250;
+                PosRM.Speed = 250;
+                if (MOT.CheckMotionPos(seqTime, PosLM, "MOT_HOME", false) == false) return StepResult.Wait;
+                if (MOT.CheckMotionPos(seqTime, PosRM, "MOT_HOME", false) == false) return StepResult.Wait;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //Theta 홈
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //회전축은 잡지 않는다
+                PUB.mot.SetHomeSet((int)eAxis.Z_THETA, true);
+                PUB.mot.ClearPosition((int)eAxis.Z_THETA);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //피커-X축 홈
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                var rlt1 = MOT.Home("RUN_SAFTY_HOME", eAxis.PX_PICK, false);
+                if (rlt1 == false)
+                {
+                    PUB.Result.SetResultMessage(eResult.MOTION,
+                      eECode.MOT_HSEARCH,
+                      eNextStep.ERROR,
+                      eAxis.PX_PICK, PUB.mot.ErrorMessage);
+                    return StepResult.Error;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //모든축의 완료여부 확인
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //모든축이 완료되었다면 완료처리를 한다.
+                if (PUB.mot.IsHomeSet((short)eAxis.PX_PICK))
+                {
+                    //완료처리
+                    PUB.mot.ClearPosition((int)eAxis.PX_PICK);
+                    PUB.sm.seq.Update(cmdIndex);
+                }
+                return StepResult.Wait;
+            }
+
+            //X축 값 초기화확인
+            if (PUB.sm.seq.Get(cmdIndex) == idx++)
+            {
+                //모든축이 완료되었다면 완료처리를 한다.
+                var ts = PUB.sm.seq.GetTime(cmdIndex);
+                if (ts.TotalSeconds >= 5)
+                {
+                    PUB.Result.SetResultMessage(eResult.MOTION,
+                      eECode.MOT_HSEARCH,
+                      eNextStep.ERROR,
+                      eAxis.PX_PICK, PUB.mot.ErrorMessage);
+                    return StepResult.Error;
+                }
+                else
+                {
+                    var XPos = PUB.mot.GetActPos((int)eAxis.PX_PICK);
+                    if (Math.Abs(XPos) <= 0.1 && PUB.mot.IsMotion((int)eAxis.PX_PICK) == false)
+                    {
+                        PUB.sm.seq.Update(cmdIndex);
+                    }
+                }
+                return StepResult.Wait;
+            }
+
+            //완료됨
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                //진공상태를 초기화 해준다.
+                DIO.SetPrintLVac(ePrintVac.off, true);
+                DIO.SetPrintRVac(ePrintVac.off, true);
+                DIO.SetOutput(eDOName.PRINTL_AIRON, false);
+                DIO.SetOutput(eDOName.PRINTR_AIRON, false);
+
+                FlagClear(true);
+                PUB.sm.SetNewStep(eSMStep.HOME_DELAY);
+                return StepResult.Complete;
+            }
+
+            return StepResult.Complete;
+        }
+
+        void FlagClear(bool ClearItemOn)
+        {
+            PUB.log.AddAT($"Flag initialization({ClearItemOn})");
+            //연관플래그 소거
+            if (ClearItemOn)
+            {
+                PUB.flag.set(eVarBool.FG_PK_ITEMON, false, "POSRESET");
+                PUB.flag.set(eVarBool.FG_PL_ITEMON, false, "POSRESET");
+                PUB.flag.set(eVarBool.FG_PR_ITEMON, false, "POSRESET");
+                PUB.flag.set(eVarBool.FG_PORTL_ITEMON, false, "POSRESET");
+                PUB.flag.set(eVarBool.FG_PORTR_ITEMON, false, "POSRESET");
+            }
+
+
+            PUB.flag.set(eVarBool.FG_OK_PRINTL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_OK_PRINTR, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PRINTL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PRINTR, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_RDY_PORT_PC, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PORT_PL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PORT_PR, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_RDY_PX_LPICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PX_RPICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PX_PICKONWAITL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PX_PICKONWAITR, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_SET_DATA_PORT0, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_SET_DATA_PORT2, false, "POSRESET");
+            //PUB.flag.set(eVarBool.SCR_JOBFINISH, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_WAIT_PAPERDETECTL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_WAIT_PAPERDETECTR, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_END_VISIONL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_END_VISIONR, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_PRC_VISIONL, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_PRC_VISIONR, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_CMD_YP_LPICKON, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_CMD_YP_LPICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_CMD_YP_RPICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_CMD_YP_RPICKON, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PZ_LPICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PZ_RPICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RDY_PZ_PICKON, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_RUN_PLM_PICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PRM_PICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PLM_PICKON, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PRM_PICKON, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_RUN_PLZ_PICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PRZ_PICKOF, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PLZ_PICKON, false, "POSRESET");
+            PUB.flag.set(eVarBool.FG_RUN_PRZ_PICKON, false, "POSRESET");
+
+            PUB.flag.set(eVarBool.FG_RUN_LEFT, false, "POSREST");
+            PUB.flag.set(eVarBool.FG_RUN_RIGHT, false, "POSREST");
+            //VAR.BOOL[eVarBool.JOB_BYPASS_LEFT] = false;
+            //VAR.BOOL[eVarBool.JOB_BYPASS_RIGHT] = false;
+            //VAR.STR[eVarString.JOB_BYPASS_SID] = string.Empty;
+            //VAR.STR[eVarString.JOB_TYPE] = string.Empty;
+
+            //retry소거 230510
+            VAR.BOOL[eVarBool.JOB_PickON_Retry] = false;
+            VAR.BOOL[eVarBool.VisionL_Retry] = false;
+            VAR.BOOL[eVarBool.VisionR_Retry] = false;
+            VAR.BOOL[eVarBool.wait_for_keyence] = false;
+            VAR.BOOL[eVarBool.wait_for_keyenceL] = false;
+            VAR.BOOL[eVarBool.wait_for_keyenceR] = false;
+            VAR.BOOL[eVarBool.JOB_Empty_SIDConvertInfo] = false;
+
+            //busy 플래그 제거
+            PUB.iLockCVL.set((int)eILockCV.BUSY, false, "POSREST");
+            PUB.iLockCVR.set((int)eILockCV.BUSY, false, "POSREST");
+            PUB.iLockCVL.set((int)eILockCV.VISION, false, "POSREST");
+            PUB.iLockCVR.set((int)eILockCV.VISION, false, "POSREST");
+
+            VAR.I32[eVarInt32.RIGT_ITEM_COUNT] = 0;
+            VAR.I32[eVarInt32.LEFT_ITEM_COUNT] = 0;
+        }
+
+    }
+}

Handler/Project/RunCode/Step/_STEP_HOME_QUICK.cs

@@ -0,0 +1,215 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.Commands;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {//홈 맞춰 
+
+        public void _STEP_HOME_QUICK_START(eSMStep step)
+        {
+
+
+            //모든 홈이 되어야 가능하다
+            if (PUB.mot.IsInit && PUB.mot.HasHomeSetOff == true)
+            {
+                PUB.Result.SetResultMessage(eResult.MOTION, eECode.MOT_HSET, eNextStep.ERROR);
+                return;
+            }
+
+            if (DIO.IsEmergencyOn() == true)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.EMERGENCY, eNextStep.ERROR);
+                return;
+            }
+
+            if (DIO.isSaftyDoorF() == false || DIO.isSaftyDoorR() == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.DOORSAFTY, eNextStep.ERROR);
+                return;
+            }
+
+
+            //실린더 상태 복귀
+            DIO.SetOutput(eDOName.PRINTL_FWD, false);
+            DIO.SetOutput(eDOName.PRINTR_FWD, false);
+            DIO.SetOutput(eDOName.L_CYLDN, false);
+            DIO.SetOutput(eDOName.R_CYLDN, false);
+        }
+
+        CommandBuffer cmds = new CommandBuffer();
+
+        public StepResult _STEP_HOME_QUICK(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+
+            byte idx = 1;
+            var cmdIndex = eSMStep.HOME_QUICK;
+            if (PUB.sm.seq.Get(step) < idx) PUB.sm.seq.Set(cmdIndex, idx);
+
+            //사용자 스텝처리가 아닌경우에만 동작 중지를 검사 한다
+            //중단조건 검사는 0번 축에만 동작하게 한다
+            if (PUB.flag.get(eVarBool.FG_USERSTEP) == false && CheckPauseCondition(true) == false)
+            {
+                //가동불가 조건 확인
+                if (PUB.Result.ResultCode == eResult.EMERGENCY)
+                    PUB.sm.SetNewStep(eSMStep.ERROR);
+                else
+                    PUB.sm.SetNewStep(eSMStep.PAUSE);
+                return StepResult.Wait;
+            }
+
+            //동작상태가 아니라면 처리하지 않는다.
+            var userStep = PUB.flag.get(eVarBool.FG_USERSTEP);
+
+
+            //*********************
+            //**    하드웨어 조건 확인
+            //*********************
+            if (CheckHomeProcess_HW_Available(true) == false)
+            {
+                return StepResult.Error;
+            }
+
+            //시작정보
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                //210415
+                if (DIO.GetPortMotorDir(0) == eMotDir.CW) DIO.SetPortMotor(0, eMotDir.CW, false, "POSRESET");
+                if (DIO.GetPortMotorDir(1) == eMotDir.CW) DIO.SetPortMotor(1, eMotDir.CW, false, "POSRESET");
+                if (DIO.GetPortMotorDir(2) == eMotDir.CW) DIO.SetPortMotor(2, eMotDir.CW, false, "POSRESET");
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+            //피커 Z축을 0으로 이동한다
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var Pos = MOT.GetPZPos(ePZLoc.READY);
+                if (MOT.CheckMotionPos(seqTime, Pos, "#7") == false) return 0;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //피커 Y축을 안전지대로 이동한다
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var Pos = MOT.GetPXPos(ePXLoc.PICKON);
+                if (MOT.CheckMotionPos(seqTime, Pos, "#7", false) == false) return 0;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //PRINT-Z축을 0으로이동한다
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var spdinfo = MOT.GetLZPos(eLZLoc.READY);
+                MOT.Move(eAxis.PL_UPDN, spdinfo.Position, spdinfo.Speed, spdinfo.Acc, false, true, false);
+
+                spdinfo = MOT.GetRZPos(eRZLoc.READY);
+                MOT.Move(eAxis.PR_UPDN, spdinfo.Position, spdinfo.Speed, spdinfo.Acc, false, true, false);
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+            //PRINT-Z축 완료대기
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var PosL = MOT.GetLZPos(eLZLoc.READY);
+                var PosR = MOT.GetRZPos(eRZLoc.READY);
+                if (MOT.CheckMotionPos(seqTime, PosL, "#7", false) == false) return StepResult.Wait;
+                if (MOT.CheckMotionPos(seqTime, PosR, "#8", false) == false) return StepResult.Wait;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //피커실린더 상승
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                DIO.SetOutput(eDOName.L_CYLDN, false);
+                DIO.SetOutput(eDOName.R_CYLDN, false);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                if (AR.SETTING.Data.Enable_PickerCylinder)
+                {
+                    if (DIO.checkDigitalO(eDIName.L_CYLUP, seqTime, true) != eNormalResult.True) return StepResult.Wait;
+                    if (DIO.checkDigitalO(eDIName.R_CYLUP, seqTime, true) != eNormalResult.True) return StepResult.Wait;
+                }
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+            //프린터부착헤드 후진
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                DIO.SetOutput(eDOName.PRINTL_FWD, false);
+                DIO.SetOutput(eDOName.PRINTR_FWD, false);
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터헤드후진 확인
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                if (DIO.checkDigitalO(eDIName.L_PICK_BW, seqTime, true) != eNormalResult.True) return StepResult.Wait;
+                if (DIO.checkDigitalO(eDIName.R_PICK_BW, seqTime, true) != eNormalResult.True) return StepResult.Wait;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+
+            //프린터 Y축 이동
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var spdinfo = MOT.GetLMPos(eLMLoc.READY);
+                MOT.Move(eAxis.PL_MOVE, spdinfo.Position, spdinfo.Speed, spdinfo.Acc, false, true, false);
+
+                spdinfo = MOT.GetRMPos(eRMLoc.READY);
+                MOT.Move(eAxis.PR_MOVE, spdinfo.Position, spdinfo.Speed, spdinfo.Acc, false, true, false);
+
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //프린터 Y축 완료대기
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                var PosL = MOT.GetLMPos(eLMLoc.READY);
+                var PosR = MOT.GetRMPos(eRMLoc.READY);
+                if (MOT.CheckMotionPos(seqTime, PosL, "#7") == false) return 0;
+                if (MOT.CheckMotionPos(seqTime, PosR, "#8") == false) return 0;
+                PUB.sm.seq.Update(cmdIndex);
+                return StepResult.Wait;
+            }
+
+            //연관플래그 소거
+            if (PUB.sm.seq.Get(step) == idx++)
+            {
+                //진공상태를 초기화 해준다.
+                DIO.SetPrintLVac(ePrintVac.off, true);
+                DIO.SetPrintRVac(ePrintVac.off, true);
+                DIO.SetOutput(eDOName.PRINTL_AIRON, false);
+                DIO.SetOutput(eDOName.PRINTR_AIRON, false);
+
+                FlagClear(true);
+                PUB.sm.SetNewStep(eSMStep.HOME_CONFIRM);
+                return StepResult.Wait;
+            }
+
+            PUB.sm.seq.Clear(step);
+            PUB.sm.SetNewStep(eSMStep.HOME_CONFIRM);
+            return StepResult.Complete;
+        }
+    }
+}

Handler/Project/RunCode/Step/_STEP_IDLE.cs

@@ -0,0 +1,82 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+	public partial class FMain
+	{
+		DateTime IdleStartTime = DateTime.Now;
+		bool IdleSleep = false;
+
+		public void _STEP_IDLE_START(eSMStep step)
+        {
+			PUB.flag.set(eVarBool.FG_USERSTEP, false, "SM_IDLE");
+
+			//lbMsgR.ProgressEnable = false;
+			IdleStartTime = DateTime.Now;
+
+			//초기화완료되면 버튼을 활성화한다
+			if (PUB.sm.getOldStep == eSMStep.INIT)
+			{
+				this.BeginInvoke(new Action(() =>
+				{
+					panTopMenu.Enabled = true;
+					btStart.Enabled = true;
+					btStop.Enabled = true;
+					btReset.Enabled = true;
+				}));
+
+				//Pub.sm.setNewStep(eSMStep.XMOVE); //홈을 위해서 바로 이동 모션으로 가게한다
+				if (PUB.mot.HasHomeSetOff == true && DIO.GetIOInput(eDIName.PICKER_SAFE) == false)
+				{
+					//피커의 이동이 필요한 상황
+					this.BeginInvoke(new Action(() => { btManage.PerformClick(); }));
+				}
+				else
+				{
+					//리셋이 필요한 상황
+					if (AR.SETTING.Data.OnlineMode == true)
+						this.BeginInvoke(new Action(() => { btMReset.PerformClick(); }));
+				}
+			}
+		}
+
+        public StepResult _STEP_IDLE(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+			//대기상태에서 조명 자동으로 끄기 
+			if (IdleSleep == false && IdleStartTime.Year != 1982)
+			{
+				var ts = DateTime.Now - IdleStartTime;
+				if (ts.TotalMinutes > AR.SETTING.Data.AutoOffRoomLightMin)
+				{
+					PUB.log.Add("Turning off lights due to idle state transition");
+					IdleSleep = true;
+					DIO.SetRoomLight(false);
+				}
+			}
+
+			//자동소거기능
+			if (AR.SETTING.Data.AutoDeleteDay > 0)
+			{
+				if (PUB.flag.get(eVarBool.FG_MINSPACE) == true)
+				{
+					var ts = DateTime.Now - lastDeleteTime;
+					if (ts.TotalSeconds > 1)
+					{
+						//파일을 찾아서 소거한다.
+						var delpath = System.IO.Path.Combine(AR.SETTING.Data.GetDataPath(), "Images");
+						if (delpath != "") DeleteFile(delpath);
+
+						lastDeleteTime = DateTime.Now;
+					}
+				}
+			}
+
+			return StepResult.Wait;
+
+        }
+    }
+}

Handler/Project/RunCode/Step/_STEP_INIT.cs

@@ -0,0 +1,195 @@
+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);
+            }
+
+        }
+    }
+}

Handler/Project/RunCode/Step/_STEP_RUN.cs

@@ -0,0 +1,328 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        //System.Threading.ManualResetEvent LockLL = new System.Threading.ManualResetEvent(true);
+        //System.Threading.ManualResetEvent LockLR = new System.Threading.ManualResetEvent(true);
+
+        System.Threading.ManualResetEvent LockPK = new System.Threading.ManualResetEvent(true);
+
+        System.Threading.ManualResetEvent LockUserL = new System.Threading.ManualResetEvent(true);
+        System.Threading.ManualResetEvent LockUserR = new System.Threading.ManualResetEvent(true);
+
+
+        async public void _STEP_RUN_START(eSMStep step)
+        {
+
+            //새로시작하면 포트 얼라인을 해제 해준다
+            PUB.flag.set(eVarBool.FG_RDY_PORT_PL, false, "SM_RUN");
+            PUB.flag.set(eVarBool.FG_RDY_PORT_PC, false, "SM_RUN");
+            PUB.flag.set(eVarBool.FG_RDY_PORT_PR, false, "SM_RUN");
+
+            //작업완료기준시간 초기화
+            if (PUB.flag.get(eVarBool.FG_JOB_END) == true) VAR.TIME.Update(eVarTime.JOB_END);
+
+            //라이브뷰시간 초기화
+            VAR.TIME.Update(eVarTime.LIVEVIEW0);
+            VAR.TIME.Update(eVarTime.LIVEVIEW1);
+            VAR.TIME.Update(eVarTime.LIVEVIEW2);
+
+            //룸조명과, 타워램프 ON 한다 - 210402
+            //COMM.SETTING.Data.Disable_RoomLight = false;
+            //COMM.SETTING.Data.Disable_TowerLamp = false;
+
+            //얼라인상태 초기화
+            hmi1.arVar_Port[1].AlignReset();
+            hmi1.Scean = UIControl.HMI.eScean.Nomal;
+            //loader1.arVar_Port.ToList().ForEach(t => t.AlignReset());
+
+            //daycount 초기화
+            if (SETTING.Counter.DateStr != DateTime.Now.ToString("yyyy-MM-dd"))
+            {
+                SETTING.Counter.ClearDay();
+                SETTING.Counter.DateStr = DateTime.Now.ToString("yyyy-MM-dd");
+                SETTING.Counter.Save();
+            }
+
+
+            //키엔스 시작시간을 초기화한다.
+            VAR.TIME.Update(eVarTime.KEYENCEWAIT);
+
+            //조명켜기 - 201228
+            DIO.SetRoomLight(true); //조명은 켜는 것으로 한다 221107
+
+            //각스텝의 시작변수 초기화한다.
+            PUB.sm.seq.ClearTime();//.ClearRunStepSeqTime();
+
+            //대기메세지소거
+            PUB.WaitMessage = new string[] { "", "", "", "", "", "", "", "", "", "", "" };
+
+            if (PUB.flag.get(eVarBool.FG_PRC_VISIONL) && PUB.flag.get(eVarBool.FG_END_VISIONL) == false)
+            {
+                //작업을 재시작하면 카메라 트리거를 다시 보낸다
+                WS_Send(eWorkPort.Left, PUB.wsL, PUB.Result.ItemDataL.guid, "TRIG", PUB.Result.ItemDataL.VisionData.PrintQRData);
+            }
+
+            if (PUB.flag.get(eVarBool.FG_PRC_VISIONR) && PUB.flag.get(eVarBool.FG_END_VISIONR) == false)
+            {
+                //Pub.Result.ItemData[2].Clear("[0] RUN FIRST");
+                WS_Send(eWorkPort.Right, PUB.wsR, PUB.Result.ItemDataR.guid, "TRIG", PUB.Result.ItemDataR.VisionData.PrintQRData);
+            }
+
+            //재시작할때에는 이것이 동작하면 안됨
+            if (PUB.sm.getOldStep == eSMStep.IDLE)
+            {
+                //인쇄용지감지상태 초기화
+                PUB.flag.set(eVarBool.FG_WAIT_PAPERDETECTL, false, "");
+                PUB.flag.set(eVarBool.FG_WAIT_PAPERDETECTR, false, "");
+
+
+                PUB.flag.set(eVarBool.FG_PRC_VISIONL, false, "");
+                PUB.flag.set(eVarBool.FG_PRC_VISIONR, false, "");
+
+                PUB.flag.set(eVarBool.FG_END_VISIONL, false, "");
+                PUB.flag.set(eVarBool.FG_END_VISIONR, false, "");
+
+                PUB.flag.set(eVarBool.FG_OK_PRINTL, false, "");
+                PUB.flag.set(eVarBool.FG_OK_PRINTR, false, "");
+                PUB.flag.set(eVarBool.FG_RUN_PRINTL, false, "");
+                PUB.flag.set(eVarBool.FG_RUN_PRINTR, false, "");
+
+                PUB.flag.set(eVarBool.FG_RDY_PX_PICKON, false, "");
+                PUB.flag.set(eVarBool.FG_RDY_PX_LPICKOF, false, "");
+                PUB.flag.set(eVarBool.FG_RDY_PX_RPICKOF, false, "");
+                PUB.flag.set(eVarBool.FG_SET_DATA_PORT0, false, "");
+                PUB.flag.set(eVarBool.FG_SET_DATA_PORT2, false, "");
+                PUB.flag.set(eVarBool.FG_RDY_PX_PICKONWAITL, false, "");
+                PUB.flag.set(eVarBool.FG_RDY_PX_PICKONWAITR, false, "");
+
+                PUB.flag.set(eVarBool.FG_PORTL_ITEMON, false, "");
+                PUB.flag.set(eVarBool.FG_PORTR_ITEMON, false, "");
+
+                //PUB.flag.set(eVarBool.INPUT_LEFT, false, "SM_RUN");
+
+                //step seq 를 모두 소거해준다
+                PUB.sm.seq.Clear(eSMStep.RUN_PICK_RETRY);
+
+                //자료를 소거한다.
+                //PUB.Result.Clear("RUN_START");
+                //PUB.Result.JobStartTime = DateTime.Now; //200728
+
+                //신규실행이므로 작업차수별 수량을 초기화해준다
+                SETTING.Counter.ClearP(); //200711
+
+                PUB.flag.set(eVarBool.FG_JOB_END, false, "SM_RUN");
+
+                PUB.sm.seq.Clear(eSMStep.RUN_ROOT_SEQUENCE_L);
+                PUB.sm.seq.Clear(eSMStep.RUN_ROOT_SEQUENCE_R);
+
+                if (await _SM_RUN_STARTCHKSW(true, new TimeSpan(0)) == false) return;
+                if (_SM_RUN_STARTCHKHW(true, new TimeSpan(0)) == false) return;
+
+                //plc의 SID 데이터를 갱신하도록 한다
+                PUB.Result.ClearAllSID = true;
+                PUB.log.AddI("*** New job has started ***");
+                //PUB.flag.set(eVarBool.RDY_VISION1, true, "JOB START"); //최초 시작시에는 1번 비젼이 동작하게 한다
+
+                //새로시작할때에는  이 값을 초기화 해준다.
+                PUB.Result.LastSIDFrom = string.Empty;
+                PUB.Result.LastSIDTo = string.Empty;
+                //Pub.Result.LastSID103_2 = string.Empty;
+                PUB.Result.LastSIDCnt = -1;
+                PUB.Result.LastVName = string.Empty;
+
+
+                //릴아디이 221107
+                VAR.STR[eVarString.PrePick_ReelIDNew] = string.Empty;
+                VAR.STR[eVarString.PrePick_ReelIDOld] = string.Empty;
+                VAR.STR[eVarString.PrePick_ReelIDTarget] = string.Empty;
+            }
+            else
+            {
+                if (VAR.BOOL[eVarBool.wait_for_keyence])
+                {
+                    PUB.log.Add($"Deleting existing values because barcode reception was waiting (CONF={PUB.Result.ItemDataC.VisionData.Confirm}, ID:{PUB.Result.ItemDataC.VisionData.RID})");
+                    PUB.Result.ItemDataC.VisionData.Clear("RESTART", true);
+                }
+                PUB.log.AddI("*** Job has been restarted ***");
+            }
+        }
+
+        public StepResult _STEP_RUN(eSMStep step, TimeSpan stepTime, TimeSpan seqTime)
+        {
+            if (PUB.popup.needClose)
+            {
+                System.Threading.Thread.Sleep(10); //팝업이 닫힐때까지 기다린다.
+                return StepResult.Wait;
+            }
+
+            //사용자 스텝처리가 아닌경우에만 동작 중지를 검사 한다
+            //중단조건 검사는 0번 축에만 동작하게 한다
+            //if (PUB.flag.get(eVarBool.UserStepCheck) == false)
+            //{
+            //    return false;
+            //}
+
+            if (CheckSystemRunCondition() == false)
+            {
+                return StepResult.Wait;
+            }
+
+            //동작상태가 아니라면 처리하지 않는다.
+            if (PUB.sm.Step == eSMStep.RUN && PUB.sm.getNewStep == eSMStep.RUN)
+            {
+                var RStepisFirst = runStepisFirst[0];
+
+                //릴포트 제어
+                _SM_RUN_MOT_PORT(0, false, PUB.sm.seq.GetTime(eSMStep.RUN_COM_PT0));
+                _SM_RUN_MOT_PORT(1, false, PUB.sm.seq.GetTime(eSMStep.RUN_COM_PT1));
+                _SM_RUN_MOT_PORT(2, false, PUB.sm.seq.GetTime(eSMStep.RUN_COM_PT2));
+
+                //컨베어 상시동작 - 230503
+                Boolean cvl = PUB.iLockCVL.IsEmpty();
+                Boolean cvr = PUB.iLockCVR.IsEmpty();
+                DIO.SetOutput(eDOName.LEFT_CONV, cvl);
+                DIO.SetOutput(eDOName.RIGHT_CONV, cvr);
+
+                //왼쪽작업
+                if (PUB.flag.get(eVarBool.FG_ENABLE_LEFT))
+                {
+                    _RUN_ROOT_SEQUENCE(eWorkPort.Left, eSMStep.RUN_ROOT_SEQUENCE_L);
+                }
+
+                //오른쪽작업
+                if (PUB.flag.get(eVarBool.FG_ENABLE_RIGHT))
+                {
+                    _RUN_ROOT_SEQUENCE(eWorkPort.Right, eSMStep.RUN_ROOT_SEQUENCE_R);
+                }
+
+                //작업완료조건확인
+                var PLReady = MOT.GetLMPos(eLMLoc.READY);
+                var PRReady = MOT.GetRMPos(eRMLoc.READY);
+
+                //최종이벤트시간에서 10초이상 기다려준다 230504
+                var tsEventTime = VAR.TIME.RUN((int)eVarTime.JOBEVENT);
+
+                //컨베이어모드
+                var CVMode = VAR.BOOL[eVarBool.Use_Conveyor];
+
+                if (tsEventTime.TotalSeconds > 10 &&
+                    stepTime.TotalSeconds > 5.0 &&
+                    DIO.isSaftyDoorF(false) == true &&
+                    PUB.flag.get(eVarBool.FG_PK_ITEMON) == false &&
+                    PUB.flag.get(eVarBool.FG_PL_ITEMON) == false &&
+                    PUB.flag.get(eVarBool.FG_PR_ITEMON) == false &&
+
+                    //신규로 추가된 컨베이어 센서이다
+                    (CVMode == false || DIO.GetIOInput(eDIName.L_CONV1) == false) &&
+                   // (CVMode == false || DIO.GetIOInput(eDIName.L_CONV3) == false) &&
+                    (CVMode == false || DIO.GetIOInput(eDIName.L_CONV4) == false) &&
+                    (CVMode == false || DIO.GetIOInput(eDIName.R_CONV1) == false) &&
+                  //  (CVMode == false || DIO.GetIOInput(eDIName.R_CONV3) == false) &&
+                    (CVMode == false || DIO.GetIOInput(eDIName.R_CONV4) == false) &&
+
+                    //작업진행중  확인
+                    PUB.flag.get(eVarBool.FG_BUSY_LEFT) == false &&
+                    PUB.flag.get(eVarBool.FG_BUSY_RIGHT) == false &&
+
+                    //비전처리중  확인
+                    //PUB.flag.get(eVarBool.FG_PRC_VISIONL) == false &&
+                    //PUB.flag.get(eVarBool.FG_PRC_VISIONR) == false &&
+
+                    //모든 모터는 멈춰있어야  한다
+                    PUB.mot.HasMoving == false && //피커는 중앙에 있어야 한다
+
+                    //좌,우측 프린터 Y축이  정위치에  있어야  한다
+                    MOT.getPositionMatch(PLReady) &&
+                    MOT.getPositionMatch(PRReady) &&
+
+                    isPortDetUp(1) == false &&
+                    isPortLimUP(1) &&
+
+                    //드라이런 중에는 완료하지 않는다
+                    PUB.Result.DryRun == false)
+                {
+
+                    if (PUB.flag.get(eVarBool.FG_JOB_END) == false)
+                    {
+                        PUB.log.AddAT("Work completion condition execution");
+                        VAR.TIME.Update(eVarTime.JOB_END);
+                        PUB.flag.set(eVarBool.FG_JOB_END, true, "SM_RUN");
+                    }
+                    else
+                    {
+                        //10초가 지나면 최조 완료로 한다
+                        var ts = VAR.TIME.RUN((int)eVarTime.JOB_END);
+                        if (ts.TotalSeconds >= AR.SETTING.Data.Timeout_JOBEnd)
+                        {
+                            PUB.Result.JobEndTime = DateTime.Now;
+                            PUB.log.AddI($"Switching to job completion state (wait time: {AR.SETTING.Data.Timeout_JOBEnd} seconds)");
+                            PUB.sm.SetNewStep(eSMStep.FINISH);
+                            PUB.flag.set(eVarBool.FG_JOB_END, false, "SM_RUN:FINISH");
+                        }
+                    }
+                }
+                else
+                {
+                    //이조건일때에는 job_End 가 없어야한다
+                    if (PUB.flag.get(eVarBool.FG_JOB_END) == true)
+                    {
+                        PUB.log.AddI("Work completion condition released");
+                        PUB.flag.set(eVarBool.FG_JOB_END, false, "run");
+
+                        //메인메세지를 제거 해준다.
+                        PUB.StatusMessage.set(Class.eStatusMesage.Main, string.Empty);
+                    }
+                }
+            }
+            return StepResult.Wait;
+        }
+
+        public Boolean CheckSystemRunCondition()
+        {
+            if (PUB.mot.IsInit == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.AZJINIT, eNextStep.ERROR);
+                return false;
+            }
+
+            if (PUB.dio.IsInit == false)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.AZJINIT, eNextStep.ERROR);
+                return false;
+            }
+
+            if (PUB.mot.HasHomeSetOff == true)
+            {
+                PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.MOT_HSET, eNextStep.ERROR);
+                return false;
+            }
+
+            if (PUB.Result.vModel == null || PUB.Result.vModel.Title.isEmpty())
+            {
+                PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOMODELV, eNextStep.ERROR);
+                return false;
+            }
+            if (PUB.Result.mModel == null || PUB.Result.mModel.Title.isEmpty())
+            {
+                PUB.Result.SetResultMessage(eResult.SETUP, eECode.NOMODELM, eNextStep.ERROR);
+                return false;
+            }
+
+            if (DIO.isSaftyDoorF() == false || DIO.isSaftyDoorR() == false)
+            {
+                PUB.Result.SetResultMessage(eResult.OPERATION, eECode.DOORSAFTY, eNextStep.PAUSE);
+                return false;
+            }
+            return true;
+        }
+    }
+}

Handler/Project/RunCode/_01_Input_Events.cs

@@ -0,0 +1,466 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+
+        void _DIO_INPUT_VALUE_CHANGED(eDIName pin, Boolean value)
+        {
+            //카드사이즈 센서 적용
+            if (pin == eDIName.PORT0_SIZE_07 || pin == eDIName.PORT0_SIZE_13)
+            {
+                if (value)
+                {
+                    //둘중하나가 들어오면 시작시간을 설정한다
+                    if (VAR.BOOL[eVarBool.Use_Conveyor] == false)
+                    {
+                        VAR.TIME.Update(eVarTime.MAGNET0);
+                        PUB.flag.set(eVarBool.FG_WAT_MAGNET0, true, "SENSOR");
+                    }
+
+                }
+                else
+                {
+                    var b1 = DIO.GetIOInput(eDIName.PORT0_SIZE_07);
+                    var b2 = DIO.GetIOInput(eDIName.PORT0_SIZE_13);
+                    if (b1 == false && b2 == false)
+                    {
+                        PUB.flag.set(eVarBool.FG_WAT_MAGNET0, false, "SENSOR");
+                        DIO.SetPortMagnet(0, false);
+                        //if (Util_DO.GetIOOutput(eDOName.CART_MAG0))
+                        //Util_DO.SetOutput(eDOName.CART_MAG0, false);
+                    }
+                }
+            }
+            else if (pin == eDIName.PORT1_SIZE_07 || pin == eDIName.PORT1_SIZE_13)
+            {
+                if (value)
+                {
+                    //둘중하나가 들어오면 시작시간을 설정한다
+                    //if (VAR.BOOL[eVarBool.Use_Conveyor] == false)
+                    {
+                        VAR.TIME.Update(eVarTime.MAGNET1);
+                        PUB.flag.set(eVarBool.FG_WAT_MAGNET1, true, "SENSOR");
+                    }
+                }
+                else
+                {
+                    var b1 = DIO.GetIOInput(eDIName.PORT1_SIZE_07);
+                    var b2 = DIO.GetIOInput(eDIName.PORT1_SIZE_13);
+                    if (b1 == false && b2 == false)
+                    {
+                        PUB.flag.set(eVarBool.FG_WAT_MAGNET1, false, "SENSOR");
+                        DIO.SetPortMagnet(1, false);
+                        //if (Util_DO.GetIOOutput(eDOName.CART_MAG1))
+                        //Util_DO.SetOutput(eDOName.CART_MAG1, false);
+                    }
+                }
+            }
+            else if (pin == eDIName.PORT2_SIZE_07 || pin == eDIName.PORT2_SIZE_13)
+            {
+                if (value)
+                {
+                    //둘중하나가 들어오면 시작시간을 설정한다
+                    if (VAR.BOOL[eVarBool.Use_Conveyor] == false)
+                    {
+                        VAR.TIME.Update(eVarTime.MAGNET2);
+                        PUB.flag.set(eVarBool.FG_WAT_MAGNET2, true, "SENSOR");
+                    }
+                }
+                else
+                {
+                    var b1 = DIO.GetIOInput(eDIName.PORT2_SIZE_07);
+                    var b2 = DIO.GetIOInput(eDIName.PORT2_SIZE_13);
+                    if (b1 == false && b2 == false)
+                    {
+                        PUB.flag.set(eVarBool.FG_WAT_MAGNET2, false, "SENSOR");
+                        DIO.SetPortMagnet(2, false);
+                        //if (Util_DO.GetIOOutput(eDOName.CART_MAG2))
+                        //    Util_DO.SetOutput(eDOName.CART_MAG2, false);
+                    }
+                }
+            }
+            else if (pin == eDIName.DOORF1 || pin == eDIName.DOORF2 || pin == eDIName.DOORF3)
+            {
+                int PortIDX = 0;
+                eVarBool FG_RDY_PORT;
+                if (pin == eDIName.DOORF1) { PortIDX = 0; FG_RDY_PORT = eVarBool.FG_RDY_PORT_PL; }
+                else if (pin == eDIName.DOORF2) { PortIDX = 1; FG_RDY_PORT = eVarBool.FG_RDY_PORT_PC; }
+                else { PortIDX = 2; FG_RDY_PORT = eVarBool.FG_RDY_PORT_PR; }
+
+                //전면도어가 열렸다
+                if (DIO.GetIOInput(pin) == true)
+                {
+
+
+
+                    if (PUB.flag.get(FG_RDY_PORT) == true)
+                    {
+                        PUB.flag.set(FG_RDY_PORT, false, "IOCHANGE");
+                        if (PUB.sm.Step > eSMStep.IDLE)
+                            PUB.log.AddAT("Releasing PORT_READY(L) due to safety sensor detection");
+                    }
+
+                    //도어가 열리면 포트를 멈춘다 210329
+                    if (DIO.GetPortMotorRun(0)) DIO.SetPortMotor(0, DIO.GetPortMotorDir(0), false, "DOOR OPEN");
+                    if (DIO.GetPortMotorRun(1)) DIO.SetPortMotor(1, DIO.GetPortMotorDir(1), false, "DOOR OPEN");
+                    if (DIO.GetPortMotorRun(2)) DIO.SetPortMotor(2, DIO.GetPortMotorDir(2), false, "DOOR OPEN");
+
+                    //210331
+                    if (PUB.sm.Step != eSMStep.RUN)
+                    {
+                        PUB.mot.MoveStop("Dorr oopen");
+                    }
+
+                    if (PUB.sm.isRunning == false && AR.SETTING.Data.PickerAutoMoveForDoor)
+                    {
+                        var motSpeed = 300;
+                        var motAcc = 500;
+                        if (pin == eDIName.DOORF3)  //좌측도어가 열렸다
+                        {
+                            var DoorF2 = DIO.GetIOInput(eDIName.DOORF2);
+                            var DoorF1 = DIO.GetIOInput(eDIName.DOORF1);
+                            if (DoorF2 == false && DoorF1 == false) //중앙도어가 닫혀있다
+                            {
+                                var PosPZ = MOT.getPositionMatch(MOT.GetPZPos(ePZLoc.READY));//.MOT.GetPKZ_PosName();
+                                var PosLM = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY));//. MOT.GetPLM_PosName();
+                                var PosRM = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY));//.MOT.GetPRM_PosName();
+
+                                if (PosLM && PosRM && PosPZ)
+                                {
+                                    //x위치가 pickon 보다 작으면 옴겨줘야 한다.
+                                    var xpos = MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON));
+                                    if (xpos < 1)
+                                    {
+                                        var mPos = MOT.GetPXPos(ePXLoc.PICKON);
+                                        MOT.Move(eAxis.PX_PICK, mPos.Position, motSpeed, motAcc, false, false, false);
+                                    }
+                                }
+                            }
+                        }
+                        else if (pin == eDIName.DOORF2) //중앙도어가 열렸다
+                        {
+                            //좌우측 닫혀있고 프린트M 위치가 Ready 여아한다.
+                            var PosPZ = MOT.getPositionMatch(MOT.GetPZPos(ePZLoc.READY));//.MOT.GetPKZ_PosName();
+                            var PosLM = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY));//. MOT.GetPLM_PosName();
+                            var PosRM = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY));//.MOT.GetPRM_PosName();
+
+                            if (PosPZ)
+                            {
+                                var xpos = MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON));
+
+                                if (Math.Abs(xpos) < 100) //중앙근처 10 mm 안에 있다면
+                                {
+                                    var DoorF1 = DIO.GetIOInput(eDIName.DOORF1);
+                                    var DoorF3 = DIO.GetIOInput(eDIName.DOORF3);
+
+                                    if (DoorF1 == false && DoorF3 == false)
+                                    {
+                                        if (PosLM)
+                                        {
+                                            var mPos = MOT.GetPXPos(ePXLoc.READYL);
+                                            MOT.Move(eAxis.PX_PICK, mPos.Position, motSpeed, motAcc, false, false, false);
+                                        }
+                                        else if (PosRM)
+                                        {
+                                            var mPos = MOT.GetPXPos(ePXLoc.READYR);
+                                            MOT.Move(eAxis.PX_PICK, mPos.Position, motSpeed, motAcc, false, false, false);
+                                        }
+                                        //}
+                                    }
+                                }
+                            }
+
+
+                        }
+                        else if (pin == eDIName.DOORF1) //우측도어가 열렸다
+                        {
+                            var DoorF2 = DIO.GetIOInput(eDIName.DOORF2);
+                            var DoorF3 = DIO.GetIOInput(eDIName.DOORF3);
+                            if (DoorF2 == false && DoorF3 == false) //중앙도어가 닫혀있다
+                            {
+                                var PosPZ = MOT.getPositionMatch(MOT.GetPZPos(ePZLoc.READY));//.MOT.GetPKZ_PosName();
+                                var PosLM = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY));//. MOT.GetPLM_PosName();
+                                var PosRM = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY));//.MOT.GetPRM_PosName();
+
+                                if (PosLM && PosRM && PosPZ)
+                                {
+                                    //x위치가 pickon 보다 작으면 옴겨줘야 한다.
+                                    var xpos = MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON));
+                                    if (xpos > 1)
+                                    {
+                                        var mPos = MOT.GetPXPos(ePXLoc.PICKON);
+                                        MOT.Move(eAxis.PX_PICK, mPos.Position, motSpeed, motAcc, false, false, false);
+                                    }
+                                }
+                            }
+                        }
+                    }
+
+                    //안전센서가 감지되었다면 얼라인을 초기화 해준다
+                    hmi1.arVar_Port[PortIDX].AlignOK = 0;
+                    hmi1.arVar_Port[PortIDX].errorCount = 0;
+
+                    //동작중일경우 추가 작업
+                    if (PUB.sm.Step > eSMStep.IDLE)
+                    {
+                        //안전센서가 들어와잇다면 이 값을 초기화 해준다
+                        if (DIO.isSaftyDoorF(PortIDX, true) == false && PUB.flag.get(eVarBool.FG_JOB_END) == true)
+                            VAR.TIME.Update(eVarTime.JOB_END);
+                    }
+
+                    //오류 혹은 Wait 상태일때에는 프린터 Z축을 올려준다
+                    if (PUB.sm.Step == eSMStep.WAITSTART || PUB.sm.Step == eSMStep.PAUSE)
+                    {
+                        if (pin == eDIName.DOORF3)
+                        {
+                            var PosM = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY));//. MOT.GetPLM_PosName();
+                            var PosZ = MOT.getPositionMatch(MOT.GetLZPos(eLZLoc.PICKON));//.MOT.GetPRM_PosName();
+                            if (PosM && PosZ)
+                            {
+                                PUB.log.Add("Raising printer L Z-axis due to door opening");
+                                var Pos = MOT.GetLZPos(eLZLoc.PICKON);
+                                MOT.Move(Pos);
+                            }
+                        }
+                        else if (pin == eDIName.DOORF1)
+                        {
+                            var PosM = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY));//  MOT.GetPRM_PosName();
+                            var PosZ = MOT.getPositionMatch(MOT.GetRZPos(eRZLoc.PICKON));// GetPRZ_PosName();
+                            if (PosM && PosZ)
+                            {
+                                PUB.log.Add("Raising printer R Z-axis due to door opening");
+                                MOT.Move(eAxis.PR_UPDN, 0, 100, 1000, false, false, false);
+                            }
+                        }
+                    }
+                }
+                else
+                {
+                    //도어를 다시 닫았을때처리해준다.
+
+                    //오류 혹은 Wait 상태일때에는 프린터 Z축을 올려준다
+                    if (PUB.sm.Step == eSMStep.WAITSTART || PUB.sm.Step == eSMStep.PAUSE)
+                    {
+                        if (pin == eDIName.DOORF3)
+                        {
+
+                            var PosM = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY));//. MOT.GetPLM_PosName();
+                            var PosZ = MOT.getPositionMatch(MOT.GetLZPos(eLZLoc.READY));//.MOT.GetPRM_PosName();
+                            if (PosM && PosZ)
+                            {
+                                var zpos = MOT.GetLZPos(eLZLoc.PICKON);
+                                PUB.log.Add("Lowering printer L Z-axis due to door closing");
+                                MOT.Move(eAxis.PL_UPDN, zpos.Position, 100, 1000, false, false, false);
+                            }
+                        }
+                        else if (pin == eDIName.DOORF1)
+                        {
+                            var PosM = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY));//. MOT.GetPLM_PosName();
+                            var PosZ = MOT.getPositionMatch(MOT.GetRZPos(eRZLoc.READY));//.MOT.GetPRM_PosName();
+                            if (PosM && PosZ)
+                            {
+                                var zpos = MOT.GetRZPos(eRZLoc.PICKON);
+                                PUB.log.Add("Lowering printer R Z-axis due to door closing");
+                                MOT.Move(eAxis.PR_UPDN, zpos.Position, 100, 1000, false, false, false);
+                            }
+                        }
+                    }
+
+
+                }
+            }
+            else if (pin == eDIName.BUT_AIRF)                 //여기서부터는 스위치 영역
+            {
+                //AIR버튼은 IDLE 이상일떄에 동작 한다
+                if (value == true && PUB.sm.Step >= eSMStep.IDLE)
+                {
+                    var curState = DIO.GetIOOutput(eDOName.SOL_AIR);
+                    if (curState == false)
+                    {
+                        DIO.SetAIR(!curState);
+                        PUB.log.AddI("Air ON");
+                    }
+                    else
+                    {
+                        DIO.SetAIR(!curState);
+                        PUB.log.AddAT("Air OFF");
+                    }
+                }
+                //AIR의 LED는 실제 AIR 출력 상태와 동기화 한다 * output event 에서 처리함
+            }
+            else if (pin == eDIName.BUT_EMGF)
+            {
+                PUB.log.AddAT(string.Format("Emergency Status : {0} Value= {1}", pin, value));
+                if (value == false)
+                {
+                    //로더컨트롤의 이머전시 상탤르 설정한다 (둘중 하나라도 꺼지면 비상값이다)
+
+                    EmergencyTime = DateTime.Now;   //한놈이라도 이머전시가 들어오면 강제 멈춘다
+                    PUB.mot.MoveStop("emg", true);
+
+                    //포트 모터 정지
+                    DIO.SetPortMotor(0, eMotDir.CW, false, "EMG"); System.Threading.Thread.Sleep(1);
+                    DIO.SetPortMotor(1, eMotDir.CW, false, "EMG"); System.Threading.Thread.Sleep(1);
+                    DIO.SetPortMotor(2, eMotDir.CW, false, "EMG"); System.Threading.Thread.Sleep(1);
+                }
+                else
+                {
+                    //둘다 ON 되어잇다면 비상을 해제한다
+                    if (DIO.IsEmergencyOn() != true) hmi1.arDI_Emergency = false;
+                }
+
+                //Emg는 B접점이라서 LED상태를 반전시킨다
+                if (pin == eDIName.BUT_EMGF) DIO.SetOutput(eDOName.BUT_EMGF, !value);
+
+            }
+            else if (pin == eDIName.BUT_STARTF)    //시작버튼
+            {
+                if (PUB.flag.get(eVarBool.FG_MOVE_PICKER))
+                {
+                    if (value)
+                    {
+                        if (VAR.BOOL[eVarBool.Enable_PickerMoveX] && PUB.mot.IsMotion((int)eAxis.PX_PICK) == false)
+                            PUB.mot.JOG((int)eAxis.PX_PICK, arDev.MOT.MOTION_DIRECTION.Negative, AR.SETTING.Data.JOG_Speed, AR.SETTING.Data.JOG_Acc);
+                    }
+                    else
+                    {
+                        PUB.mot.MoveStop("xmove", (int)eAxis.PX_PICK);
+                    }
+
+                }
+                else
+                {
+                    if (PUB.flag.get(eVarBool.FG_SCR_JOBSELECT) == false)
+                    {
+                        if (value && PUB.sm.Step >= eSMStep.IDLE)
+                        {
+                            PUB.log.AddI("START BUTTON");
+                            this._BUTTON_START();
+                        }
+                    }
+                }
+            }
+            else if (pin == eDIName.BUT_STOPF)  //중단버튼
+            {
+                if (PUB.flag.get(eVarBool.FG_MOVE_PICKER))
+                {
+                    if (value)
+                    {
+                        if (VAR.BOOL[eVarBool.Enable_PickerMoveX] && PUB.mot.IsMotion((int)eAxis.PX_PICK) == false)
+                            PUB.mot.JOG((int)eAxis.PX_PICK, arDev.MOT.MOTION_DIRECTION.Positive, AR.SETTING.Data.JOG_Speed, AR.SETTING.Data.JOG_Acc);
+                    }
+                    else
+                    {
+                        PUB.mot.MoveStop("xmove", (int)eAxis.PX_PICK);
+                    }
+                }
+                else
+                {
+                    if (PUB.flag.get(eVarBool.FG_SCR_JOBSELECT) == false)
+                    {
+                        if (value && PUB.sm.Step >= eSMStep.IDLE)
+                        {
+                            PUB.log.AddI("STOP BUTTON");
+                            _BUTTON_STOP();
+                        }
+                    }
+                }
+
+            }
+            else if (pin == eDIName.BUT_RESETF)    //리셋버튼
+            {
+                if (PUB.flag.get(eVarBool.FG_SCR_JOBSELECT) == false)
+                {
+                    if (value && PUB.sm.Step >= eSMStep.IDLE)
+                    {
+
+                        if (value) PUB.Result.ResetButtonDownTime = DateTime.Now;
+                        else PUB.Result.ResetButtonDownTime = new DateTime(1982, 11, 23);
+
+                        PUB.log.AddI("RESET BUTTON");
+                        _BUTTON_RESET();
+                    }
+                }
+
+                //요약폼이 있었다면 해제 해준다. - 210329
+                if (PUB.sm.Step == eSMStep.FINISH)
+                    HideSummary();
+            }
+            else if (pin == eDIName.PORTL_DET_UP || pin == eDIName.PORTC_DET_UP || pin == eDIName.PORTR_DET_UP)
+            {
+                var pidx = 0;
+                eVarBool FG_RDY_PORT = eVarBool.FG_RDY_PORT_PL;
+                var value1 = DIO.GetIOInput(pin);
+
+                if (pin == eDIName.PORTC_DET_UP)
+                {
+                    pidx = 1;
+                    FG_RDY_PORT = eVarBool.FG_RDY_PORT_PC;
+                    if (value1 == true) //해당 제품이 검출되어 멈춘다면, 키엔스 데이터를 초기화 해준다.
+                    {
+                        //Pub.Result.ItemData[1].VisionData.Clear("DIO DET1");
+                        //PUB.flag.set(eVarBool.END_VISION1, false, "DIO DET1");
+                        //데이터 손실건이 나와서 처리하지 않게한다 210318
+                    }
+                }
+                else if (pin == eDIName.PORTR_DET_UP) { pidx = 2; FG_RDY_PORT = eVarBool.FG_RDY_PORT_PR; }
+
+                if (PUB.sm.Step != eSMStep.RUN && value1 == false) //감지가 꺼지면 ready 를 해제한다
+                    PUB.flag.set(FG_RDY_PORT, false, "IOCHANGE");
+                else if (hmi1.arVar_Port[pidx].AlignOK != 1)
+                    PUB.Result.PortAlignTime[0] = DateTime.Now.Ticks; //시작시간을 초기화 해준다
+
+                //동작중에 들어오면 바로 멈추게한다. 이것은 SPS에서 적용되어야하지만 더 빠르게 반응하기 위해서 그렇게 한다 - 200813
+                if (value1 && DIO.GetPortMotorDir(pidx) == eMotDir.CW)
+                    DIO.SetPortMotor(pidx, eMotDir.CW, false, "_DIO_DETECT");
+            }
+
+
+            if (pin == eDIName.PORTL_LIM_DN)
+            {
+                //좌측포트의 하단부리밋센서가 검출될경우  마그넷이 on 되어있다면 off한다.
+                if (DIO.GetIOInput(eDIName.PORTL_LIM_DN) == true && DIO.GetIOOutput(eDOName.PORTL_MAGNET) == true)
+                {
+                    DIO.SetPortMagnet(0, false);
+                    PUB.log.Add("Left port magnet OFF");
+                }
+            }
+            else if (pin == eDIName.PORTC_LIM_DN)
+            {
+                //좌측포트의 하단부리밋센서가 검출될경우  마그넷이 on 되어있다면 off한다.
+                if (DIO.GetIOInput(eDIName.PORTC_LIM_DN) == true && DIO.GetIOOutput(eDOName.PORTC_MAGNET) == true)
+                {
+                    DIO.SetPortMagnet(1, false);
+                    PUB.log.Add("Center port magnet OFF");
+
+                    if(PUB.sm.Step == eSMStep.FINISH)
+                    {
+                        DIO.SetBuzzer(false); //부저종료 231005
+                    }
+                }
+            }
+            else if (pin == eDIName.PORTR_LIM_DN)
+            {
+                //좌측포트의 하단부리밋센서가 검출될경우  마그넷이 on 되어있다면 off한다.
+                if (DIO.GetIOInput(eDIName.PORTR_LIM_DN) == true && DIO.GetIOOutput(eDOName.PORTR_MAGNET) == true)
+                {
+                    DIO.SetPortMagnet(2, false);
+                    PUB.log.Add("Right port magnet OFF");
+                }
+            }
+            else if (pin == eDIName.R_CONV4 || pin == eDIName.L_CONV1 || pin == eDIName.L_CONV4 || pin == eDIName.R_CONV1)
+            {
+                VAR.TIME[(int)eVarTime.JOBEVENT] = DateTime.Now;
+            }
+
+        }
+    }
+}

Handler/Project/RunCode/_02_Output_Events.cs

@@ -0,0 +1,98 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+        void _DIO_OUTPUT_VALUE_CHANGED(eDOName pin, Boolean value)
+        {
+            if (pin == eDOName.PORTL_MOT_RUN)
+            {
+                VAR.TIME[(int)eVarTime.JOBEVENT] = DateTime.Now;
+                hmi1.arVar_Port[0].MotorRun = value;
+            }
+            else if (pin == eDOName.PORTC_MOT_RUN)
+            {
+                //VAR.TIME[(int)eVarTime.JOBEVENT] = DateTime.Now;
+                hmi1.arVar_Port[1].MotorRun = value;
+            }
+            else if (pin == eDOName.PORTR_MOT_RUN)
+            {
+                VAR.TIME[(int)eVarTime.JOBEVENT] = DateTime.Now;
+                hmi1.arVar_Port[2].MotorRun = value;
+            }
+
+            else if (pin == eDOName.PORTL_MOT_DIR)
+            {
+
+                hmi1.arVar_Port[0].MotorDir = !value;
+            }
+            else if (pin == eDOName.PORTC_MOT_DIR)
+                hmi1.arVar_Port[1].MotorDir = !value;
+            else if (pin == eDOName.PORTR_MOT_DIR)
+            {
+
+                hmi1.arVar_Port[2].MotorDir = !value;
+            }
+
+            //피커 백큠 동작 상태(front)
+            //else if (pin == eDOName.PICK_VAC1) loader1.arVar_Picker[0].VacOutput[0] = value;
+            //else if (pin == eDOName.PICK_VAC2) loader1.arVar_Picker[0].VacOutput[1] = value;
+            //else if (pin == eDOName.PICK_VAC3) loader1.arVar_Picker[0].VacOutput[2] = value;
+            //else if (pin == eDOName.PICK_VAC4) loader1.arVar_Picker[0].VacOutput[3] = value;
+
+            //출력상태에 따라서 버튼의 LED를 켠다
+            else if (pin == eDOName.SOL_AIR)
+            {
+                DIO.SetOutput(eDOName.BUT_AIRF, value);
+
+                if (value == false)
+                    PUB.flag.set(eVarBool.FG_PK_ITEMON, false, "DO");
+                hmi1.arDIAir = value;  //AIR상태를 표시
+            }
+            else if (pin == eDOName.LEFT_CONV)
+            {
+                VAR.TIME[(int)eVarTime.JOBEVENT] = DateTime.Now;
+                if (value)
+                {
+                    VAR.TIME[eVarTime.CONVL_START] = DateTime.Now;
+                }
+                else
+                {
+                    VAR.TIME[eVarTime.CONVL_START] = new DateTime(1982, 11, 23);
+                    VAR.DBL[eVarDBL.CONVL_RUNTIME] = 0;
+                }
+
+                PUB.log.Add($"LEFT_CONV : {value}");
+            }
+            else if (pin == eDOName.RIGHT_CONV)
+            {
+                VAR.TIME[(int)eVarTime.JOBEVENT] = DateTime.Now;
+                PUB.log.Add($"RIGHT_CONV : {value}");
+                if (value)
+                {
+                    VAR.TIME[eVarTime.CONVR_START] = DateTime.Now;
+                }
+                else
+                {
+                    VAR.TIME[eVarTime.CONVR_START] = new DateTime(1982, 11, 23);
+                    VAR.DBL[eVarDBL.CONVR_RUNTIME] = 0;
+                }
+
+            }
+            else if (pin == eDOName.BUZZER)
+            {
+                if (value)
+                    PUB.BuzzerTime = DateTime.Now;
+                else
+                    PUB.BuzzerTime = new DateTime(1982, 11, 23);
+            }
+
+        }
+
+    }
+}

Handler/Project/RunCode/_03_Interlock_Events.cs

@@ -0,0 +1,153 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using arDev;
+using AR;
+using AR;
+namespace Project
+{
+    public partial class FMain
+    {
+        void Set_InterLock()
+        {
+            if (PUB.sm.Step < eSMStep.IDLE) return;
+            intlockcnt += 1;
+
+            var CurrentSaftyDoor = DIO.isSaftyDoorF();//도어안전
+            var CurrentSaftyArea = true; //안전영역
+            var bEmg = DIO.IsEmergencyOn(); //비상정지
+            var bHSet = PUB.mot.IsInit && PUB.mot.HasHomeSetOff; //홈 설정이 완료되었는지 확인한다            
+
+            PUB.flag.set(eVarBool.FG_DOORSAFTY, CurrentSaftyDoor, "COMMINTERLOCK");
+            PUB.flag.set(eVarBool.FG_AREASAFTY, CurrentSaftyArea, "COMMINTERLOCK");
+
+            for (int i = 0; i < PUB.iLock.Length; i++)
+            {
+                PUB.iLock[i].set((int)eILock.EMG, bEmg, "COMMINTERLOCK");
+                PUB.iLock[i].set((int)eILock.DOOR, !CurrentSaftyDoor, "COMMINTERLOCK");
+                if (i < 7)
+                {
+                    PUB.iLock[i].set((int)eILock.HOMESET, bHSet, "COMMINTERLOCK");
+                }
+            }
+
+            //피커의 Z축이 움직이는 동안에는 Y축을 움직이지 못하게 한다
+            PUB.iLock[(int)eAxis.PX_PICK].set((int)eILock.ZMOVE, PUB.mot.IsMotion((int)eAxis.PZ_PICK), "COMMINTERLOCK");
+            PUB.iLock[(int)eAxis.PL_MOVE].set((int)eILock.ZMOVE, PUB.mot.IsMotion((int)eAxis.PL_UPDN), "COMMINTERLOCK");
+            PUB.iLock[(int)eAxis.PR_MOVE].set((int)eILock.ZMOVE, PUB.mot.IsMotion((int)eAxis.PR_UPDN), "COMMINTERLOCK");
+
+            //피커의 Y축이 움직이는 동안에는 Z축을 움직이지 못하게 한다
+            PUB.iLock[(int)eAxis.PZ_PICK].set((int)eILock.XMOVE, PUB.mot.IsMotion((int)eAxis.PX_PICK), "COMMINTERLOCK");
+
+            //외부컨베어 신호 인터락설정 (출구쪽센서가 인식되지 않았다면 멈추지 않는다)
+            var cvLBusy = DIO.GetIOInput(eDIName.L_CONV4) && DIO.GetIOInput(eDIName.L_EXT_READY) == false && VAR.BOOL[eVarBool.FG_AUTOOUTCONVL] == false;
+            var cvRBusy = DIO.GetIOInput(eDIName.R_CONV4) && DIO.GetIOInput(eDIName.R_EXT_READY) == false && VAR.BOOL[eVarBool.FG_AUTOOUTCONVR] == false;
+            PUB.iLockCVL.set((int)eILockCV.EXTBUSY, cvLBusy, "COMMINTERLOCK");
+            PUB.iLockCVR.set((int)eILockCV.EXTBUSY, cvRBusy, "COMMINTERLOCK");
+
+            //축을 사용하지 않는경우
+            PUB.iLockCVL.set((int)eILockCV.DISABLE, SETTING.Data.Disable_Left, "COMMINTERLOCK");
+            PUB.iLockCVR.set((int)eILockCV.DISABLE, SETTING.Data.Disable_Right, "COMMINTERLOCK");
+
+            //카트모드에서
+            PUB.iLockCVL.set((int)eILockCV.CARTMODE, !VAR.BOOL[eVarBool.Use_Conveyor], "COMMINTERLOCK");
+            PUB.iLockCVR.set((int)eILockCV.CARTMODE, !VAR.BOOL[eVarBool.Use_Conveyor], "COMMINTERLOCK");
+
+
+            //포트가동상태에따라서 비젼인터락
+            PUB.iLockVS0.set((int)eILockVS0.PORTRDY, !PUB.flag.get(eVarBool.FG_RDY_PORT_PL), "COMMINTERLOCK");
+            if (PUB.Result.DryRun == true)
+                PUB.iLockVS1.set((int)eILockVS1.PORTRDY, false, "COMMINTERLOCK");
+            else
+                PUB.iLockVS1.set((int)eILockVS1.PORTRDY, !PUB.flag.get(eVarBool.FG_RDY_PORT_PC), "COMMINTERLOCK");
+            PUB.iLockVS2.set((int)eILockVS2.PORTRDY, !PUB.flag.get(eVarBool.FG_RDY_PORT_PR), "COMMINTERLOCK");
+
+            //위치관련 인터락은 MODEL이 설정 되어있어야하며, MOTION도 정상이어야 한다
+            if (PUB.mot.IsInit && PUB.Result.mModel.isSet)
+            {
+                //if (PUB.LockModel.WaitOne(1) == true)
+                {
+                    //PUB.LockModel.Reset();
+
+                    //피커의 X축에 따라서 비젼의 촬영가능여부가 결정된다
+                    PUB.iLockVS0.set((int)eILockVS0.PKXPOS, DIO.GetIOInput(eDIName.PICKER_SAFE) == false && MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON)) < -2, "COMMINTERLOCK");
+                    if (MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.READYL)) <= 2 || MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.READYR)) >= -2)
+                        PUB.iLockVS1.set((int)eILockVS1.PKXPOS, false, "COMMINTERLOCK");
+                    else
+                        PUB.iLockVS1.set((int)eILockVS1.PKXPOS, true, "COMMINTERLOCK");
+                    PUB.iLockVS2.set((int)eILockVS2.PKXPOS, DIO.GetIOInput(eDIName.PICKER_SAFE) == false && MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON)) > 2, "COMMINTERLOCK");
+
+                    //프린터Y축 위치에 따른 비젼촬영여부(기준위치보다 낮게 있다면 촬영이 안된다)
+                    var PLMCmdPos = MOT.GetLMPos(eLMLoc.READY);
+                    var PRMCmdPos = MOT.GetRMPos(eRMLoc.READY);
+                    PUB.iLockVS0.set((int)eILockVS0.PRNYPOS, (MOT.getPositionOffset(PLMCmdPos) < -5), "COMMINTERLOCK");
+                    PUB.iLockVS2.set((int)eILockVS2.PRNYPOS, (MOT.getPositionOffset(PRMCmdPos) < -5), "COMMINTERLOCK");
+
+                    //피커의Z축이 안전위치가 아니면 Y축을 움직이지 않는다
+                    var PKZ_POS_ERR = MOT.getPositionOffset(MOT.GetPZPos(ePZLoc.READY)) > 2;
+                    PUB.iLock[(int)eAxis.PX_PICK].set((int)eILock.Z_POS, PKZ_POS_ERR, "COMMINTERLOCK");
+
+                    PKZ_POS_ERR = (DIO.GetIOInput(eDIName.PICKER_SAFE) == false && MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON)) <= 2);
+                    PUB.iLock[(int)eAxis.PL_MOVE].set((int)eILock.X_POS, PKZ_POS_ERR, "COMMINTERLOCK"); ;
+
+                    PKZ_POS_ERR = (DIO.GetIOInput(eDIName.PICKER_SAFE) == false && MOT.getPositionOffset(MOT.GetPXPos(ePXLoc.PICKON)) >= 2);
+                    PUB.iLock[(int)eAxis.PR_MOVE].set((int)eILock.X_POS, PKZ_POS_ERR, "COMMINTERLOCK");
+
+                    //프린터Z축 안전위치가 아니면 Y축을 멈춘다
+                    var PLZ_POS_ERR = MOT.getPositionOffset(MOT.GetLZPos(eLZLoc.READY)) > 2.0;
+                    var PRZ_POS_ERR = MOT.getPositionOffset(MOT.GetRZPos(eRZLoc.READY)) > 2.0;
+                    PUB.iLock[(int)eAxis.PL_MOVE].set((int)eILock.PZ_POS, PLZ_POS_ERR, "COMMINTERLOCK");
+                    PUB.iLock[(int)eAxis.PR_MOVE].set((int)eILock.PZ_POS, PRZ_POS_ERR, "COMMINTERLOCK");
+
+                    //실린더가 전진해 잇다면 이동하지 않아야 한다 - 210207
+                    var PLZ_CYL_FW = !DIO.GetIOInput(eDIName.L_PICK_BW);
+                    var PRZ_CYL_FW = !DIO.GetIOInput(eDIName.R_PICK_BW);
+                    PUB.iLock[(int)eAxis.PL_MOVE].set((int)eILock.CYL_FORWARD, PLZ_CYL_FW, "COMMINTERLOCK");
+                    PUB.iLock[(int)eAxis.PR_MOVE].set((int)eILock.CYL_FORWARD, PRZ_CYL_FW, "COMMINTERLOCK");
+
+                    //프린터Y축 안전위치가 아니면 Z축을 멈춘다
+                    var PLM_YPOS_READY = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY)); //MOT.GetPLM_PosName();
+                    var PRM_YPOS_READY = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY)); //MOT.GetPRM_PosName();
+
+                    var PLM_YPOS_H07 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTH07));
+                    var PLM_YPOS_M07 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTM07));
+                    var PLM_YPOS_L07 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTL07));
+                    var PLM_YPOS_H13 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTH13));
+                    var PLM_YPOS_M13 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTM13));
+                    var PLM_YPOS_L13 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTL13));
+
+                    var PRM_YPOS_H07 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTH07));
+                    var PRM_YPOS_M07 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTM07));
+                    var PRM_YPOS_L07 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTL07));
+                    var PRM_YPOS_H13 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTH13));
+                    var PRM_YPOS_M13 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTM13));
+                    var PRM_YPOS_L13 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTL13));
+
+
+                    var 좌측대기옵셋 = MOT.getPositionOffset(MOT.GetLMPos(eLMLoc.READY));
+                    var 우측대기옵셋 = MOT.getPositionOffset(MOT.GetRMPos(eRMLoc.READY));
+                    var 좌측대기인정 = (좌측대기옵셋 >= (AR.SETTING.Data.MoveYForPaperVaccumeValue - 0.5) && 좌측대기옵셋 <= 0.5);
+                    var 우측대기인정 = (우측대기옵셋 >= (AR.SETTING.Data.MoveYForPaperVaccumeValue - 0.5) && 좌측대기옵셋 <= 0.5);
+
+                    var PLM_POS_ERR = !(좌측대기인정 || PLM_YPOS_READY || PLM_YPOS_H07 || PLM_YPOS_M07 || PLM_YPOS_L07 || PLM_YPOS_H13 || PLM_YPOS_M13 || PLM_YPOS_L13);
+                    var PRM_POS_ERR = !(우측대기인정 || PRM_YPOS_READY || PRM_YPOS_H07 || PRM_YPOS_M07 || PRM_YPOS_L07 || PRM_YPOS_H13 || PRM_YPOS_M13 || PRM_YPOS_L13);
+
+                    PUB.iLock[(int)eAxis.PL_UPDN].set((int)eILock.PY_POS, PLM_POS_ERR, "COMMINTERLOCK");
+                    PUB.iLock[(int)eAxis.PR_UPDN].set((int)eILock.PY_POS, PRM_POS_ERR, "COMMINTERLOCK");
+
+                    //PUB.LockModel.Set();
+                }
+            }
+            else
+            {
+                //모션사용불능은 그냥 해제한다
+                //Pub.LockPRL.set((int)eILockPRL.PYPOS, false, "COMMINTERLOCK");
+                //Pub.LockPRL.set((int)eILockPRR.PYPOS, false, "COMMINTERLOCK");
+            }
+
+        }
+
+    }
+}

Handler/Project/RunCode/_04_Flag_Events.cs

@@ -0,0 +1,106 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+using arDev;
+
+namespace Project
+{
+    public partial class FMain
+    {
+
+        void Lock_ValueChanged(object sender, AR.InterfaceValueEventArgs e)
+        {
+
+            //인터락플래그 변경 이벤트
+            var iL = sender as AR.CInterLock;
+            var tagstr = (iL.Tag == null ? string.Empty : iL.Tag.ToString());
+            var fgstr = $"[{e.ArrIDX}]";
+
+            if (tagstr == "PKX") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PKZ") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PKT") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PLM") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PLZ") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PRM") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PRZ") fgstr = ((eILock)e.ArrIDX).ToString();
+            else if (tagstr == "PRL") fgstr = ((eILockPRL)e.ArrIDX).ToString();
+            else if (tagstr == "PRR") fgstr = ((eILockPRR)e.ArrIDX).ToString();
+            else if (tagstr == "VS0") fgstr = ((eILockVS0)e.ArrIDX).ToString();
+            else if (tagstr == "VS1") fgstr = ((eILockVS1)e.ArrIDX).ToString();
+            else if (tagstr == "VS2") fgstr = ((eILockVS2)e.ArrIDX).ToString();
+
+            else if (tagstr == "CVL") fgstr = ((eILockCV)e.ArrIDX).ToString();
+            else if (tagstr == "CVR") fgstr = ((eILockCV)e.ArrIDX).ToString();
+
+            //else fgstr = "?";
+
+            //최초생성시에는 값을 표시한다
+            if (PUB.sm.Step >= eSMStep.IDLE && PUB.sm.Step != eSMStep.HOME_FULL)
+            {
+                if (e.NewOn)
+                {
+                    if (tagstr == "PKX" && PUB.mot.IsMotion(0) == true)
+                    {
+                        Console.WriteLine("ㅠㅠ");
+                    }
+                    if (AR.SETTING.Data.Log_ILock)
+                        PUB.log.Add(string.Format("[IL-ON:{2}] {0}:{1}", fgstr, e.Reason, tagstr));
+                    if (AR.SETTING.Data.Enable_Log_ILock)
+                        PUB.logILock.Add("ON", $"{fgstr}:{e.Reason}");
+                }
+                else if (e.NewOff)
+                {
+                    if (AR.SETTING.Data.Log_ILock)
+                        PUB.log.Add(string.Format("[IL-OF:{2}] {0}:{1}", fgstr, e.Reason, tagstr));
+                    if (AR.SETTING.Data.Enable_Log_ILock)
+                        PUB.logILock.Add("OF", $"{fgstr}:{e.Reason}");
+                }
+
+                var logmsg = "#### ILOCK(" + tagstr + ")변경 : " + fgstr + "(" + e.ArrIDX.ToString() + ") 값:" + e.NewValue.ToString() + ",사유:" + e.Reason;
+
+                //ILOck 로그에 기록
+                if (AR.SETTING.Data.Enable_Log_ILock) PUB.logILock.Add(logmsg);
+
+                //메인로그에 기록
+                if (AR.SETTING.Data.Log_ILock) PUB.log.Add(logmsg);
+            }
+
+        }
+        private void Flag_ValueChanged(object sender, VarData<bool>.ValueEventArgs e)
+        {
+            var fg = (eVarBool)e.Idx;
+
+            if (fg == eVarBool.FG_PK_ITEMON)
+            {
+                // Pub.log.AddAT(string.Format("[FLAG:{0}] : {1}", fg, e.NewValue));
+                hmi1.arVar_Picker[0].ItemOn = e.Value;
+            }
+
+            else if (fg == eVarBool.FG_RDY_PZ_LPICKOF) hmi1.arFG_RDY_YP_FPICKOF = e.Value;
+            else if (fg == eVarBool.FG_RDY_PZ_RPICKOF) hmi1.arFG_RDY_YP_RPICKOF = e.Value;
+            else if (fg == eVarBool.FG_CMD_YP_LPICKON) hmi1.arFG_CMD_YP_FPICKON = e.Value;
+            else if (fg == eVarBool.FG_CMD_YP_RPICKON) hmi1.arFG_CMD_YP_RPICKON = e.Value;
+
+            else if (fg == eVarBool.FG_MINSPACE) hmi1.arFlag_Minspace = e.Value;
+
+
+            hmi1.arVar_Port[0].Ready = PUB.flag.get(eVarBool.FG_RDY_PORT_PL);
+            hmi1.arVar_Port[1].Ready = PUB.flag.get(eVarBool.FG_RDY_PORT_PC);
+            hmi1.arVar_Port[2].Ready = PUB.flag.get(eVarBool.FG_RDY_PORT_PR);
+
+            if (PUB.sm.Step >= eSMStep.IDLE && PUB.sm.Step != eSMStep.HOME_FULL)
+            {
+                var logmsg = string.Format("[{0}] {1} : {2} => {3}", e.Idx, fg, e.Value, e.Message);
+                //ILOck 로그에 기록
+                if (AR.SETTING.Data.Enable_Log_Flag) PUB.logFlag.Add(logmsg);
+
+                //메인로그에 기록
+                if (AR.SETTING.Data.Log_flag) PUB.log.Add(logmsg);
+            }
+
+        }
+    }
+}

Handler/Project/RunCode/_97_Utility.cs

@@ -0,0 +1,152 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using AR;
+namespace Project
+{
+	public partial class FMain
+	{
+		Dialog.fFinishJob fsum = null;
+		void HideSummary()
+		{
+			if (this.InvokeRequired)
+			{
+				this.BeginInvoke(new MethodInvoker(HideSummary), null);
+			}
+			else
+			{
+				if (fsum != null)
+				{
+					if (fsum.IsDisposed == false && fsum.Disposing == false)
+					{
+						fsum.Close();
+						fsum.Dispose();
+					}
+					fsum = null;
+				}
+			}
+
+		}
+		void ShowSummary()
+		{
+			if (fsum == null || fsum.IsDisposed || fsum.Disposing == true)
+			{
+				fsum = new Dialog.fFinishJob();
+				fsum.FormClosed += (s1, e1) =>
+				{
+					//해당 폼이 닫힐때 처리한다.
+					if (PUB.sm.Step == eSMStep.FINISH)
+					{
+						//완료상때일때 닫으면
+						Run_MotionPositionReset();
+					}
+				};
+				fsum.Show();
+			}
+			else
+			{
+				fsum.Show();
+				fsum.Activate();
+			}
+		}
+
+		void UserStepWait(eWorkPort target)
+		{
+			if (PUB.flag.get(eVarBool.FG_USERSTEP))
+			{
+				if (target == eWorkPort.Left)
+				{
+					if (LockUserL.WaitOne(1))
+						LockUserL.Reset();
+				}
+				else
+				{
+					if (LockUserR.WaitOne(1))
+						LockUserR.Reset();
+				}
+
+			}
+		}
+
+		/// <summary>
+		/// user step 상황에서 자동으로 멈추게 합니다.
+		/// </summary>
+		void UserStepRun(eWorkPort target)
+		{
+			if (PUB.flag.get(eVarBool.FG_USERSTEP))
+			{
+				if (target == eWorkPort.Right)
+				{
+					if (LockUserL.WaitOne(1) == false)
+						LockUserL.Set();
+				}
+				else
+				{
+					if (LockUserR.WaitOne(1) == false)
+						LockUserR.Set();
+				}
+
+			}
+		}
+
+
+		/// <summary>
+		/// 홈작업이 진행 가능한지 하드웨어 상태를 확인한다.
+		/// </summary>
+		/// <returns></returns>
+		bool CheckHomeProcess_HW_Available(Boolean needHomeSet)
+		{
+			//모션이 초기화되지 않았다면 오류로 한다
+			if (PUB.mot.IsInit == false)
+			{
+				PUB.Result.SetResultMessage(eResult.MOTION, eECode.AZJINIT, eNextStep.NOTHING);
+				return false;
+			}
+
+			//모든 홈이 되어야 가능하다
+			if (needHomeSet)
+			{
+				if (PUB.mot.IsInit && PUB.mot.HasHomeSetOff == true)
+				{
+					PUB.Result.SetResultMessage(eResult.MOTION, eECode.MOT_HSET, eNextStep.ERROR);
+					return false;
+				}
+			}
+
+			//안전센서가 작동했다면 중지한다.
+			if (DIO.isSaftyDoorF(true) == false || DIO.isSaftyDoorR() == false)
+			{
+				PUB.Result.SetResultMessage(eResult.SAFTY, eECode.DOORSAFTY, eNextStep.ERROR);
+				return false;
+			}
+
+			//모션모델이 반드시 설정되어있어야 한다
+			if (PUB.Result.isSetmModel == false)
+			{
+				PUB.Result.SetResultMessage(eResult.MOTION, eECode.NOMODELM, eNextStep.ERROR);
+				return false;
+			}
+
+			//AIR확인
+			if (DIO.GetIOOutput(eDOName.SOL_AIR) == false)
+			{
+				PUB.Result.SetResultMessage(eResult.SENSOR, eECode.AIRNOOUT, eNextStep.ERROR);
+				return false;
+			}
+
+			// 비상정지 확인
+			if (DIO.IsEmergencyOn() == true)
+			{
+				PUB.Result.SetResultMessage(eResult.SAFTY, eECode.EMERGENCY, eNextStep.ERROR);
+				return false;
+			}
+
+			return true;
+		}
+
+
+	}
+}

Handler/Project/RunCode/_99_System_Shutdown.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+	public partial class FMain
+	{
+
+	}
+}

Handler/Project/RunCode/_Close.cs

@@ -0,0 +1,46 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+
+namespace Project
+{
+    public partial class FMain
+    {
+        /// <summary>
+        /// 프로그램을 닫을때 1회 실행되는 함수
+        /// </summary>
+        private void _Close_Start()
+        {
+            //연결체크용 쓰레드 종료
+            bRunConnection = false;
+            this.thConnection.Abort();
+
+
+			//Light off 220714
+			DIO.SetRoomLight(false, true);
+
+            //Pub.dio.SetOutput((int)eDOName.ABRUN, false);  //stop mgz loader a/c motor            
+            PUB.log.Add("Program Close");
+            PUB.LogFlush();
+
+            //키엔트추가 210114
+            
+            if(PUB.keyenceF != null)
+            {
+                PUB.keyenceF.ExecCommand("QUIT");
+                PUB.keyenceF.Dispose();
+            }
+            if(PUB.keyenceR != null)
+            {
+                PUB.keyenceR.ExecCommand("QUIT");
+                PUB.keyenceR.Dispose();
+            }
+            
+            PUB.dio.StopMonitor();
+            PUB.mot.StopMonitor();
+            PUB.sm.Stop();
+        }
+    }
+}

Handler/Project/RunCode/_Motion.cs

@@ -0,0 +1,84 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+
+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 >= SETTING.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", $"Motor stop reason ({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("Home search completed for axis: {0}", e.Axis));
+				}
+			}
+		}
+
+
+		void mot_Message(object sender, arDev.MOT.MessageEventArgs e)
+		{
+			if (e.IsError)
+			{
+				if (e.Message.IndexOf("same position") != -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);
+		}
+
+	}
+}

Handler/Project/RunCode/_SM_RUN.cs

@@ -0,0 +1,202 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using AR;
+namespace Project
+{
+	public partial class FMain
+	{
+		bool[] runStepisFirst = new bool[] { false, false };
+
+		#region "Is Can Pick On/Off"
+
+		Boolean isCanPLPickOn()
+		{
+			//아이템을 가지고 있으면 안된다.
+			if (PUB.flag.get(eVarBool.FG_PL_ITEMON)) return false;
+
+			//Y축이 집는 위치가 아니면 빠져나감
+			var Pos = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.READY));//  MOT.GetPLM_PosName();
+			if (Pos) return false;
+
+			return true;
+		}
+
+		Boolean isCanPRPickOn()
+		{
+			//아이템을 가지고 있으면 안된다.
+			if (PUB.flag.get(eVarBool.FG_PR_ITEMON)) return false;
+
+			//Y축이 집는 위치가 아니면 빠져나감
+			var Pos = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.READY));//  MOT.GetPRM_PosName();
+			if (Pos) return false;
+
+			return true;
+		}
+
+		Boolean isCanPLPickOff()
+		{
+			//아이템이 없으면 불가
+			if (PUB.flag.get(eVarBool.FG_PL_ITEMON) == false) return false;
+
+			//Y축 위치 확인
+			var PosH07 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTH07));
+			var PosM07 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTM07));
+			var PosL07 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTL07));
+
+			var PosH13 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTH13));
+			var PosM13 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTM13));
+			var PosL13 = MOT.getPositionMatch(MOT.GetLMPos(eLMLoc.PRINTL13));
+
+			if (PosH07 && PosM07 && PosL07 && PosH13 && PosM13 && PosL13) return false;
+
+			//포트가 준비되지않았거나, 감지가 안되었다면 진행 불가
+			if (PUB.flag.get(eVarBool.FG_RDY_PORT_PL) == false || hmi1.arVar_Port[0].AlignOK != 1) return false;
+
+			return true;
+		}
+
+
+		Boolean isCanPRPickOff()
+		{
+			//아이템이 없으면 불가
+			if (PUB.flag.get(eVarBool.FG_PR_ITEMON) == false) return false;
+
+			//Y축 위치 확인
+			var PosH07 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTH07));
+			var PosM07 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTM07));
+			var PosL07 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTL07));
+
+			var PosH13 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTH13));
+			var PosM13 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTM13));
+			var PosL13 = MOT.getPositionMatch(MOT.GetRMPos(eRMLoc.PRINTL13));
+
+			if (PosH07 && PosM07 && PosL07 && PosH13 && PosM13 && PosL13) return false;
+
+			//포트가 준비되지않았거나, 감지가 안되었다면 진행 불가
+			if (PUB.flag.get(eVarBool.FG_RDY_PORT_PR) == false || hmi1.arVar_Port[2].AlignOK != 1) return false;
+
+			return true;
+		}
+
+		Boolean isCanPickOffL()
+		{
+			//아이템이 없으면 불가
+			if (PUB.flag.get(eVarBool.FG_PK_ITEMON) == false) return false;
+
+			//Y축 위치 확인
+			if (MOT.getPositionMatch(MOT.GetPXPos(ePXLoc.PICKOFFL)) == false) return false;
+
+			//포트가 준비되지않았거나, 감지가 안되었다면 진행 불가
+			if (PUB.flag.get(eVarBool.FG_RDY_PORT_PL) == false || hmi1.arVar_Port[0].AlignOK != 1) return false;
+
+			return true;
+		}
+
+		Boolean isCanPickOn()
+		{
+			//아이템을 가지고 있으면 안된다.
+			if (PUB.flag.get(eVarBool.FG_PK_ITEMON)) return false;
+
+			//Y축이 집는 위치가 아니면 빠져나감
+			if (MOT.getPositionMatch(MOT.GetPXPos(ePXLoc.PICKON)) == false) return false;
+
+			//포트가 준비되어 있지 않다면 가져갈수 없다
+			if (PUB.Result.DryRun == false && (PUB.flag.get(eVarBool.FG_RDY_PORT_PC) == false || hmi1.arVar_Port[1].AlignOK != 1)) return false;
+
+			return true;
+		}
+
+		Boolean isCanPickOffR()
+		{
+			//아이템이 없으면 불가
+			if (PUB.flag.get(eVarBool.FG_PK_ITEMON) == false) return false;
+
+			//Y축 위치 확인
+			if (MOT.getPositionMatch(MOT.GetPXPos(ePXLoc.PICKOFFR)) == false) return false;
+
+			//포트가 준비되지않았거나, 감지가 안되었다면 진행 불가
+			if (PUB.flag.get(eVarBool.FG_RDY_PORT_PR) == false || hmi1.arVar_Port[2].AlignOK != 1) return false;
+
+			return true;
+		}
+
+		#endregion
+
+		bool CheckPauseCondition(Boolean lightCheck)
+		{
+			//비상정지체크
+			if (DIO.IsEmergencyOn() == true || PUB.mot.HasEmergencyStop)
+			{
+				//이것은 SPS에서 추가로 처리된다
+				PUB.Result.SetResultMessage(eResult.EMERGENCY, eECode.EMERGENCY, eNextStep.NOTHING);// false);
+				return false;
+			}
+
+			//홈이 잡혀잇는지 체크한다
+			if (PUB.mot.HasHomeSetOff == true)
+			{
+				PUB.Result.SetResultMessage(eResult.MOTION, eECode.MOT_HSET, eNextStep.ERROR);
+				return false;
+			}
+
+			if (lightCheck == false)
+			{
+				//안전센서체크
+				if (DIO.isSaftyDoorF() == false)
+				{
+					PUB.Result.SetResultMessage(eResult.EMERGENCY, eECode.DOORSAFTY, eNextStep.PAUSE);// false);
+					PUB.mot.MoveStop("Safety issue", true);
+
+					if (DIO.isSaftyDoorF(0, false) == false) DIO.SetPortMotor(0, eMotDir.CW, false, "Safety error");
+					if (DIO.isSaftyDoorF(1, false) == false) DIO.SetPortMotor(1, eMotDir.CW, false, "Safety error");
+					if (DIO.isSaftyDoorF(2, false) == false) DIO.SetPortMotor(2, eMotDir.CW, false, "Safety error");
+					return false;
+				}
+
+				//에어공급출력체크
+				if (AR.SETTING.Data.DisableSensor_AIRCheck == false && DIO.GetIOOutput(eDOName.SOL_AIR) == false)
+				{
+					PUB.Result.SetResultMessage(eResult.HARDWARE, eECode.AIRNOOUT, eNextStep.PAUSE);//false);
+					return false;
+				}
+
+				//오버로드체크
+				if (hmi1.arVar_Port[0].OverLoad)
+				{
+					PUB.Result.SetResultMessage(eResult.SENSOR, eECode.PORTOVERLOAD, eNextStep.PAUSE, new object[] { "FRONT-LEFT" });
+					return false;
+				}
+			}
+
+			return true;
+		}
+
+		Boolean isPortLimDN(int idx)
+		{
+			if (idx < 0 || idx > 2) throw new Exception("Port number must be between (0~2)");
+			if (idx == 0) return DIO.GetIOInput(eDIName.PORTL_LIM_DN);
+			else if (idx == 1) return DIO.GetIOInput(eDIName.PORTC_LIM_DN);
+			else return DIO.GetIOInput(eDIName.PORTR_LIM_DN);
+
+		}
+		Boolean isPortLimUP(int idx)
+		{
+			if (idx < 0 || idx > 2) throw new Exception("Port number must be between (0~2)");
+			if (idx == 0) return DIO.GetIOInput(eDIName.PORTL_LIM_UP);
+			else if (idx == 1) return DIO.GetIOInput(eDIName.PORTC_LIM_UP);
+			else return DIO.GetIOInput(eDIName.PORTR_LIM_UP);
+		}
+		Boolean isPortDetUp(int idx)
+		{
+			if (idx < 0 || idx > 2) throw new Exception("Port number must be between (0~2)");
+			if (idx == 0) return DIO.GetIOInput(eDIName.PORTL_DET_UP);
+			else if (idx == 1) return DIO.GetIOInput(eDIName.PORTC_DET_UP);
+			else return DIO.GetIOInput(eDIName.PORTR_DET_UP);
+		}
+
+
+	}//cvass
+}

Handler/Project/RunCode/_Vision.cs

@@ -0,0 +1,381 @@
+using Newtonsoft.Json.Linq;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using WatsonWebsocket;
+using AR;
+
+namespace Project
+{
+	public partial class FMain
+	{
+		//DateTime lastRecvWSL = new DateTime(1982, 11, 23);
+		//DateTime lastRecvWSR = new DateTime(1982, 11, 23);
+		string lastBarcodeRawL = string.Empty;
+		string lastBarcodeRawR = string.Empty;
+
+
+		void AttachCameraEventL()
+		{
+			//크레비스오픈 - 210203
+			//PUB.log.Add("카메라 이벤트 생성");
+			PUB.wsL.MessageReceived += Ws_DataArrivalL;
+			PUB.wsL.ServerConnected += Ws_ConnectedL;
+			PUB.wsL.ServerDisconnected += Ws_DisconnectedL;
+		}
+		void DetachCameraEventL()
+		{
+			//크레비스오픈 - 210203
+			//PUB.log.Add("카메라 이벤트 해제");
+			PUB.wsL.MessageReceived -= Ws_DataArrivalL;
+			PUB.wsL.ServerConnected -= Ws_ConnectedL;
+			PUB.wsL.ServerDisconnected -= Ws_DisconnectedL;
+
+		}
+		void AttachCameraEventR()
+		{
+			//크레비스오픈 - 210203
+			//if (COMM.SETTING.Data.Log_CameraConn) PUB.log.Add("카메라 이벤트 생성");
+			PUB.wsR.MessageReceived += Ws_DataArrivalR;
+			PUB.wsR.ServerConnected += Ws_ConnectedR;
+			PUB.wsR.ServerDisconnected += Ws_DisconnectedR;
+		}
+		void DetachCameraEventR()
+		{
+			//크레비스오픈 - 210203
+			//if (COMM.SETTING.Data.Log_CameraConn) PUB.log.Add("카메라 이벤트 해제");
+			PUB.wsR.MessageReceived -= Ws_DataArrivalR;
+			PUB.wsR.ServerConnected -= Ws_ConnectedR;
+			PUB.wsR.ServerDisconnected -= Ws_DisconnectedR;
+		}
+		private void Ws_DisconnectedL(object sender, EventArgs e)
+		{
+			var ws = sender as WatsonWebsocket.WatsonWsClient;
+			PUB.log.AddAT("Camera L connection terminated");
+			//_isCrevisOpen[0] = false;
+			PUB.flag.set(eVarBool.FG_RDY_CAMERA_L, false, "DISC");
+		}
+
+		private void Ws_ConnectedL(object sender, EventArgs e)
+		{
+			PUB.log.AddAT("Camera L connection successful");
+			//_isCrevisOpen[0] = true;
+		}
+		private void Ws_DisconnectedR(object sender, EventArgs e)
+		{
+			var ws = sender as WatsonWebsocket.WatsonWsClient;
+			PUB.log.AddAT("Camera R connection terminated");
+			//_isCrevisOpen[2] = false;
+			PUB.flag.set(eVarBool.FG_RDY_CAMERA_R, false, "DISC");
+		}
+
+		private void Ws_ConnectedR(object sender, EventArgs e)
+		{
+			PUB.log.AddAT("Camera R connection successful");
+			//_isCrevisOpen[2] = true;
+		}
+
+		private void Ws_DataArrivalL(object sender, MessageReceivedEventArgs e)
+		{
+			Ws_DataArrival(0, sender as WatsonWsClient, e);
+		}
+		private void Ws_DataArrivalR(object sender, MessageReceivedEventArgs e)
+		{
+			Ws_DataArrival(1, sender as WatsonWsClient, e);
+		}
+
+		private void Ws_DataArrival(int idx, WatsonWsClient ws, MessageReceivedEventArgs e)
+		{
+			//throw new NotImplementedException();
+			var data = Encoding.UTF8.GetString(e.Data);// Pub.ws.Get<String>();
+			if (idx == 0) VAR.TIME[eVarTime.lastRecvWSL] = DateTime.Now;
+			else VAR.TIME[eVarTime.lastRecvWSR] = DateTime.Now;
+
+
+
+			if (data.Contains("\"command\":\"status"))
+			{
+				//PUB.logVision.Add($"[{idx}]상태메세지수신");
+				//PUB.logVision.Flush();
+				try
+				{
+					var jsondata = JObject.Parse(data);
+					var msgdata = new
+					{
+						command = jsondata.Value<String>("command"),
+						camera = jsondata.Value<String>("camera"),
+						live = jsondata.Value<String>("live"),
+						stream = jsondata.Value<String>("stream"),
+						listen = jsondata.Value<String>("listen"),
+						trig = jsondata.Value<String>("trig"),
+						license = jsondata.Value<String>("license"),
+                        reel = jsondata.Value<String>("reel"),
+                        conv = jsondata.Value<String>("conv"),
+                    };
+
+                    if (idx == 0)
+                    {
+                        PUB.flag.set(eVarBool.VS_DETECT_REEL_L, (msgdata.reel == "1"), "WS");
+                        PUB.flag.set(eVarBool.VS_DETECT_CONV_L, (msgdata.conv == "1"), "WS");
+                    }   
+                    else
+                    {
+                        PUB.flag.set(eVarBool.VS_DETECT_REEL_R, (msgdata.reel == "1"), "WS");
+                        PUB.flag.set(eVarBool.VS_DETECT_CONV_R, (msgdata.conv == "1"), "WS");
+                    }
+                    
+
+                    if (msgdata.license == "1" && msgdata.camera == "1")
+					{
+						if (idx == 0)
+						{
+                            if(PUB.flag.get(eVarBool.FG_RDY_CAMERA_L)==false)
+                            {
+                                PUB.flag.set(eVarBool.FG_RDY_CAMERA_L, true, "WEBSOCKET");
+                                PUB.log.Add("Left camera ready");
+                            }
+						}
+						else
+						{
+                            if (PUB.flag.get(eVarBool.FG_RDY_CAMERA_R) == false)
+                            {
+                                PUB.flag.set(eVarBool.FG_RDY_CAMERA_R, true, "WEBSOCKET");
+                                PUB.log.Add("Right camera ready");
+                            }
+                                
+						}
+					}
+					else
+					{
+						if (idx == 0) PUB.flag.set(eVarBool.FG_RDY_CAMERA_L, false, "WEBSOCKET");
+						else PUB.flag.set(eVarBool.FG_RDY_CAMERA_R, false, "WEBSOCKET");
+					}
+				}
+				catch (Exception ex)
+				{
+					PUB.log.AddE("Status message analysis failed: " + ex.Message);
+				}
+			}
+			else
+			{
+				//처리가능한 상황에서만 큐에 데이터를 넣는다
+				if (idx == 0 && PUB.flag.get(eVarBool.FG_PRC_VISIONL) == false)
+				{
+					PUB.log.AddAT("Left side vision not in verification state, deleting barcode data\n" + data);
+					return;
+				}
+				if (idx != 0 && PUB.flag.get(eVarBool.FG_PRC_VISIONR) == false)
+				{
+					PUB.log.AddAT("Right side vision not in verification state, deleting barcode data\n" + data);
+					return;
+				}
+
+				PUB.log.Add($"QR verification ({(idx == 0 ? "L" : "R")}) received: " + data);
+				var guid = idx == 0 ? PUB.Result.ItemDataL.guid : PUB.Result.ItemDataR.guid;
+
+				//BarcodeParsing(idx, guid, data, "WS");
+				var qrDataList = ProcessRecvBarcodeData(idx, data);
+				if (qrDataList.Count > 0)  //바코드데이터가 존재 했다
+				{
+					//처리가 완료되지 않은경우엠ㄴ 사용한다.
+					if (idx == 0)
+					{
+						if (PUB.flag.get(eVarBool.FG_END_VISIONL) == false)
+						{
+							var Complete = RecvQRProcess(qrDataList, eWorkPort.Left);
+							if (Complete) PUB.flag.set(eVarBool.FG_END_VISIONL, true, "DATA_ARRIVAL");
+						}
+						else PUB.log.AddAT("Vision (L) previous task completed, not processing");
+					}
+					else
+					{
+						if (PUB.flag.get(eVarBool.FG_END_VISIONR) == false)
+						{
+							var Complete = RecvQRProcess(qrDataList, eWorkPort.Right);
+							if (Complete) PUB.flag.set(eVarBool.FG_END_VISIONR, true, "DATA_ARRIVAL");
+						}
+						else PUB.log.AddAT("Vision (R) previous task completed, not processing");
+					}
+				}
+
+			}
+
+		}
+
+
+
+
+        //바코드 원본의 데이터큐
+        //ConcurrentQueue<string> BarcodeQueL = new ConcurrentQueue<string>();
+        //ConcurrentQueue<string> BarcodeQueR = new ConcurrentQueue<string>();
+
+        //bool BarcodeParsing(int idx, string guid, string jsonstr, string source, Boolean force = false)
+        //{
+
+        //	//값이있다면 바코드 큐에 집어 넣는다.
+        //	if (idx == 0)
+        //	{
+        //		lastBarcodeRawL = jsonstr;
+        //		lock (BarcodeQueL)
+        //			BarcodeQueL.Enqueue(jsonstr);
+        //	}
+        //	else
+        //	{
+        //		lastBarcodeRawR = jsonstr;
+        //		lock (BarcodeQueR)
+        //			BarcodeQueR.Enqueue(jsonstr);
+        //	}
+
+        //	return true;
+        //}
+
+        //DateTime WSLLastRecv = DateTime.Now;
+        //DateTime WSRLastRecv = DateTime.Now;
+		bool WS_Send(eWorkPort idx, WatsonWebsocket.WatsonWsClient ws, string guid, string cmd,string data)
+		{
+            if (ws == null) return false;
+
+			//데이터 생성
+			var msg = new
+			{
+				guid = guid,
+				command = cmd,
+                data = data
+			};
+
+			var json = Newtonsoft.Json.JsonConvert.SerializeObject(msg);
+			Boolean sendok = false;
+			try
+			{
+				//PUB.log.Add($"전송({idx}),ID:{guid},명령:{cmd}");
+				ws.SendAsync(json);
+				sendok = true;
+			}
+			catch (Exception ex)
+			{
+				PUB.log.AddE($"Transmission {idx} failed {ex.Message}");
+				sendok = false;
+			}
+
+			if (sendok == false)
+			{
+				try
+				{
+					if (idx == 0) CameraConTimeL = DateTime.Now;
+					else CameraConTimeR = DateTime.Now;
+
+                    if(ws != null)
+                    {
+                        PUB.log.AddAT($"Closing socket due to transmission {idx} failure");
+                        ws.Stop();
+                    }
+				}
+				catch (Exception ex)
+				{
+					PUB.log.AddE($"Socket {idx} termination failed: {ex.Message}");
+				}
+			}
+            return sendok;
+		}
+
+		//System.Diagnostics.Stopwatch wat = new System.Diagnostics.Stopwatch();
+		//System.Diagnostics.Stopwatch wat0 = new System.Diagnostics.Stopwatch();
+		//System.Diagnostics.Stopwatch wat1 = new System.Diagnostics.Stopwatch();
+		//System.Diagnostics.Stopwatch wat2 = new System.Diagnostics.Stopwatch();
+
+
+		/// <summary>
+		/// 바코드큐에있는 데이터를 분석하고 시작한다.
+		/// </summary>
+		/// <param name="Idx"></param>
+		/// <param name="Process"></param>
+		/// <returns></returns>
+		List<string> ProcessRecvBarcodeData(int vIdx, string JsonStr)
+		{
+			//PUB.logVision.Add($"[{vIdx}]ProcessBarcodeQue");
+			//PUB.logVision.Flush();
+			List<string> retval = new List<string>();
+
+			if (JsonStr.isEmpty())
+			{
+				PUB.log.AddE("Cannot proceed due to missing barcode receive value (JSON)");
+				return retval;
+			}
+
+			if (vIdx == 0)
+				lastBarcodeRawL = JsonStr;
+			else
+				lastBarcodeRawR = JsonStr;
+
+			try
+			{
+				//모델에서 고정값을 입력한게 있다면 그것을 사용한다
+				var itemC = PUB.Result.ItemDataC;
+				if (itemC.VisionData.VNAME.isEmpty() && PUB.Result.vModel.Def_Vname.isEmpty() == false)
+				{
+					itemC.VisionData.VNAME = PUB.Result.vModel.Def_Vname;
+					itemC.VisionData.VNAME_Trust = true;
+					PUB.log.Add($"Defaul V.Name Set to {PUB.Result.vModel.Def_Vname}");
+				}
+				if (itemC.VisionData.MFGDATE.isEmpty() && PUB.Result.vModel.Def_MFG.isEmpty() == false)
+				{
+					itemC.VisionData.MFGDATE = PUB.Result.vModel.Def_MFG;
+					itemC.VisionData.MFGDATE_Trust = true;
+					PUB.log.Add($"Defaul MFGDATE Set to {PUB.Result.vModel.Def_MFG}");
+				}
+
+				var jsondata = JObject.Parse(JsonStr);
+				var msgdata = new
+				{
+					guid = jsondata.Value<String>("guid"),
+					command = jsondata.Value<String>("command"),
+					data = jsondata.Value<String>("data[]"),
+					time = jsondata.Value<String>("time"),
+					file = jsondata.Value<String>("file")
+				};
+
+				var datas = jsondata.GetValue("data");
+				if (datas.Type == JTokenType.String)
+				{
+					var bcdstr = datas.ToString();
+
+					//새로운 바코드라면 추가한다
+					if (retval.Contains(bcdstr) == false)
+						retval.Add(bcdstr);
+				}
+				else
+				{
+					//데이터가 배열로 들어있는 경우이다
+					foreach (var data in datas)
+					{
+						var dataarr = new
+						{
+							barcode = data.ToString()
+						};
+						if (dataarr.barcode.isEmpty()) continue;
+						if (retval.Contains(dataarr.barcode) == false)
+							retval.Add(dataarr.barcode);
+					}
+				}
+
+				//입력된 바코드 데이터를 확인한다.
+				//각 데이터는 아래처럼 변수에 추가를 해줘야ㅏ한ㄷ.ㅏ
+				//ImageProcessResult[vIdx].Add(item.data);
+
+
+			}
+			catch (Exception ex)
+			{
+				PUB.logVision.Add($"Camera ({vIdx}) ProcessBarcodeQue failed {ex.Message}"); PUB.logVision.Flush();
+			}
+
+			return retval;
+		}
+
+
+	}
+}