RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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AutoRun Simulation 추가

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- AutoRun은 수정 안함(들여쓰기 변경)
- Timer 기반 시뮬레이션
This commit is contained in:
최이근 2026-02-21 02:34:10 +09:00
parent e946197f8b
commit 5b4a856a2e
12 changed files with 744 additions and 270 deletions
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4
AuroraDevices/AuroraLaserScanner/AuroraLaserScanner.csproj
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@ -143,6 +143,10 @@
<Project>{E7E68E54-43D2-4413-9510-43D25F13CD80}</Project>
<Name>AuroraLaser</Name>
</ProjectReference>
<ProjectReference Include="..\AuroraPLC\AuroraPLC.csproj">
<Project>{1A47B1F3-5BDE-41DF-8F4D-25298AD4F6DE}</Project>
<Name>AuroraPLC</Name>
</ProjectReference>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>

6
AuroraDevices/AuroraLaserScanner/Scanner.cs
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@ -22,7 +22,7 @@ namespace AuroraLaserScanner
public ScannerConfig Config { get; set; }
//public ScannerObj _scannerObj { get; set; }
private ScannerObj _scannerObj { get; set; }
protected ScannerObj _scannerObj { get; set; }
public Scanner(string deviceId)
{
@ -37,9 +37,9 @@ namespace AuroraLaserScanner
Config = config as ScannerConfig;
if (IsSimul) {
_scannerObj = new ScannerSimul();
return E1.OK;
//return E1.OK;
}
if (Config.Type == eRTCType.RTC5) {
else if (Config.Type == eRTCType.RTC5) {
_scannerObj = new ScannerRTC5();
} else if (Config.Type == eRTCType.RTC6) {
_scannerObj = new ScannerRTC6();

2
AuroraDevices/AuroraLaserScanner/ScannerObj.cs
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@ -91,7 +91,7 @@ namespace AuroraLaserScanner
RealImage = 0,
VirtualImage = 1
}
public enum eListNo { LIST1 = 1, LIST2 = 2 };
public enum eListNo { NONE = 0, LIST1 = 1, LIST2 = 2 };
public enum eAutoControlParameter
{

270
AuroraDevices/AuroraLaserScanner/ScannerSimul.cs
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@ -1,10 +1,14 @@
using Aurora.Api;
using Hermes;
using System;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Threading;
using static AuroraPLC.PLCBase;
namespace AuroraLaserScanner
{
internal class ScannerSimul : ScannerObj
public class ScannerSimul : ScannerObj
{
static new readonly Logger Log = new Logger("Scanner");
@ -14,7 +18,154 @@ namespace AuroraLaserScanner
//set_trigger 관련 추가, get_waveform 에서 얻어올 포인터 추가, 최대 크기로 설정 (2^20 = 1,048,576)
[MarshalAs(UnmanagedType.LPArray, SizeConst = 1048576)] int[] m_getWaveformPtr = new int[1048576];
private bool _ModulationMode;
private ScannerConfig _config;
// -----------------------------
// MOTF Simulation state
// -----------------------------
public Func<int, ePLCDevice, bool, (int err, bool data)> PLCReadBit;
public Func<int, ePLCDevice, bool, (int err, short data)> PLCReadWord;
public Func<int, ePLCDevice, bool, (int err, int data)> PLCReadDWord;
public Func<double> PLCGetAbsDeg;
private const int PLC_CURRENT_POS_1_ADDR = 4;
public Stopwatch sw = Stopwatch.StartNew();
// encoder가 반환할 값
public volatile int _simEncXCount = 0; //랩핑 각도(0~360
public volatile int _simEncYCount = 0; //누적 각도
public volatile bool LastWaitMissedRange = false;
private const int RotaryJigCount = 16;
private const double JigPerMsec = 300;
private const double DegreePerRev = 360.0;
private const double OneCycleMsec = JigPerMsec * RotaryJigCount;
// 누적각을 scanner 내부에서 유지
public double _angleAbsDeg = 0.0;
private bool _listClosed = false;
private bool _list1Busy = false;
private bool _list2Busy = false;
private eListNo _currentExecutingList = eListNo.NONE;
private bool _autoChangeRequested = false;
private long _listStartMs = 0; // ← 이게 executionStartTime 역할
private const int MinListTimeMs = 30; // 너무 빠른 완료 방지
private const int MaxListTimeMs = 800; // 너무 느린 완료 방지
private int SimulatedListTimeMs = 250; // 리스트 실행 시간
private const double RecommendWindowDeg = 45.0;
private const double RecommendUseRatio = 0.35; // 45도 중 실제 마킹이 차지하는 비율(가볍게)
public void EquipmentSimulator()
{
PullEncoderFromPlcOnce();
UpdateListExecution();
}
private int DegToCount(double deg)
{
double c = deg * _config.MarkingOnTheFlyEncoderResolutionRotate / DegreePerRev;
return (int)System.Math.Round(c);
}
private int DegToCountAbs(double absDeg)
{
double c = absDeg * _config.MarkingOnTheFlyEncoderResolutionRotate / DegreePerRev;
long lc = (long)System.Math.Round(c);
return unchecked((int)lc);
}
private void UpdateListExecution()
{
if (_currentExecutingList == eListNo.NONE)
return;
long now = sw.ElapsedMilliseconds;
long elapsed = now - _listStartMs;
int doneTime = GetEffectiveListTimeMs();
// 최소 현실 가드: elapsed가 음수인 경우 방지
if (elapsed < 0) {
_listStartMs = now;
return;
}
if (elapsed >= doneTime) {
// 현재 리스트 실행 완료
if (_currentExecutingList == eListNo.LIST1)
_list1Busy = false;
else
_list2Busy = false;
if (_autoChangeRequested) {
// 반대 리스트 자동 실행
_currentExecutingList =
(_currentExecutingList == eListNo.LIST1) ? eListNo.LIST2 : eListNo.LIST1;
if (_currentExecutingList == eListNo.LIST1) {
_list1Busy = true;
_list2Busy = false;
} else {
_list2Busy = true;
_list1Busy = false;
}
_listStartMs = now;
_autoChangeRequested = false;
} else {
_currentExecutingList = eListNo.NONE;
}
}
}
private int GetEffectiveListTimeMs()
{
int t = SimulatedListTimeMs;
// 4800msec / 360 * 45 * ratio
int recommendedListRunTime = (int)Math.Round((OneCycleMsec / DegreePerRev) * RecommendWindowDeg * RecommendUseRatio);
// recommended가 너무 작거나 0이 되는 경우 방지
if (recommendedListRunTime < MinListTimeMs)
recommendedListRunTime = MinListTimeMs;
if (t < MinListTimeMs)
t = MinListTimeMs;
if (t > MaxListTimeMs)
t = MaxListTimeMs;
if (recommendedListRunTime > MaxListTimeMs)
recommendedListRunTime = MaxListTimeMs;
return t;
}
public void TrySyncAbsAngleToPlcNow()
{
_angleAbsDeg = PLCGetAbsDeg();
// mod 동기화도 같이
int modRaw = PLCReadDWord(PLC_CURRENT_POS_1_ADDR, ePLCDevice.W, false).data;
double modDeg = (modRaw / 100_000.0) % DegreePerRev;
if (modDeg < 0)
modDeg += DegreePerRev;
LastWaitMissedRange = false;
}
public void ResetSim()
{
_angleAbsDeg = 0.0;
_simEncXCount = 0;
_simEncYCount = 0;
StopExecution(); // 리스트 상태 리셋
LastWaitMissedRange = false;
}
public override uint Open()
{
IsOpenUnit = true;
@ -33,6 +184,7 @@ namespace AuroraLaserScanner
CommandPosZ = 0;
_ModulationMode = config.Modulation;
_config = config;
return E1.OK;
}
@ -107,12 +259,17 @@ namespace AuroraLaserScanner
}
public override void GetEncoder(out double encoderX, out double encoderY, bool rotateMode = false)
{
// simulation 할때 값 반영 검토 필요
encoderX = 0;
encoderY = 0;
int valueX = _simEncXCount;
int valueY = _simEncYCount;
// 너가 쓰는 변환식 그대로
encoderX = (valueX * DegreePerRev) / _config.MarkingOnTheFlyEncoderResolutionRotate;
encoderY = _angleAbsDeg;
if (encoderY > -0.5 && encoderY < 0)
encoderY = 0; // 시뮬 안정화
return;
}
public override uint GetMarkingInfo()
@ -187,9 +344,62 @@ namespace AuroraLaserScanner
public override void WaitForEncoderRotateRange(double minX, double maxX, double minY, double maxY)
{
// simulation 할때 값 반영 검토 필요
}
LastWaitMissedRange = false;
long t0 = sw.ElapsedMilliseconds;
while (true) {
// 블로킹 대기 중에도 PLC에서 최신값을 직접 당겨온다
PullEncoderFromPlcOnce();
// GetEncoder는 _simEncYCount를 deg로 바꿔줄 것
GetEncoder(out _, out double curY, true);
// 정상 진입
if (curY >= minY && curY <= maxY)
return;
// 최소 현실 가드: 구간을 지나쳤으면 TIMEOUT까지 끌지 말고 즉시 종료
// (실장에서도 "놓치면" 의미 없고 다음 로직이 꼬임)
if (curY > maxY) {
LastWaitMissedRange = true;
Log.W($"[SIM] WaitForEncoderRotateRange MISSED. curY={curY:F3}, range=[{minY:F3}..{maxY:F3}]");
return;
}
// 최후 안전장치
if (sw.ElapsedMilliseconds - t0 > 5000) {
LastWaitMissedRange = true;
Log.W($"[SIM] WaitForEncoderRotateRange TIMEOUT. curY={curY:F3}, range=[{minY:F3}..{maxY:F3}]");
return;
}
Thread.Sleep(1);
}
}
private void PullEncoderFromPlcOnce()
{
// 방어: delegate 미설정이면 아무 것도 못함
if (PLCReadDWord == null || _config == null || _config.MarkingOnTheFlyEncoderResolutionRotate == 0)
return;
// 1) 랩핑각 (0~360)
int modRaw = PLCReadDWord(PLC_CURRENT_POS_1_ADDR, ePLCDevice.W, true).data;
double angleModDeg = (modRaw / 100_000.0) % 360.0;
if (angleModDeg < 0)
angleModDeg += 360.0;
// 2) 누적각 (계속 증가)
//int absRaw = PLCReadDWord(PLC_CURRENT_POS_ABS_ADDR, ePLCDevice.W, true).data;
//double angleAbsDeg = absRaw / 100_000.0;
if (PLCGetAbsDeg != null) {
_angleAbsDeg = PLCGetAbsDeg();
}
// 3) count로 변환 (n_get_encoder가 반환한다고 가정하는 값)
_simEncXCount = DegToCount(angleModDeg);
_simEncYCount = DegToCountAbs(_angleAbsDeg);
}
public override void SetFlyX(double encoderResolution)
{
// simulation 할때 값 반영 검토 필요
@ -283,16 +493,34 @@ namespace AuroraLaserScanner
}
public override uint LoadList(eListNo no)
{
// simulation 할때 값 반영 검토 필요
return 0;
bool busy = (no == eListNo.LIST1) ? _list1Busy : _list2Busy;
if (busy)
return 0; // 실행 중 → Load 불가
return (uint)no; // Load 가능
}
public override void SetEndList()
{
// simulation 할때 값 반영 검토 필요
_listClosed = true;
}
public override void ExecuteList(eListNo no)
{
// simulation 할때 값 반영 검토 필요
if (!_listClosed)
Log.W("ExecuteList called without SetEndList");
_listClosed = false; // 실행 시작하면서 다시 열림 상태로
_currentExecutingList = no;
if (no == eListNo.LIST1) {
_list1Busy = true;
_list2Busy = false;
} else {
_list2Busy = true;
_list1Busy = false;
}
_listStartMs = sw.ElapsedMilliseconds;
}
public override void StartLoop()
{
@ -304,16 +532,28 @@ namespace AuroraLaserScanner
}
public override void AutoChange()
{
// simulation 할때 값 반영 검토 필요
if (_currentExecutingList == eListNo.NONE)
return;
_autoChangeRequested = true;
}
public override bool GetBusyStatus()
{
// simulation 할때 값 반영 검토 필요
return false;
return _list1Busy || _list2Busy || _currentExecutingList != eListNo.NONE;
}
public override void StopExecution()
{
// simulation 할때 값 반영 검토 필요
_list1Busy = false;
_list2Busy = false;
_currentExecutingList = eListNo.NONE;
_autoChangeRequested = false;
_listStartMs = 0;
_listClosed = false;
_angleAbsDeg = 0.0;
_simEncXCount = 0;
_simEncYCount = 0;
}
public override uint GetRTCVersion()
{

180
Machines/ILSOS_CCW_H52A/Device/PLC/PLCContoller.Config.cs
View File

@ -1,11 +1,15 @@
using Aurora;
using Aurora.Api;
using AuroraPLC;
using Hermes;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WeldingCommon.Devices;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
namespace ILSOS_CCW_H52A.Device
{
@ -13,7 +17,183 @@ namespace ILSOS_CCW_H52A.Device
{
public PLCControllerCCWH52A(string deviceId, ePLCNetType plcNetType, PLCMMapFileType fileType, IAuroraEnvironment aurora) : base(deviceId, plcNetType, fileType, aurora)
{
}
protected override int DoActivate(IDeviceConfig config)
{
var ret = base.DoActivate(config);
if (ret == E1.OK && IsSimul) {
//WriteBit((int)eBitInput.PLC_AUTO_STATUS, true, ePLCDevice.B, false);
//WriteBit((int)eBitInput.PLC_AUTO_REQ, true, ePLCDevice.B, false);
SetMonitoringService(EquipmentSimulator, 1);
}
return ret;
}
protected override int DoDeactivate()
{
StopMonitoringService();
var res = base.DoDeactivate();
if (res != E1.OK) {
Log.E("Deactivate is failed");
return res;
}
return res;
}
// -----------------------------
// Simulation state
// -----------------------------
private const int PLC_CURRENT_POS_1_ADDR = 4; // 기존 (mod 0~360)
private readonly Random _rand = new Random();
private readonly Stopwatch _sw = Stopwatch.StartNew();
private long _lastMs = -1;
private const int RotaryJigCount = 16;
private const double JigPerMsec = 300;
private const double DegreePerRev = 360.0;
private const double OneCycleMsec = JigPerMsec * RotaryJigCount;
private const double DegreePerMsec = DegreePerRev / OneCycleMsec;
private const double DegreePerJig = DegreePerRev / RotaryJigCount; // 22.5
private const double HalfDegreePerJig = DegreePerJig / 2.0; // 11.25
// PLC_CURRENT_POS_1 = degree * 100000
private const double PlcAngleScale = 100_000.0;
// 시퀀스가 "다음 지그"를 미리 읽으므로 안전하게 2칸 선행(권장)
private const int LeadSectors = 2;
// Motor position
private readonly object _absLock = new object();
public double GetSimAbsDeg()
{
long value = System.Threading.Interlocked.Read(ref _angleAbsDeg);
return value / 100000.0;
}
private long _angleAbsDeg = 0; // 누적 각도(계속 증가)
private double _angleModDeg = 0.0; // 0~360 랩핑 각도
// PLC USE_WELD_JIG bits
private readonly bool[] _canExist = new bool[RotaryJigCount];
private readonly bool[] _decided = new bool[RotaryJigCount]; // 이번 회전에서 해당 섹터가 결정됐는지
private int _prevSector = -1;
private static void FillBool(bool[] arr, bool value)
{
if (arr == null)
return;
for (int i = 0; i < arr.Length; i++)
arr[i] = value;
}
private static int Mod(int x, int m)
{
int r = x % m;
return (r < 0) ? (r + m) : r;
}
private int GetSectorFromAngle(double angleDeg)
{
// 시퀀스의 (angle + half)/per와 동일한 기준으로 섹터 결정
return (int)((angleDeg + HalfDegreePerJig) / DegreePerJig) % RotaryJigCount;
}
private void OnSectorChanged(int prev, int curr)
{
// 첫 진입
if (prev < 0) {
// 처음 시작 시에는 전부 OFF 상태에서 시작
FillBool(_canExist, false);
FillBool(_decided, false);
} else {
// 랩(15 -> 0) 감지: 새 바퀴 시작으로 보고 "지나간 영역 OFF"를 강하게 반영
if (prev == RotaryJigCount - 1 && curr == 0) {
FillBool(_canExist, false);
FillBool(_decided, false);
} else {
// 지나간 섹터(prev)는 OFF 처리
_canExist[prev] = false;
_decided[prev] = false; // 다음 회전에서 다시 결정되도록
}
}
// 시퀀스는 "다음 지그"를 읽으므로 curr+1부터 선행 결정
for (int k = 1; k <= LeadSectors; k++) {
int s = Mod(curr + k, RotaryJigCount);
if (!_decided[s]) {
// 7/8 확률 ON (0~7 중 0만 OFF로 만들려면 >0)
bool isCanExist = true;// (_rand.Next(0, 8) > 0);
_canExist[s] = isCanExist;
_decided[s] = true;
}
}
// 현재 섹터(curr)도 켜고 싶다면 여기서 결정 가능
}
private void EquipmentSimulator()
{
if (!ReadBit((int)eBitOutput.PC_AUTO_STATUS, ePLCDevice.B, false).data)
return;
long now = _sw.ElapsedMilliseconds;
if (_lastMs < 0)
_lastMs = now;
long dtMs = now - _lastMs;
if (dtMs < 0)
dtMs = 0;
if (dtMs > 100)
dtMs = 100;
_lastMs = now;
// abs 누적각 (시뮬 전용)
long deltaScaled = (long)Math.Round(DegreePerMsec * dtMs * 100000.0);
System.Threading.Interlocked.Add(ref _angleAbsDeg, deltaScaled);
double absDeg = GetSimAbsDeg();
_angleModDeg = absDeg % DegreePerRev;
if (_angleModDeg < 0)
_angleModDeg += DegreePerRev;
// mod 각도
int plcAngleMod = (int)Math.Round(_angleModDeg * PlcAngleScale);
WriteDWord(PLC_CURRENT_POS_1_ADDR, plcAngleMod, ePLCDevice.W, false);
// 섹터 변경/비트 처리 로직은 기존 그대로
int sectorNow = GetSectorFromAngle(_angleModDeg);
if (sectorNow != _prevSector) {
OnSectorChanged(_prevSector, sectorNow);
_prevSector = sectorNow;
}
WriteBitBlock((int)eBitInput.PLC_USE_WELD_JIG_1, RotaryJigCount, _canExist, ePLCDevice.B, false);
}
public void ResetSimulator()
{
_lastMs = -1;
System.Threading.Interlocked.Exchange(ref _angleAbsDeg, 0);
_angleModDeg = 0.0;
FillBool(_canExist, false);
FillBool(_decided, false);
_prevSector = -1;
// 각도 초기화 반영
WriteDWord(PLC_CURRENT_POS_1_ADDR, 0, ePLCDevice.W, false);
// 지그 비트 초기화 반영
WriteBitBlock((int)eBitInput.PLC_USE_WELD_JIG_1, RotaryJigCount, _canExist, ePLCDevice.B, false);
}
}
}

66
Machines/ILSOS_CCW_H52A/Device/Scanner/ScannerCCWH52A.cs Normal file
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@ -0,0 +1,66 @@
using Aurora;
using Aurora.Api;
using AuroraLaserScanner;
using Hermes;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using WeldingCommon;
using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;
namespace ILSOS_CCW_H52A.Device
{
public class ScannerCCWH52A : Scanner
{
// -----------------------------
// Simulation state
// -----------------------------
private PLCControllerCCWH52A _plc;
public ScannerCCWH52A(string deviceId) : base(deviceId)
{
}
protected override int DoActivate(IDeviceConfig config)
{
var ret = base.DoActivate(config);
if (ret == E1.OK && IsSimul) {
if (_plc == null) {
_plc = Application.Current.AuroraEnv().DeviceManager[CommonDeviceIds.PLCDevice] as PLCControllerCCWH52A;
return E2.ABORTED;
}
// 값의 동기화가 필요해서 추가 함
if (!_plc.IsConnected && !_plc.IsSimul)
return E2.ABORTED;
var core = _scannerObj as ScannerSimul;
core.PLCReadBit = _plc.ReadBit;
core.PLCReadWord = _plc.ReadWord;
core.PLCReadDWord = _plc.ReadDWord;
core.PLCGetAbsDeg = _plc.GetSimAbsDeg;
//_plc.ResetSimulator();
core.ResetSim();
core.TrySyncAbsAngleToPlcNow();
SetMonitoringService((_scannerObj as ScannerSimul).EquipmentSimulator, 1);
}
return ret;
}
protected override int DoDeactivate()
{
var ret = base.DoDeactivate();
if (ret == E1.OK && IsSimul){
var core = _scannerObj as ScannerSimul;
StopMonitoringService();
}
return ret;
}
}
}

3
Machines/ILSOS_CCW_H52A/EquipmentSetup.cs
View File

@ -11,6 +11,7 @@ using AuroraCellTracker.Views;
using AuroraIO;
using AuroraIO.View;
using AuroraLaser;
using AuroraLaserScanner;
using AuroraLBAD;
using AuroraLBAD.Services;
using AuroraOCT;
@ -153,6 +154,8 @@ namespace ILSOS_CCW_H52A
() => _plc, PLCMelsecNetConfig.GetDefaultConfig(),
device => new UCPLCDevice() { DataContext = new UCPLCDeviceViewModel(AuroraEnv, _plc) });
registry.Register(CommonDeviceIds.Scanner, () => new ScannerCCWH52A(CommonDeviceIds.Scanner), new ScannerConfig());
var ioController = new IOController_CCW_H52A(AuroraEnv, CommonDeviceIds.IODevice);
registry.Register(CommonDeviceIds.IODevice, () => ioController, new IOUnitConfig());

2
Machines/ILSOS_CCW_H52A/ILSOS_CCW_H52A.csproj
View File

@ -98,6 +98,7 @@
<Compile Include="Device\PLC\PLCContoller.Config.cs" />
<Compile Include="Device\PLC\PLCController.Address.cs" />
<Compile Include="Device\PLC\PLCController.Logic.cs" />
<Compile Include="Device\Scanner\ScannerCCWH52A.cs" />
<Compile Include="Device\Scanner\ScannerList.cs" />
<Compile Include="EquipDef.cs" />
<Compile Include="EquipmentSetup.cs" />
@ -105,6 +106,7 @@
<Compile Include="Recipes\RecipeEventHelper.cs" />
<Compile Include="RMS\EDC.cs" />
<Compile Include="Sequences\Monitoring\AlarmMonitoring.cs" />
<Compile Include="Sequences\ProcessManager.cs" />
<Compile Include="Sequences\SeqAutoRunCCWH52A.cs" />
<Compile Include="Sequences\SequenceContextEx.cs" />
<Compile Include="Views\Main\UCMainAutoRun.xaml.cs">

115
Machines/ILSOS_CCW_H52A/Sequences/ProcessManager.cs Normal file
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@ -0,0 +1,115 @@
using Aurora;
using Aurora.Api;
using Aurora.Util.HislogPlus;
using AuroraLaserScanner;
using AuroraPLC;
using ILSOS_CCW_H52A.Device;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;
namespace ILSOS_CCW_H52A.Sequences
{
public class ProcessManager
{
private bool usedAnalyzerLog = false;
private readonly Logger _log = new Logger("ProcessManager");
public const double compensateEncoderReset = 0.015; // 엔코더 리셋 보상 각도 설정(70도/sec 기준 약 0.015도)
public const int RotaryJigCount = 16;
public const int RotaryMaxAngle = 360;
public double DegreePerJig { get => RotaryMaxAngle / RotaryJigCount; }
public double HalfDegreePerJig { get => DegreePerJig / 2; }
private readonly IAuroraEnvironment _env;
private readonly PLCControllerCCWH52A _plc;
private readonly Scanner _scanner;
public ProcessManager()
{
_plc = _env.DeviceManager[DeviceIds.PLCDevice] as PLCControllerCCWH52A;
_scanner = _env.DeviceManager[DeviceIds.Scanner] as Scanner;
}
public IEnumerable<bool> CheckRotaryState()
{
List<bool> rotaryStates = new List<bool>();
for (int i = 0; i < RotaryJigCount; i++) {
var rotaryProcessState = _plc.ReadBit(eBitInput.PLC_USE_WELD_JIG_1 + i).data;
rotaryStates.Add(rotaryProcessState);
if (rotaryProcessState == false)
_plc.ToggleBit(eBitInput.PLC_USE_WELD_JIG_1 + i, eBitOutput.PC_WELD_COMPLETE_1 + i);
}
if (usedAnalyzerLog) {
StringBuilder sb = new StringBuilder();
rotaryStates.ForEach(x => sb.Append($"{x} "));
_log.D($"Check Rotary State : {sb.ToString()}");
}
return rotaryStates;
}
public bool GetRotaryCanExist(int jigNo)
{
//var RotaryStates = CheckRotaryState();
if (jigNo == 0)
jigNo = 1;
if (jigNo <= RotaryJigCount)
return _plc.ReadBit(eBitInput.PLC_USE_WELD_JIG_1 + (jigNo - 1)).data;
else
return false;
}
/// <summary>
/// Rotary의 현재 위치정보를 0~360로 전달함
/// </summary>
public double GetRotaryCurrentPosition(bool isView360 = true)
{
try {
double finalValue = Convert.ToDouble(_plc.ReadDWord(eWordInput.PLC_CURRENT_POS_1).data / 100_000f);
finalValue += _scanner.Config.RotaryEncoderOffset;
if (isView360) {
if (RotaryMaxAngle <= finalValue) {
while (RotaryMaxAngle <= finalValue) {
finalValue -= RotaryMaxAngle;
}
}
else if (finalValue < 0) {
while (finalValue < 0) {
finalValue += RotaryMaxAngle;
}
}
}
return finalValue;
}
catch {
return -9999.9999;
}
}
/// <summary>
/// 중심 기준 가장 가까운 지그 번호(내림 연산)
/// <param name="HalfDegreePerJig">내림 카운팅을 중심 기준 값</param>
/// </summary>
/// <returns></returns>
public int getCurrentJigNo() => (int)((GetRotaryCurrentPosition(isView360:true) + HalfDegreePerJig) / DegreePerJig) + 1;
/// <summary>
/// 360도 이상으로 준다고하면 Welding Count를 가져올 수 있음 2word = 2147483.647 / 3600 = 596 >> 596*16 = 9_536까지 카운팅 가능함
/// <param name="HalfDegreePerJig">내림 카운팅을 중심 기준 값</param>
/// </summary>
/// <returns></returns>
public int getWeldingCount() => (int)((GetRotaryCurrentPosition(isView360:false) + HalfDegreePerJig) / DegreePerJig);
}
}

362
Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs
View File

@ -12,6 +12,7 @@ using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
using DB;
using Hermes;
using ILSOS_CCW_H52A.Device;
using ILSOS_CCW_H52A.Models;
using ILSOS_CCW_H52A.RMS;
using System;
@ -49,14 +50,13 @@ namespace ILSOS_CCW_H52A.Sequences
// TODO: [장비구현필요] 실제 공정 추가
const string SEQ_CHECK_LOAD_COMPLETE = "[SeqAutoRunCCWH52A] Check Load Complete";
public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunCCWH52A] Check Scanner List Complete";
const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunCCWH52A] Ready ScannerList";
const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Set Sequence Param (UploadWeldingList Seq)";
const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Process (UploadWeldingList Seq)";
const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Get Sequence Result (UploadWeldingList Seq)";
public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunCCWH52A] Check Scanner List Complete";
const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunCCWH52A] Ready ScannerList";
const string SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ = "[SeqAutoRunCCWH52A] Set Sequence Param (ReceiveCellInfo Seq)";
const string SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ = "[SeqAutoRunCCWH52A] Process (ReceiveCellInfo Seq)";
const string SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ = "[SeqAutoRunCCWH52A] Get Sequence Result (ReceiveCellInfo Seq)";
@ -91,7 +91,7 @@ namespace ILSOS_CCW_H52A.Sequences
private Scanner _Scanner;
private LaserDevice _Laser;
private PLCController _PLC;
private PLCControllerCCWH52A _PLC;
private IODevice _IO;
private StreamLightLBAD _StreamLightLBAD;
private static CellTracker _CellTracker;
@ -173,6 +173,11 @@ namespace ILSOS_CCW_H52A.Sequences
sb.AddJoin(SEQ_JOIN_ENCODER_MONITOR);
sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);
sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams); // Cell 정보를 받아와 입력한다.
sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo()); // cell 정보를 받아오는 Sub Seq 실행
sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult); // Cell 정보를 가져온다
sb.AddAction(SEQ_CHECK_SCANNER_LIST_COMPLETE, CheckScannerListComplete);
sb.AddDecision(SEQ_READY_SCANNER_LIST, ReadyScannerList);
@ -180,10 +185,6 @@ namespace ILSOS_CCW_H52A.Sequences
sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, SequenceManager.GetSeqBuilder_SeqUploadWeldingList());
sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams); // Cell 정보를 받아와 입력한다.
sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo()); // cell 정보를 받아오는 Sub Seq 실행
sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult); // Cell 정보를 가져온다
sb.AddAction(SEQ_EXECUTE_WELDING, ExecuteWelding);
sb.AddAction(SEQ_REQUEST_UNLOAD_CELL, RequestUnloadCell);
@ -216,7 +217,7 @@ namespace ILSOS_CCW_H52A.Sequences
sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_INIT_CONDITION_ERROR] > sb.Final);
sb.Flows(sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_ENCODER_MONITOR] > sb[SEQ_JOIN_ENCODER_MONITOR] > sb[SEQ_COMPLETE]);
#region
#region
//sb.Flows(sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_ENCODER_MONITOR]);
////sb.Flows(sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_CHECK_LOAD_COMPLETE]);
//sb.Flows(sb[SEQ_JOIN_ENCODER_MONITOR] > sb[SEQ_COMPLETE]);
@ -270,19 +271,13 @@ namespace ILSOS_CCW_H52A.Sequences
_SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
InitDev(context);
if (!CheckDeviceReady(context))
{ //Check Device
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
if (!CheckDeviceReady(context)) {
//Check Device
Log.E("The devices are not active.");
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
//return null;
}
if (InitSequenceVariable(context) == false)
{
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
if (InitSequenceVariable(context) == false) {
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
//return null;
}
Thread.Sleep(1); // 부하 방지
return SequenceAction.Ok();
@ -317,14 +312,13 @@ namespace ILSOS_CCW_H52A.Sequences
//Device Init
_Scanner = context.GetLaserScanner();
_Laser = context.GetLaser();
if (_InitParam.UseStream)
{
if (_InitParam.UseStream) {
_StreamLightLBAD = new StreamLightLBAD();
_StreamLightLBAD._Client = context.GetStreamLightClient();
_StreamLightLBAD._Sub = context.GetStreamLightSub();
}
_CellTracker = context.GetCellTracker();
_PLC = context.GetPLC();
_PLC = context.Devices[DeviceIds.PLCDevice] as PLCControllerCCWH52A;
_IO = context.GetIOUnit();
}
@ -332,17 +326,14 @@ namespace ILSOS_CCW_H52A.Sequences
{
List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.Laser, CommonDeviceIds.PLCDevice, CommonDeviceIds.IODevice };
if (_InitParam.UseStream)
{
if (_InitParam.UseStream) {
deviceListToCheck.Add(CommonServiceIds.StreamLightLBADClient);
deviceListToCheck.Add(CommonServiceIds.StreamLightLBADSub);
}
bool isAllDeviceActivated = true;
foreach (string item in deviceListToCheck)
{
if (!context.Devices[item].IsActivated)
{
foreach (string item in deviceListToCheck) {
if (!context.Devices[item].IsActivated) {
isAllDeviceActivated = isAllDeviceActivated && false;
}
}
@ -352,29 +343,14 @@ namespace ILSOS_CCW_H52A.Sequences
private bool CheckCondition(SequenceContext context)
{
if (CheckCondition_Interlock())
{
int InitializeCode = InitializeDeviceStatus(context);
if (InitializeCode == (int)InitErrorList.SUCCESS)
return true;
else
context.PutValue(ContextKey.KEY_SEQUENCE_ERROR_CODE, InitializeCode);
}
int InitializeCode = InitializeDeviceStatus(context);
if (InitializeCode == (int)InitErrorList.SUCCESS)
return true;
else
context.PutValue(ContextKey.KEY_SEQUENCE_ERROR_CODE, InitializeCode);
return false;
}
private bool CheckCondition_Interlock()
{
// PLC, Data, IO 등 Interlock checking
// Config checking
//if (_Scanner.Config.UseMarkingOnTheFly == false)
//{
// Log.E("ERROR Config Setting : Scanner Marking on the fly (OFF)");
// return false;
//}
return true;
}
private int InitializeDeviceStatus(SequenceContext context)
{
// PLC Interface AutoStatus Start
@ -384,32 +360,26 @@ namespace ILSOS_CCW_H52A.Sequences
//InitAutoRunBit();
// LBAD Initialize
// LBAD 는 server 이기 때문에, 만약 끊어졌으면 다시 접속이 필요함
if (_SystemParameter.BypassModeLBAD == false)
{
if (!_StreamLightLBAD._Client.IsActivated)
{
if (_SystemParameter.BypassModeLBAD == false) {
if (!_StreamLightLBAD._Client.IsActivated) {
int ret = _StreamLightLBAD._Client.Activate();
Thread.Sleep(500);
if (ret != E1.OK)
{
if (ret != E1.OK) {
Log.E($"StreamLightClient activate failed");
return (int)InitErrorList.LBAD_CLIENT_ACTIVATE_FAILED;
}
}
if (_StreamLightLBAD._Sub.IsActivated == false)
{
if (_StreamLightLBAD._Sub.IsActivated == false) {
int ret = _StreamLightLBAD._Sub.Activate();
Thread.Sleep(500);
if (ret != E1.OK)
{
if (ret != E1.OK) {
Log.E($"StreamLightSub activate failed");
return (int)InitErrorList.LBAD_SUB_ACTIVATE_FAILED;
}
}
_StreamLightLBAD.Initialize();
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_On) == false)
{
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_On) == false) {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
//return false;
}
@ -419,18 +389,15 @@ namespace ILSOS_CCW_H52A.Sequences
_Laser.PilotLaserOff();
_Laser.LaserOn();
Thread.Sleep(500);
if (!_Laser.GetLaserReady())
{
if (!_Laser.GetLaserReady()) {
Log.E("ERROR Initialize Laser");
return (int)InitErrorList.LASER_INIT_ERROR;
}
// Scanner Initialize
if (_Scanner.GetModulationMode())
{
if (_Scanner.GetModulationMode()) {
_ModulationMode = true;
}
else
{
else {
_ModulationMode = false;
}
@ -442,16 +409,14 @@ namespace ILSOS_CCW_H52A.Sequences
Log.E(string.Format("ERROR Initialize PLC, PLC Alarm ON")); // AutoRun Request와 AutoRun Bit 모두 OFF인 경우, PLC 측에서 Alarm 발생함.
return (int)InitErrorList.PLC_ALARM;
}
else
{
else {
Log.E(string.Format("ERROR Initialize PLC, Bit Off PLC_AUTO_STATUS")); // AutoRun Request가 ON인데 AutoRun Bit 모두 OFF인 경우, PLC에서 AutoRun Bit를 켜지 않음.
return (int)InitErrorList.PLC_AUTORUN_BIT_OFF;
}
}
// Marking On The Flying Off
if (_Scanner.Config.UseMarkingOnTheFly == false)
{
if (_Scanner.Config.UseMarkingOnTheFly == false) {
Log.E("ERROR Config Setting : Scanner Marking on the fly (OFF)");
return (int)InitErrorList.MOTF_OFF;
}
@ -497,46 +462,36 @@ namespace ILSOS_CCW_H52A.Sequences
isTheSecondListWrite = false;
isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange
InitAutoRunBit(); // GetRotaryCurrentPosition() 호출 이후 AutoStatus True 변경
_PLC.WriteBit(eBitOutput.PC_AUTO_STATUS, true);
Log.I(string.Format($"[PLCInterface]SET PC_AUTO_STATUS True"));
#endregion
return (int)InitErrorList.SUCCESS;
}
private void InitAutoRunBit()
{
_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, true);
Log.I(string.Format($"[PLCInterface]SET PC_AUTO_STATUS True"));
}
private double GetRotaryCurrentPosition()
{
try
{
try {
//double finalValue = Convert.ToDouble(_plc.GetLongAIValue("PLC_CURRENT_POS_1") / 100000f);
double finalValue = Convert.ToDouble(_PLC.ReadDWord((int)eWordInput.PLC_CURRENT_POS_1).data / 100000f);
finalValue += _Scanner.Config.RotaryEncoderOffset;
if (360.0 <= finalValue)
{
while (360.0 <= finalValue)
{
if (360.0 <= finalValue) {
while (360.0 <= finalValue) {
finalValue -= 360.0;
}
}
else if (finalValue < 0)
{
while (finalValue < 0)
{
else if (finalValue < 0) {
while (finalValue < 0) {
finalValue += 360.0;
}
}
return finalValue;
}
catch
{
catch {
return -9999.9999;
}
}
@ -560,8 +515,7 @@ namespace ILSOS_CCW_H52A.Sequences
private string CheckInitCondition(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{
if (!CheckCondition(context))
{
if (!CheckCondition(context)) {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_CheckInitCondition);
Log.E("Condition is not in state to start sequence.");
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
@ -586,29 +540,18 @@ namespace ILSOS_CCW_H52A.Sequences
{
Status.SetWorkingPosition(eWorkingPosition.LOADING_CELL);
// MOTF WaitScannerLoadListEnable
// List가 실행 중이라면(ex : 엔코더 대기 상태 등), 반환값은 0, LoadList 할 수 없는 상태(List 실행 중이거나, 엔코더 대기 상태)
// LoadList가 0보다 크면 다음 시퀀스 진행해야 함
_InterfaceStartTime = DateTime.Now;
while (!context.Stopped)
{
if (_Scanner.LoadList(_WeldingScannerListNo) > 0)
{
// List가 실행 상태가 아니라면(ex : 시작을 안 했거나, 완료되었으면) 반환값은 1 또는 2(리스트 번호)
Log.I(string.Format($"LoadList function success : List {_WeldingScannerListNo}"));
break;
}
_InterfaceSpanTime = DateTime.Now.Subtract(_InterfaceStartTime);
if (_InterfaceSpanTime.TotalMilliseconds > (PLC_TIMEOUT * 1000))
{
Log.E("TIMEOUT_Scanner_LoadList");
_InterfaceStartTime = DateTime.Now;
}
Thread.Sleep(10);
// MOTF WaitScannerLoadListEnable
// List가 실행 중이라면(ex : 엔코더 대기 상태 등), 반환값은 0, LoadList 할 수 없는 상태(List 실행 중이거나, 엔코더 대기 상태)
// LoadList가 0보다 크면 다음 시퀀스 진행해야 함
WaitContinue:
var ret = context.RetryUntilSuccess(() => _Scanner.LoadList(_WeldingScannerListNo) > 0, int.MaxValue, 10, true);
if (ret == E2.TIMEOUT) {
Log.E("TIMEOUT_Scanner_LoadList : 600시간 Run");
goto WaitContinue;
}
Thread.Sleep(1); // 부하 방지
Log.I($"LoadList function success : List {_WeldingScannerListNo}");
Thread.Sleep(1); // 부하 방지
return SequenceAction.Ok();
}
@ -620,22 +563,19 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I("Write the 1st scanner list");
}
else
{
else {
if (isTheSecondListWrite) // 두번째 리스트는 바로 쓰지만, 첫번째 리스트 실행이 완료되면 자동으로 이어서 실행된다(AutoChange)
{
isTheSecondListWrite = false;
Log.I("Write the 2nd scanner list");
}
else
{
else {
isWeled = false;
// 첫번째나 두번째가 아니라면, 실제 리스트 실행이 끝난 것이기 때문에 완료 처리가 필요
CompleteScannerList = InputScannerList[(int)_WeldingScannerListNo - 1];
if (!CheckCurrentEncoderAngle(CompleteScannerList.StartAngle))
{
if (!CheckCurrentEncoderAngle(CompleteScannerList.StartAngle)) {
// 에러 상황(현재 Rotary Encoder 값이 정상적인 스캐너 리스트 각도 범위를 벗어남)
Log.I("ERR_SCANNER_LIST_PROCESSING_TIMEOVER");
@ -651,10 +591,8 @@ namespace ILSOS_CCW_H52A.Sequences
// }
// return SequenceAction.Ok();
}
else
{
if (CompleteScannerList.CanExist)
{
else {
if (CompleteScannerList.CanExist) {
isWeled = true;
#region 용접 시간, 엔코더 측정/기록
//_WeldInterval = DateTime.Now - _WeldEndTime;
@ -665,8 +603,7 @@ namespace ILSOS_CCW_H52A.Sequences
double elaspedTime = _Scanner.GetTime();
if (CompleteScannerList.WeldComplete)
{
if (CompleteScannerList.WeldComplete) {
_WeldInterval = DateTime.Now - _WeldEndTime;
_WeldEndTime = DateTime.Now;
_WeldingStartTime = CompleteScannerList.WeldStartTime;
@ -677,8 +614,7 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I(string.Format("JigNo : {0}, Weld start : {1}, Weld End : {2}, WeldTime : {3}, interval : {4:F3}",
CompleteScannerList.JigNo, _WeldingStartTime.ToString("HH:mm:ss.fff"), _WeldEndTime.ToString("HH:mm:ss.fff"), _WeldingSpanTime.TotalMilliseconds, _WeldInterval.TotalSeconds));
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + CompleteScannerList.JigNo - 1).data)
{
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + CompleteScannerList.JigNo - 1).data) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + CompleteScannerList.JigNo - 1, true);
Log.I(string.Format($"PC_WELD_COMPLETE_{CompleteScannerList.JigNo} -> true)"));
}
@ -707,8 +643,7 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I(string.Format("Encoder start : {0:F4}, end : {1:F4}, vel : {2:F2}", startEncoderCount, endEncoderCount, angularVelocity));
#endregion
#region 스캐너 리스트 Record 파일 기록
if (_Scanner.Config.UseRecordSignal)
{
if (_Scanner.Config.UseRecordSignal) {
String RecordFileName = _RecipeManager.ActivatedRecipe().Name + "_Jig#" + CompleteScannerList.JigNo.ToString();
string DataFilePath = ProjectUtil.GetDataLogSetting().GetFilePath_ScannerRecordLog(RecordFileName, true);
_Scanner.SaveRecord(DataFilePath);
@ -727,20 +662,18 @@ namespace ILSOS_CCW_H52A.Sequences
_Scanner.GetEncoder(out encoderX, out currentAngle, true);
if (0 < startAngle && currentAngle < 0)
{
if (0 < startAngle && currentAngle < 0) {
// Encoder 반전되는 순간이며, 이 때만 인터락 무시
}
else if (startAngle <= currentAngle)
{
else if (startAngle <= currentAngle) {
if (currentAngle < startAngle + 45)// 다음 리스트 구간이 끝나기 전까지는 완료가 되어야 한다
{
Log.I(string.Format("Current encoder check OK, startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
return true;
}
else Log.I(string.Format("Current encoder check NG(Too late), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
else Log.W(string.Format("Current encoder check NG(Too late), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
}
else Log.I(string.Format("Current encoder check NG(Too early), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
else Log.W(string.Format("Current encoder check NG(Too early), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
return false;
}
@ -783,8 +716,7 @@ namespace ILSOS_CCW_H52A.Sequences
bool canExist; // 지그 용접 수행 여부 확인
if (UsePlcShotThemAll)
{
if (UsePlcShotThemAll) {
canExist = true;
Log.I("Settings - PLC : Shot Them All Mode");
}
@ -793,40 +725,13 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I("Can Exist : " + canExist.ToString() + ", JigNo " + _WeldingJigNo + " ,CountNo " + _WeldingCount + ", StartAngle(Y) : " + _WeldingStartAngle);
// 입력한 Scanner List를 완료대기열에 추가
//SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist);
//if (canExist) // Can이 존재할 경우만 리스트 안에 내용이 들어가며, 그렇지 않은 경우는 빈 리스트가 된다
//{
// #region 용접할 Objects 선택
// if (UsePlcPositionCompensation && _WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length) {
// _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[_WeldingJigNo - 1].Objects;
// Log.I(string.Format("Page 불러오기 : [{0}])", _WeldingJigNo - 1));
// } else {
// _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
// Log.I(string.Format("Page 불러오기 : [0])"));
// }
// #endregion
// // 여기서 어디로 가는지 설정 필요함
// return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
//}
//// 기존 소스는 UploadWeldingList 건너 뛰고 SEQ_EXECUTE_WELDING 으로 바로 감
//// SEQ_WAIT_WELDING_START 의 기능이 어떻게 되는 지 확인 후
//// 건너뛰어도 되면 SEQ_EXECUTE_WELDING 으로 변경 해도 됨
//return SEQ_WAIT_WELDING_START;
if (canExist)
{
if (canExist) {
#region 용접할 Objects 선택
if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length)
{
if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length) {
_SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[_WeldingJigNo - 1].Objects;
Log.I(string.Format("Page 불러오기 : [{0}])", _WeldingJigNo - 1));
}
else
{
else {
_SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
Log.I(string.Format("Page 불러오기 : [0])"));
}
@ -840,12 +745,11 @@ namespace ILSOS_CCW_H52A.Sequences
_RecipeNo = _RecipeManager.ActivatedRecipe().Id;
SetWeldingData();
return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
}
else
{
else {
return SEQ_EXECUTE_WELDING;
}
return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
#endregion
}
@ -865,8 +769,7 @@ namespace ILSOS_CCW_H52A.Sequences
ScannerParam laserParam = null;
laserParam = GetSelectedDrawObjectData(_SelectedDrawObjectList[0]);
if (laserParam != null)
{
if (laserParam != null) {
// EDC 보내는 용도
Status.GetProcessingWeldingData().LaserPowerCore = laserParam.LaserPower1.ToString();
Status.GetProcessingWeldingData().MarkSpeed = laserParam.MarkSpeed.ToString();
@ -895,8 +798,7 @@ namespace ILSOS_CCW_H52A.Sequences
// 1.2. 계산된 시작각도가 이미 지나버렸으면 알람 발생 필요
// 1.3. Overflow가 나는 숫자라면, 보상할 것.
if (sectionStartAngle > encoderAllowedMaxDegree)
{
if (sectionStartAngle > encoderAllowedMaxDegree) {
sectionStartAngle -= encoderAllowedMaxDegree - encoderAllowedMinDegree;
_EncoderOverflowCount++;
}
@ -911,18 +813,15 @@ namespace ILSOS_CCW_H52A.Sequences
#region 지그 16개 요청기록 로그 남기기, 빠져나간 캔에 대한 Complete Bit 초기화
string result = "";
for (int i = 1; i <= _RotaryJigCount; i++)
{
for (int i = 1; i <= _RotaryJigCount; i++) {
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data)
result += "1, ";
else
{
else {
result += "0, ";
string outId = string.Format("PC_WELD_COMPLETE_{0}", i);
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data)
{
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
Log.I(string.Format($"PC_WELD_COMPLETE_{1 + i} -> FALSE)"));
}
@ -941,8 +840,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
{
//현재 시퀀스에서 LoadList를 해주기 때문에 Sub 시퀀스에 IncludeListStartEnd를 false로 넘겨줘야 함
SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
{
SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam() {
NeedSetLaserTiming = _ModulationMode,
IncludeListStartEnd = false,
CellMeasureCenterOffsetX = _CellMeasureCenterOffsetX,
@ -958,8 +856,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
{
var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
if (resultOutParam.Success == false)
{
if (resultOutParam.Success == false) {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed);
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed);
//return null;
@ -970,8 +867,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult SetReceiveCellInfo_SeqParams(SequenceContext context, string id, SequenceActionResult param)
{
SeqReceiveCellInfo_InitParam seqParams = new SeqReceiveCellInfo_InitParam()
{
SeqReceiveCellInfo_InitParam seqParams = new SeqReceiveCellInfo_InitParam() {
};
return SequenceAction.Ok(seqParams);
@ -980,8 +876,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult GetReceiveCellInfo_SeqResult(SequenceContext context, string id, SequenceActionResult param)
{
var resultOutParam = param.Param as SeqReceiveCellInfo_OutParam;
if (resultOutParam.Success == false)
{
if (resultOutParam.Success == false) {
return null;
}
return SequenceAction.Ok();
@ -996,15 +891,13 @@ namespace ILSOS_CCW_H52A.Sequences
_Scanner.SetEndList();
#region List 실행(처음엔 ExecuteList, 다음부터 AutoChangeList, 이후 대상 리스트 교체 (1 <-> 2))
if (isTheFirstListExecute)
{
if (isTheFirstListExecute) {
isTheFirstListExecute = false;
_Scanner.ExecuteList(_WeldingScannerListNo);
Log.I(string.Format($"START Welding : ExecuteList_{_WeldingScannerListNo}"));
}
else
{
else {
_Scanner.AutoChange();
Log.I(string.Format($"Next upload list : uploadList_{_WeldingScannerListNo}"));
}
@ -1027,26 +920,20 @@ namespace ILSOS_CCW_H52A.Sequences
double send_time_offset = 0.1;
string LotID = "", CellID = "";
while (!context.Stopped)
{
while (!context.Stopped) {
double encoderX, currentAngle;
_Scanner.GetEncoder(out encoderX, out currentAngle, true);
double CurrentPosPLC = GetRotaryCurrentPosition();
bool WeldingInPosition = encoderX > _Scanner.Config.MarkingRangeMinRotate + 11.25 - send_time_offset - 0.1 && encoderX < _Scanner.Config.MarkingRangeMinRotate + 11.25 - send_time_offset + 0.1;
if (WeldingInPosition)
{
if (InputScannerList[(int)_WeldingScannerListNo - 1].CanExist)
{
if (WeldingInPosition) {
if (InputScannerList[(int)_WeldingScannerListNo - 1].CanExist) {
Log.I($"Fork Before Min Rotate Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo}, JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
if (!_SystemParameter.BypassModeLBAD)
{
if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false)
{
if (!_SystemParameter.BypassModeLBAD) {
if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false) {
LotID = InputScannerList[(int)_WeldingScannerListNo - 1].LotId;
CellID = InputScannerList[(int)_WeldingScannerListNo - 1].CellId;
if (currentAngle > InputScannerList[(int)_WeldingScannerListNo - 1].StartAngle)
{
if (currentAngle > InputScannerList[(int)_WeldingScannerListNo - 1].StartAngle) {
InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo = _StreamLightLBAD.SendCellInfo(LotID, CellID, _RecipeNo, _ModelNo, InputScannerList[(int)_WeldingScannerListNo - 1].JigNo);
if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false)
@ -1059,32 +946,27 @@ namespace ILSOS_CCW_H52A.Sequences
}
}
if (_IO._iOUnit.ReadDiBit(Convert.ToInt32(eADIAddress.LaserOn)))
{
if (InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime == DateTime.MinValue && InputScannerList[(int)_WeldingScannerListNo - 1].CanExist)
{
if (_IO._iOUnit.ReadDiBit(Convert.ToInt32(eADIAddress.LaserOn))) {
if (InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime == DateTime.MinValue && InputScannerList[(int)_WeldingScannerListNo - 1].CanExist) {
InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime = DateTime.Now;
InputScannerList[(int)_WeldingScannerListNo - 1].WeldComplete = true;
EncoderLogCount = 0;
Log.I($"Laser On, Welding Complete. JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
}
if (EncoderLogCount == 0)
{
if (EncoderLogCount == 0) {
Log.I($"Fork Laser On Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo}, JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
}
EncoderLogCount = (EncoderLogCount + 1) % 7;
}
for (int i = 0; i < _RotaryJigCount; i++)
{
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data == false)
{
for (int i = 0; i < _RotaryJigCount; i++) {
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data == false) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
}
}
_PLC.WriteDWord((int)eWordOutput.PC_CURRENT_POS, (int)((currentAngle + _RotaryEncoderOffset) % 360 * 100000f));
_PLC.WriteDWord((int)eWordOutput.PC_CURRENT_POS, (int)((currentAngle + _RotaryEncoderOffset) % 360 * 100_000f));
Thread.Sleep(1); // 부하 방지
}
return SequenceAction.Ok();
@ -1092,8 +974,7 @@ namespace ILSOS_CCW_H52A.Sequences
private void UpdateProductCount(SequenceContext context)
{
if (_SystemParameter.LastResetTime < DateTime.Now.Date)
{
if (_SystemParameter.LastResetTime < DateTime.Now.Date) {
_SystemParameter.LastResetTime = DateTime.Now.Date;
Log.I($"Today Count Reset. {_SystemParameter.TodayProductCount} -> 0");
_SystemParameter.TodayProductCount = 0;
@ -1101,12 +982,10 @@ namespace ILSOS_CCW_H52A.Sequences
_TodayProduct = _SystemParameter.TodayProductCount;
_TotalProduct = _SystemParameter.TotalProductCount;
if (_TodayProduct < uint.MaxValue)
{
if (_TodayProduct < uint.MaxValue) {
_TodayProduct++;
}
if (_TotalProduct < uint.MaxValue)
{
if (_TotalProduct < uint.MaxValue) {
_TotalProduct++;
}
_SystemParameter.TodayProductCount = _TodayProduct;
@ -1138,8 +1017,7 @@ namespace ILSOS_CCW_H52A.Sequences
{
Status.SetWorkingPosition(eWorkingPosition.REPORTING_RESULT);
SeqReportCellResult_InitParam seqParams = new SeqReportCellResult_InitParam()
{
SeqReportCellResult_InitParam seqParams = new SeqReportCellResult_InitParam() {
EDC_Interface = new EDC(),
};
@ -1149,8 +1027,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult GetReportCellResult_SeqResult(SequenceContext context, string id, SequenceActionResult param)
{
var resultOutParam = param.Param as SeqReportCellResult_OutParam;
if (resultOutParam.Success == false)
{
if (resultOutParam.Success == false) {
return null;
}
@ -1168,12 +1045,10 @@ namespace ILSOS_CCW_H52A.Sequences
//Jin : cycleStop 명령을 용접 프로그램에서 할 경우가 현재는 없음..
// CheckCycleStop 노드와 Complete 노드 사이 다른 노드가 필요하다면 해당 노드를 CheckCycleStop 노드 위로 올리자
bool cycleStop = false;
if (cycleStop)
{
if (cycleStop) {
return SEQ_SAVE_RESULT_DATA;
}
else
{
else {
return SEQ_CHECK_LOAD_COMPLETE;
}
}
@ -1189,8 +1064,7 @@ namespace ILSOS_CCW_H52A.Sequences
private void SaveCellAPD()
{
if (Status.GetProcessingWeldingData().APD.Count > 0)
{
if (Status.GetProcessingWeldingData().APD.Count > 0) {
string directoryPath = "D:\\ILSOSConfig\\APD_History";
string fileName = DateTime.Now.ToString("HH") + "_CellAPD";
string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName);
@ -1215,8 +1089,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult InitConditionError(SequenceContext context, string id, SequenceActionResult param)
{
context.TryGetValue(ContextKey.KEY_SEQUENCE_ERROR_CODE, out int InitializeCode);
switch (InitializeCode)
{
switch (InitializeCode) {
case (int)InitErrorList.PLC_AUTORUN_BIT_OFF:
Log.D("AutoRun Sequence InitConditionError : PLC_AUTORUN_OFF");
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_AutoRun_CheckInitCondition_PLC_AUTORUN_OFF);
@ -1250,8 +1123,7 @@ namespace ILSOS_CCW_H52A.Sequences
context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
SeqAutoRunCCWH52A_OutParam result = new SeqAutoRunCCWH52A_OutParam() { Success = seqResult };
if (seqResult == false)
{
if (seqResult == false) {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_ResultFailed);
}
Log.D("AutoRun Sequence Complete");
@ -1263,8 +1135,7 @@ namespace ILSOS_CCW_H52A.Sequences
private bool RestoreDeviceStatus()
{
//PLC All BIT OFF
for (int i = 0; i < _RotaryJigCount; i++)
{
for (int i = 0; i < _RotaryJigCount; i++) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
}
_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, false);
@ -1273,10 +1144,8 @@ namespace ILSOS_CCW_H52A.Sequences
//LBAD Ready Off
//_LBAD.SetReadybyAuto(false);
if (_SystemParameter.BypassModeLBAD == false)
{
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false)
{
if (_SystemParameter.BypassModeLBAD == false) {
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false) {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
}
}
@ -1327,19 +1196,14 @@ namespace ILSOS_CCW_H52A.Sequences
//PLC All BIT OFF
for (int i = 0; i < _RotaryJigCount; i++)
{
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
}
_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, false);
//_PLC.WriteBit((int)eBitOutput.PC_RECIPE_PARAM_UPLOAD_COMPLETE, false);
Log.I(string.Format("[PLCInterface]PC All Bit Off"));
_PLC.WriteBit(eBitOutput.PC_WELD_COMPLETE_1 + i, false);
_PLC.WriteBit(eBitOutput.PC_AUTO_STATUS, false);
Log.I("[PLCInterface]PC All Bit Off");
//LBAD Ready Off
//_LBAD.SetReadybyAuto(false);
if (_SystemParameter.BypassModeLBAD == false)
{
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false)
{
if (_SystemParameter.BypassModeLBAD == false) {
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false) {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
}
}

2
WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs
View File

@ -236,7 +236,7 @@ namespace WeldingCommon
//registry.Register(CommonDeviceIds.Laser, () => new Laser(CommonDeviceIds.Laser, isSimul), new LaserConfig(),
// device => new UCLaserDevice() { DataContext = new UCLaserDeviceViewModel(AuroraEnv, CommonDeviceIds.Laser) });
registry.Register(CommonDeviceIds.Scanner, () => new Scanner(CommonDeviceIds.Scanner), new ScannerConfig());
//registry.Register(CommonDeviceIds.Scanner, () => new Scanner(CommonDeviceIds.Scanner), new ScannerConfig());
//registry.Register(CommonDeviceIds.SmcChiller, () => new SmcChiller(CommonDeviceIds.SmcChiller, 0, isSimul), new SmcChiller.Config(),
// device => new UCSMCChillerDevice() { DataContext = new UCSMCChillerDeviceViewModel(AuroraEnv, CommonDeviceIds.SmcChiller) });
registry.Register(CommonDeviceIds.SmcChiller, () => new SmcChiller(CommonDeviceIds.SmcChiller), new SmcChillerConfig(),

2
WeldingComponents/WeldingCommon/EquipDefCommon.cs
View File

@ -108,11 +108,11 @@
public const string Laser = "Laser";
public const string LaserIO = "LaserIO";
public const string Scanner = "Scanner";
public const string SmcChiller = "SmcChiller";
public const string PowerMeter = "PowerMeter";
public const string Light = "Light"; // Camera Light Controller
public const string PLCDevice = "PLC";
public const string Scanner = "Scanner";
public const string IODevice = "IO_Board";
public const string CellTracker = "CellTracker";