Test/WebUITest-RealProjecT
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

initial commit

Browse Source
This commit is contained in:
tindevil
2025-11-25 20:14:41 +09:00
commit 5cb1ff372c
559 changed files with 149800 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

215
Handler/Project/RunCode/Step/_STEP_HOME_QUICK.cs Normal file
View File

@@ -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;
}
}
}