RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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Can Exist 동작 방식 변경

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최민영 2026-02-05 17:58:08 +09:00
parent 9ce42d24d7
commit 8f82f7256b
1 changed files with 34 additions and 21 deletions
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55
Machines/ILSOS_ACW_H52A/Sequences/SeqAutoRunACWH52A.cs
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@ -142,12 +142,12 @@ namespace ILSOS_ACW_H52A.Sequences
private double _RotaryEncoderOffset = 0; private double _RotaryEncoderOffset = 0;
private int _WeldingJigNo = -1; private int _WeldingJigNo = -1;
private int _WeldingCount = 0; private int _WeldingCount = 0;
private int _RotaryJigCount = 16; private const int _RotaryJigCount = 16;
private double _WeldingStartAngle; private double _WeldingStartAngle;
private bool isTheFirstListWrite = true; private bool isTheFirstListWrite = false;
private bool isTheSecondListWrite = true; private bool isTheSecondListWrite = false;
private bool isTheFirstListExecute; private bool isTheFirstListExecute;
private int _RecipeNo; private int _RecipeNo;
@ -201,7 +201,7 @@ namespace ILSOS_ACW_H52A.Sequences
sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData); // 해당 공정의 정보를 기록 함. sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData); // 해당 공정의 정보를 기록 함.
sb.AddAction(SEQ_APD_DATA_SAVE, SaveCellAPDData); // 용접 완료 시 Cell의 정보를 저장함 //sb.AddAction(SEQ_APD_DATA_SAVE, SaveCellAPDData); // 용접 완료 시 Cell의 정보를 저장함
sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit); // 정상적으로 종료 되면, complete bit write sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit); // 정상적으로 종료 되면, complete bit write
sb.AddAction(SEQ_INIT_CONDITION_ERROR, InitConditionError); sb.AddAction(SEQ_INIT_CONDITION_ERROR, InitConditionError);
sb.AddAction(SEQ_COMPLETE, Complete); sb.AddAction(SEQ_COMPLETE, Complete);
@ -213,7 +213,7 @@ namespace ILSOS_ACW_H52A.Sequences
> sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
> sb[SEQ_EXECUTE_WELDING] > sb[SEQ_REQUEST_UNLOAD_CELL] > sb[SEQ_CHECK_SCANNER_LIST_COMPLETE]> sb[SEQ_CHECK_CAN_WELDED] > sb[SEQ_EXECUTE_WELDING] > sb[SEQ_REQUEST_UNLOAD_CELL] > sb[SEQ_CHECK_SCANNER_LIST_COMPLETE]> sb[SEQ_CHECK_CAN_WELDED]
> sb[SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ] > sb[SEQ_DO_ID_REPORT_CELL_RESULT_SEQ] > sb[SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ] > sb[SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ] > sb[SEQ_DO_ID_REPORT_CELL_RESULT_SEQ] > sb[SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ]
> sb[SEQ_APD_DATA_SAVE] > sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_CYCLE_STOP]
> sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_JOIN_ENCODER_MONITOR] > sb[SEQ_COMPLETE]); > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_JOIN_ENCODER_MONITOR] > sb[SEQ_COMPLETE]);
sb.Flows(sb[SEQ_CHECK_CAN_EXIST] > sb[SEQ_EXECUTE_WELDING]); sb.Flows(sb[SEQ_CHECK_CAN_EXIST] > sb[SEQ_EXECUTE_WELDING]);
@ -687,6 +687,7 @@ namespace ILSOS_ACW_H52A.Sequences
} }
UpdateProductCount(context); UpdateProductCount(context);
UpdateProductInfoForView(); UpdateProductInfoForView();
SaveCellAPDData();
} }
UtilUnit.logUnit.SetLog(LogUnit.eLogType.PRODUCT, MethodBase.GetCurrentMethod().Name, "UPDATE_WELDING_TIME;" + _WeldingSpanTime.TotalMilliseconds); UtilUnit.logUnit.SetLog(LogUnit.eLogType.PRODUCT, MethodBase.GetCurrentMethod().Name, "UPDATE_WELDING_TIME;" + _WeldingSpanTime.TotalMilliseconds);
@ -772,24 +773,26 @@ namespace ILSOS_ACW_H52A.Sequences
// 3개임으로 3으로 작성 // 3개임으로 3으로 작성
#region List 입력(용접 좌표 입력) #region List 입력(용접 좌표 입력)
if (_WeldingJigNo == _RotaryJigCount) //if (_WeldingJigNo == _RotaryJigCount)
_WeldingJigNo = 1; // _WeldingJigNo = 1;
else //else
_WeldingJigNo++; // _WeldingJigNo++;
bool canExist; // 지그 용접 수행 여부 확인 Log.I($"Welding Jig No : {_WeldingJigNo}");
if (UsePlcShotThemAll) (bool exist,int targetjigNo) canExist; // 지그 용접 수행 여부 확인
{
canExist = true; if (UsePlcShotThemAll) {
canExist = (true, _WeldingJigNo);
Log.I("Settings - PLC : Shot Them All Mode"); Log.I("Settings - PLC : Shot Them All Mode");
} } else {
else
canExist = GetRotaryCanExist(_WeldingJigNo); canExist = GetRotaryCanExist(_WeldingJigNo);
_WeldingJigNo = canExist.targetjigNo;
}
Log.I("Can Exist : " + canExist.ToString() + ", JigNo " + _WeldingJigNo + " ,CountNo " + _WeldingCount + ", StartAngle(Y) : " + _WeldingStartAngle); Log.I("Can Exist : " + canExist.ToString() + ", JigNo " + _WeldingJigNo + " ,CountNo " + _WeldingCount + ", StartAngle(Y) : " + _WeldingStartAngle);
if (canExist) if (canExist.exist)
return SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ; return SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ;
else else
return SEQ_EXECUTE_WELDING; return SEQ_EXECUTE_WELDING;
@ -909,8 +912,18 @@ namespace ILSOS_ACW_H52A.Sequences
_Scanner.WaitForEncoderRotateRange(encoderAllowedMinDegree, encoderAllowedMaxDegree, sectionStartAngle, sectionEndAngle); _Scanner.WaitForEncoderRotateRange(encoderAllowedMinDegree, encoderAllowedMaxDegree, sectionStartAngle, sectionEndAngle);
} }
public bool GetRotaryCanExist(int jigNo) public (bool isExist, int targetJigNo) GetRotaryCanExist(int JigNo)
{ {
// PLC 용접 대상 비트를 확인한다.
for (int offset = 1; offset <= _RotaryJigCount; offset++) {
int checkJigNo = (JigNo + offset) % _RotaryJigCount; // 0~15번 비트를 확인하기 위함
// 비트가 켜져있는 것이 확인이 된다면,
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + checkJigNo).data) {
return (true, checkJigNo);
}
}
return (false, 0);
#region 지그 16개 요청기록 로그 남기기, 빠져나간 캔에 대한 Complete Bit 초기화 #region 지그 16개 요청기록 로그 남기기, 빠져나간 캔에 대한 Complete Bit 초기화
string result = ""; string result = "";
@ -1169,7 +1182,7 @@ namespace ILSOS_ACW_H52A.Sequences
// TODO: 한번만 돌도록 설정함, PLC 로 받으면 좋음. // TODO: 한번만 돌도록 설정함, PLC 로 받으면 좋음.
//Jin : cycleStop 명령을 용접 프로그램에서 할 경우가 현재는 없음.. //Jin : cycleStop 명령을 용접 프로그램에서 할 경우가 현재는 없음..
// CheckCycleStop 노드와 Complete 노드 사이 다른 노드가 필요하다면 해당 노드를 CheckCycleStop 노드 위로 올리자 // CheckCycleStop 노드와 Complete 노드 사이 다른 노드가 필요하다면 해당 노드를 CheckCycleStop 노드 위로 올리자
bool cycleStop = _PLC.ReadBit((int)eBitInput.PLC_MANUAL_REQ).data; bool cycleStop = false;
if (cycleStop || CycleStopTest) if (cycleStop || CycleStopTest)
return SEQ_SAVE_RESULT_DATA; return SEQ_SAVE_RESULT_DATA;
else else
@ -1185,16 +1198,16 @@ namespace ILSOS_ACW_H52A.Sequences
return SEQ_CHECK_CYCLE_STOP; return SEQ_CHECK_CYCLE_STOP;
} }
private SequenceActionResult SaveCellAPDData(SequenceContext context, string id, SequenceActionResult param) private void SaveCellAPDData()
{ {
if (Status.GetProcessingWeldingData().APD.Count > 0) if (Status.GetProcessingWeldingData().APD.Count > 0)
{ {
string directoryPath = "D:\\ILSOSConfig\\APD_History"; string directoryPath = "D:\\ILSOSConfig\\APD_History";
string fileName = Status.GetProcessingWeldingData().APD.First().Date.ToString("HHmmss") + "_" + Status.GetProcessingWeldingData().APD.First().CellID; string fileName = DateTime.Now.ToString("HHmmss.fff") + "_" + Status.GetProcessingWeldingData().APD.First().CellID;
string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName); string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName);
Status.GetProcessingWeldingData().APD.CreateFiles(fullPath); Status.GetProcessingWeldingData().APD.CreateFiles(fullPath);
Log.I($"Save Cell APD Data. File Name : {fileName}");
} }
return SequenceAction.Ok();
} }
private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param) private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
{ {