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