RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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Cell Receive 방식 변경 및 Complete 위치 변경

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최민영 2026-02-02 09:31:50 +09:00
parent 6203759958
commit 9ce42d24d7
6 changed files with 358 additions and 297 deletions
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10
AuroraDevices/AuroraLBAD/Services/StreamLightLBAD.cs
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@ -11,7 +11,6 @@ using System.Runtime.CompilerServices;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Text; using System.Text;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows;
namespace AuroraLBAD.Service namespace AuroraLBAD.Service
{ {
@ -130,9 +129,6 @@ namespace AuroraLBAD.Service
public bool SendReadyStatus(eRequestData data) public bool SendReadyStatus(eRequestData data)
{ {
if (ApplicationExt.IsSimulation)
return true;
Stopwatch sw = Stopwatch.StartNew(); Stopwatch sw = Stopwatch.StartNew();
//int requestData = 1001; //int requestData = 1001;
Log.I($"StreamLight {MESSAGE_PC_LBAD_READY_STATUS} Request"); Log.I($"StreamLight {MESSAGE_PC_LBAD_READY_STATUS} Request");
@ -153,9 +149,6 @@ namespace AuroraLBAD.Service
public bool SendCellInfo(string lotID, string cellID, int recipeNo, int modelID, int jigNo) public bool SendCellInfo(string lotID, string cellID, int recipeNo, int modelID, int jigNo)
{ {
if (ApplicationExt.IsSimulation)
return true;
Stopwatch sw = Stopwatch.StartNew(); Stopwatch sw = Stopwatch.StartNew();
byte[] arrCellinfo = null; byte[] arrCellinfo = null;
int sendresult = MakeInfoData(lotID, cellID, recipeNo, modelID, jigNo, out arrCellinfo); int sendresult = MakeInfoData(lotID, cellID, recipeNo, modelID, jigNo, out arrCellinfo);
@ -197,9 +190,6 @@ namespace AuroraLBAD.Service
} }
public bool SendWeldingStop() public bool SendWeldingStop()
{ {
if (ApplicationExt.IsSimulation)
return true;
//Welding Stop On //Welding Stop On
Stopwatch sw = Stopwatch.StartNew(); Stopwatch sw = Stopwatch.StartNew();
//int requestData = 5000; //int requestData = 5000;

2
AuroraDevices/AuroraLaserScanner/ScannerObj.cs
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@ -91,7 +91,7 @@ namespace AuroraLaserScanner
RealImage = 0, RealImage = 0,
VirtualImage = 1 VirtualImage = 1
} }
public enum eListNo { LIST1 = 1, LIST2 = 2 }; public enum eListNo { LIST1 = 1, LIST2 = 2, };
public enum eAutoControlParameter public enum eAutoControlParameter
{ {

352
Machines/ILSOS_ACW_H52A/Sequences/SeqAutoRunACWH52A.cs
View File

@ -51,6 +51,7 @@ namespace ILSOS_ACW_H52A.Sequences
public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunACWH52A] Check Scanner List Complete"; public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunACWH52A] Check Scanner List Complete";
const string SEQ_CHECK_CAN_EXIST = "[SeqAutoRunACWH52A] Check Can Exist";
const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunACWH52A] Ready ScannerList"; const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunACWH52A] Ready ScannerList";
const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunACWH52A] Set Sequence Param (UploadWeldingList Seq)"; const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunACWH52A] Set Sequence Param (UploadWeldingList Seq)";
@ -68,6 +69,8 @@ namespace ILSOS_ACW_H52A.Sequences
const string SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunACWH52A] Set Sequence Param (ReportCellResult Seq)"; const string SEQ_SET_PARAMS_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunACWH52A] Set Sequence Param (ReportCellResult Seq)";
const string SEQ_DO_ID_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunACWH52A] Process (ReportCellResult Seq)"; const string SEQ_DO_ID_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunACWH52A] Process (ReportCellResult Seq)";
const string SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunACWH52A] Get Sequence Result (ReportCellResult Seq)"; const string SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunACWH52A] Get Sequence Result (ReportCellResult Seq)";
const string SEQ_APD_DATA_SAVE = "[SeqAutoRunACWH52A] APD Data Save";
//const string SEQ_REPORT_CELLINFO_TO_PLC = "[SeqAutoRunACWH52A] ReportCellInfoToPLC"; //const string SEQ_REPORT_CELLINFO_TO_PLC = "[SeqAutoRunACWH52A] ReportCellInfoToPLC";
const string SEQ_CHECK_CYCLE_STOP = "[SeqAutoRunACWH52A] Check Cycle Stop"; const string SEQ_CHECK_CYCLE_STOP = "[SeqAutoRunACWH52A] Check Cycle Stop";
@ -105,7 +108,7 @@ namespace ILSOS_ACW_H52A.Sequences
private IRecipeManager _RecipeManager; private IRecipeManager _RecipeManager;
private eListNo _WeldingScannerListNo; private eListNo _WeldingScannerListNo = eListNo.LIST1;
private List<IDrawObject> _SelectedDrawObjectList; private List<IDrawObject> _SelectedDrawObjectList;
@ -143,8 +146,9 @@ namespace ILSOS_ACW_H52A.Sequences
private double _WeldingStartAngle; private double _WeldingStartAngle;
private bool isTheFirstListWrite; private bool isTheFirstListWrite = true;
private bool isTheSecondListWrite; private bool isTheSecondListWrite = true;
private bool isTheFirstListExecute; private bool isTheFirstListExecute;
private int _RecipeNo; private int _RecipeNo;
@ -174,7 +178,8 @@ namespace ILSOS_ACW_H52A.Sequences
sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete); sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);
sb.AddAction(SEQ_CHECK_SCANNER_LIST_COMPLETE, CheckScannerListComplete); sb.AddAction(SEQ_CHECK_SCANNER_LIST_COMPLETE, CheckScannerListComplete);
sb.AddDecision(SEQ_READY_SCANNER_LIST, ReadyScannerList); sb.AddDecision(SEQ_CHECK_CAN_EXIST, CheckCanExist);
sb.AddAction(SEQ_READY_SCANNER_LIST, ReadyScannerList);
sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams); sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, SequenceManager.GetSeqBuilder_SeqUploadWeldingList()); sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, SequenceManager.GetSeqBuilder_SeqUploadWeldingList());
@ -195,20 +200,23 @@ namespace ILSOS_ACW_H52A.Sequences
sb.AddDecision(SEQ_CHECK_CAN_WELDED, CheckCanWelded); sb.AddDecision(SEQ_CHECK_CAN_WELDED, CheckCanWelded);
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_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);
sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_CHECK_LOAD_COMPLETE] sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_CHECK_LOAD_COMPLETE]
> sb[SEQ_CHECK_CAN_EXIST]
> sb[SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ]
> sb[SEQ_CHECK_SCANNER_LIST_COMPLETE] > sb[SEQ_READY_SCANNER_LIST] > sb[SEQ_READY_SCANNER_LIST]
> 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_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_CHECK_CYCLE_STOP] > sb[SEQ_APD_DATA_SAVE] > 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_READY_SCANNER_LIST] > sb[SEQ_EXECUTE_WELDING]); sb.Flows(sb[SEQ_CHECK_CAN_EXIST] > sb[SEQ_EXECUTE_WELDING]);
sb.Flows(sb[SEQ_CHECK_CAN_WELDED] > sb[SEQ_CHECK_CYCLE_STOP]); // 용접을 하지 않은 Cell은 상위보고 하지 않는다. sb.Flows(sb[SEQ_CHECK_CAN_WELDED] > sb[SEQ_CHECK_CYCLE_STOP]); // 용접을 하지 않은 Cell은 상위보고 하지 않는다.
sb.Flows(sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_LOAD_COMPLETE]); sb.Flows(sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_LOAD_COMPLETE]);
@ -302,7 +310,7 @@ namespace ILSOS_ACW_H52A.Sequences
var mainPage = WeldingRecipeManager.GetWeldingPage(); var mainPage = WeldingRecipeManager.GetWeldingPage();
_ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlAutoPage; _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlAutoPage;
_WeldingScannerListNo = eListNo.LIST1; //_WeldingScannerListNo = eListNo.LIST1;
_CellMeasureCenterOffsetX = 0.0; _CellMeasureCenterOffsetX = 0.0;
_CellMeasureCenterOffsetY = 0.0; _CellMeasureCenterOffsetY = 0.0;
@ -386,118 +394,118 @@ namespace ILSOS_ACW_H52A.Sequences
//InitAutoRunBit(); //InitAutoRunBit();
// LBAD Initialize // LBAD Initialize
// LBAD 는 server 이기 때문에, 만약 끊어졌으면 다시 접속이 필요함 // LBAD 는 server 이기 때문에, 만약 끊어졌으면 다시 접속이 필요함
if (_SystemParameter.BypassModeLBAD == false) if (_SystemParameter.BypassModeLBAD == false)
{
if (!_StreamLightLBAD._Client.IsActivated)
{ {
int ret = _StreamLightLBAD._Client.Activate(); if (!_StreamLightLBAD._Client.IsActivated)
Thread.Sleep(500);
if (ret != E1.OK)
{ {
Log.E($"StreamLightClient activate failed"); int ret = _StreamLightLBAD._Client.Activate();
return (int)InitErrorList.LBAD_CLIENT_ACTIVATE_FAILED; Thread.Sleep(500);
if (ret != E1.OK)
{
Log.E($"StreamLightClient activate failed");
return (int)InitErrorList.LBAD_CLIENT_ACTIVATE_FAILED;
}
}
if (_StreamLightLBAD._Sub.IsActivated == false)
{
int ret = _StreamLightLBAD._Sub.Activate();
Thread.Sleep(500);
if (ret != E1.OK)
{
Log.E($"StreamLightSub activate failed");
return (int)InitErrorList.LBAD_SUB_ACTIVATE_FAILED;
}
}
_StreamLightLBAD.Initialize();
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_On) == false)
{
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
//return false;
} }
} }
if (_StreamLightLBAD._Sub.IsActivated == false) // Laser Initialize
_Laser.PilotLaserOff();
_Laser.LaserOn();
Thread.Sleep(500);
if (!_Laser.GetLaserReady())
{ {
int ret = _StreamLightLBAD._Sub.Activate(); Log.E("ERROR Initialize Laser");
Thread.Sleep(500); return (int)InitErrorList.LASER_INIT_ERROR;
if (ret != E1.OK)
{
Log.E($"StreamLightSub activate failed");
return (int)InitErrorList.LBAD_SUB_ACTIVATE_FAILED;
}
} }
_StreamLightLBAD.Initialize(); // Scanner Initialize
if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_On) == false) if (_Scanner.GetModulationMode())
{ {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null")); _ModulationMode = true;
//return false;
}
}
// Laser Initialize
_Laser.PilotLaserOff();
_Laser.LaserOn();
Thread.Sleep(500);
if (!_Laser.GetLaserReady())
{
Log.E("ERROR Initialize Laser");
return (int)InitErrorList.LASER_INIT_ERROR;
}
// Scanner Initialize
if (_Scanner.GetModulationMode())
{
_ModulationMode = true;
}
else
{
_ModulationMode = false;
}
//// PLC Initialize AutoRun Bit 최소화 작업 진행
if (_PLC.ReadBit((int)eBitInput.PLC_AUTO_STATUS).data == false) // AutoRun Bit가 OFF인 경우
{
if (_PLC.ReadBit((int)eBitInput.PLC_AUTO_REQ).data == false) // AutoRun Request 상태 체크
{
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. _ModulationMode = false;
return (int)InitErrorList.PLC_AUTORUN_BIT_OFF;
} }
}
// Marking On The Flying Off //// PLC Initialize AutoRun Bit 최소화 작업 진행
if (_Scanner.Config.UseMarkingOnTheFly == false) if (_PLC.ReadBit((int)eBitInput.PLC_AUTO_STATUS).data == false) // AutoRun Bit가 OFF인 경우
{ {
Log.E("ERROR Config Setting : Scanner Marking on the fly (OFF)"); if (_PLC.ReadBit((int)eBitInput.PLC_AUTO_REQ).data == false) // AutoRun Request 상태 체크
return (int)InitErrorList.MOTF_OFF; {
} 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
{
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;
}
}
// MOTF Set Scanner List // Marking On The Flying Off
_Scanner.SelectCorrectionTable(2); if (_Scanner.Config.UseMarkingOnTheFly == false)
Log.I(string.Format("Normal, Select Laser Correction File")); {
Log.E("ERROR Config Setting : Scanner Marking on the fly (OFF)");
return (int)InitErrorList.MOTF_OFF;
}
// Aurora 내부에서 찾아야할 듯 함 // MOTF Set Scanner List
//UsePlcShotThemAll = Dao.SystemRecipe.PlcShotThemAll; _Scanner.SelectCorrectionTable(2);
//UsePlcPositionCompensation = Dao.SystemRecipe.PlcPositionCompensationUse; Log.I(string.Format("Normal, Select Laser Correction File"));
string[] strArr = Dao.SystemRecipe.WorkRecipeFile.Split('\\');
RecipeFileName = strArr[strArr.Length - 1];
_LastScannerParamNo = -1; // Aurora 내부에서 찾아야할 듯 함
//UsePlcShotThemAll = Dao.SystemRecipe.PlcShotThemAll;
//UsePlcPositionCompensation = Dao.SystemRecipe.PlcPositionCompensationUse;
string[] strArr = Dao.SystemRecipe.WorkRecipeFile.Split('\\');
RecipeFileName = strArr[strArr.Length - 1];
// 트럼프 TruDisk를 쓰기 위해서는 SetFirstPulseKiller를 사용해야 함. _LastScannerParamNo = -1;
// Rotary는 시작 트리거 미사용 // 트럼프 TruDisk를 쓰기 위해서는 SetFirstPulseKiller를 사용해야 함.
_Scanner.SetControlMode(0);
UtilUnit.logUnit.SetLog(LogUnit.eLogType.DEBUG, MethodBase.GetCurrentMethod().Name, "[AutoRun] 외부 시작 트리거 DISABLE");
#region MOTF Absolute Encoder 기준으로 초기화 // Rotary는 시작 트리거 미사용
// Set Rotate Center는 Ctrl명령, 처음 한번만 실행 _Scanner.SetControlMode(0);
_Scanner.SetRotateCenter(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY); UtilUnit.logUnit.SetLog(LogUnit.eLogType.DEBUG, MethodBase.GetCurrentMethod().Name, "[AutoRun] 외부 시작 트리거 DISABLE");
_Scanner.InitFly2D(); // X, Y 엔코더 리셋 #region MOTF Absolute Encoder 기준으로 초기화
_EncoderOverflowCount = 0; // Set Rotate Center는 Ctrl명령, 처음 한번만 실행
_Scanner.SetRotateCenter(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY);
// 현재 정지상태의 Rotary 엔코더 값을 읽어와서 저장 _Scanner.InitFly2D(); // X, Y 엔코더 리셋
_RotaryEncoderOffset = GetRotaryCurrentPosition(); // m_abwRotaryEncoderOffset의 범위는 0 이상 360 미만 _EncoderOverflowCount = 0;
InitRotaryOnTheFlyWeldingCount(_RotaryEncoderOffset, _RotaryJigCount, out _WeldingCount, out _WeldingJigNo); // 현재 정지상태의 Rotary 엔코더 값을 읽어와서 저장
_RotaryEncoderOffset = GetRotaryCurrentPosition(); // m_abwRotaryEncoderOffset의 범위는 0 이상 360 미만
Log.I(string.Format($"ScannerUnit.InitRotaryOnTheFlyWeldingCount : m_abwRotaryEncoderOffset({_RotaryEncoderOffset}), weldingCount({_WeldingCount}), weldingJigNo({_WeldingJigNo}), rotaryJigCount({_RotaryJigCount})")); InitRotaryOnTheFlyWeldingCount(_RotaryEncoderOffset, _RotaryJigCount, out _WeldingCount, out _WeldingJigNo);
Log.I(string.Format($"ScannerUnit.InitRotaryOnTheFlyWeldingCount : m_abwRotaryEncoderOffset({_RotaryEncoderOffset}), weldingCount({_WeldingCount}), weldingJigNo({_WeldingJigNo}), rotaryJigCount({_RotaryJigCount})"));
// 용접 완료 대기 스캐너 List 리셋 // 용접 완료 대기 스캐너 List 리셋
ResetInputScannerList(); //ResetInputScannerList();
WaitingScannerList.Reset(); //WaitingScannerList.Reset();
CompleteScannerList.Reset(); //CompleteScannerList.Reset();
isTheFirstListWrite = true; // 작업 시작 시 처음 2개의 List는 입력하고 시작한다 //isTheFirstListWrite = true; // 작업 시작 시 처음 2개의 List는 입력하고 시작한다
isTheSecondListWrite = true; //isTheSecondListWrite = true;
isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange //isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange
InitAutoRunBit(); // GetRotaryCurrentPosition() 호출 이후 AutoStatus True 변경 InitAutoRunBit(); // GetRotaryCurrentPosition() 호출 이후 AutoStatus True 변경
#endregion #endregion
@ -569,6 +577,7 @@ namespace ILSOS_ACW_H52A.Sequences
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false); context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
return SEQ_INIT_CONDITION_ERROR; return SEQ_INIT_CONDITION_ERROR;
} }
Status.EquipmentMode = eEquipmentMode.AUTO;
var startTime = DateTime.Now; var startTime = DateTime.Now;
context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime); context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
@ -590,6 +599,7 @@ namespace ILSOS_ACW_H52A.Sequences
// List가 실행 중이라면(ex : 엔코더 대기 상태 등), 반환값은 0, LoadList 할 수 없는 상태(List 실행 중이거나, 엔코더 대기 상태) // 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 // LoadList가 0보다 크면 다음 시퀀스 진행해야 함
_InterfaceStartTime = DateTime.Now; _InterfaceStartTime = DateTime.Now;
while (!context.Stopped) while (!context.Stopped)
{ {
if (_Scanner.LoadList(_WeldingScannerListNo) > 0) if (_Scanner.LoadList(_WeldingScannerListNo) > 0)
@ -618,7 +628,6 @@ namespace ILSOS_ACW_H52A.Sequences
{ {
isTheFirstListWrite = false; isTheFirstListWrite = false;
Log.I("Write the 1st scanner list"); Log.I("Write the 1st scanner list");
} }
else else
{ {
@ -626,7 +635,6 @@ namespace ILSOS_ACW_H52A.Sequences
{ {
isTheSecondListWrite = false; isTheSecondListWrite = false;
Log.I("Write the 2nd scanner list"); Log.I("Write the 2nd scanner list");
} }
else else
{ {
@ -656,13 +664,8 @@ namespace ILSOS_ACW_H52A.Sequences
if (CompleteScannerList.CanExist) if (CompleteScannerList.CanExist)
{ {
isWeled = true; isWeled = true;
#region 용접 시간, 엔코더 측정/기록
//_WeldInterval = DateTime.Now - _WeldEndTime;
//_WeldEndTime = DateTime.Now;
//double elapsedTime = _Scanner.GetTime();
//_WeldingSpanTime = TimeSpan.FromSeconds(elapsedTime); // Encoder 대기 넘어간 후의, 실제 스캐너 리스트 실행 시간
//_WeldingStartTime = _WeldEndTime.Subtract(_WeldingSpanTime);
#region 용접 시간, 엔코더 측정/기록
double elaspedTime = _Scanner.GetTime(); double elaspedTime = _Scanner.GetTime();
if (CompleteScannerList.WeldComplete) if (CompleteScannerList.WeldComplete)
@ -686,13 +689,6 @@ namespace ILSOS_ACW_H52A.Sequences
UpdateProductInfoForView(); UpdateProductInfoForView();
} }
//if (_SystemParameter.BypassModeLBAD == false) {
// if (_StreamLightLBAD.SendWeldingStop() == false) {
// Log.I(string.Format($"[LBAD Interface]SendWeldingStop null"));
// //return null;
// }
//}
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);
UtilUnit.logUnit.SetLog(LogUnit.eLogType.PRODUCT, MethodBase.GetCurrentMethod().Name, "UPDATE_PRODUCT_COUNT;" + _WeldEndTime.ToString("yyyy-MM-dd HH:mm:ss")); UtilUnit.logUnit.SetLog(LogUnit.eLogType.PRODUCT, MethodBase.GetCurrentMethod().Name, "UPDATE_PRODUCT_COUNT;" + _WeldEndTime.ToString("yyyy-MM-dd HH:mm:ss"));
@ -713,6 +709,7 @@ namespace ILSOS_ACW_H52A.Sequences
_Scanner.SaveRecord(DataFilePath); _Scanner.SaveRecord(DataFilePath);
} }
#endregion #endregion
} }
} }
} }
@ -744,7 +741,7 @@ namespace ILSOS_ACW_H52A.Sequences
return false; return false;
} }
private string ReadyScannerList(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) private string CheckCanExist(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{ {
Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST); Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);
@ -792,6 +789,17 @@ namespace ILSOS_ACW_H52A.Sequences
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)
return SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ;
else
return SEQ_EXECUTE_WELDING;
#endregion
}
private SequenceActionResult ReadyScannerList(SequenceContext context, string id, SequenceActionResult param)
{
#region 이력
// 입력한 Scanner List를 완료대기열에 추가 // 입력한 Scanner List를 완료대기열에 추가
//SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist); //SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist);
@ -815,58 +823,61 @@ namespace ILSOS_ACW_H52A.Sequences
//// SEQ_WAIT_WELDING_START 의 기능이 어떻게 되는 지 확인 후 //// SEQ_WAIT_WELDING_START 의 기능이 어떻게 되는 지 확인 후
//// 건너뛰어도 되면 SEQ_EXECUTE_WELDING 으로 변경 해도 됨 //// 건너뛰어도 되면 SEQ_EXECUTE_WELDING 으로 변경 해도 됨
//return SEQ_WAIT_WELDING_START; //return SEQ_WAIT_WELDING_START;
#endregion
if (canExist) #region 용접할 Objects 선택
if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length)
{ {
#region 용접할 Objects 선택 _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[_WeldingJigNo - 1].Objects;
if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length) Log.I(string.Format("Page 불러오기 : [{0}])", _WeldingJigNo - 1));
{
_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
// 입력한 Scanner List를 완료대기열에 추가
// Won : GetProcessingWeldingData().WorkLotId 는 CellTrakcer로 부터 받은 상태의 LotId
// GetProcessingWeldingData().LotId 는 AutorunView에 표기할 용접이 완료 된 LotID
string LotId = Status.GetProcessingWeldingData().WorkLotId; // CellTracker로 부터 WorkLotID, WorkCellID 받는 구문 추가 후 해당 데이터로 입력 필요
string CellId = Status.GetProcessingWeldingData().WorkCellId;
SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist, LotId, CellId);
_RecipeNo = _RecipeManager.ActivatedRecipe().Id;
var item = _SelectedDrawObjectList[0];
if (item is Line)
{
Line lineItem = (Line)item;
ScannerParam laserParam = WeldingRecipeManager.GetScannerParam(lineItem.ScannerParamNo);
// EDC 보내는 용도
Status.GetProcessingWeldingData().LaserPowerCore = laserParam.LaserPower1.ToString();
Status.GetProcessingWeldingData().MarkSpeed = laserParam.MarkSpeed.ToString();
Status.GetProcessingWeldingData().FocalLength = (_PLC.ReadDWord((int)eWordInput.PLC_WELDING_FOCAL_LENGTH).data / 1000f).ToString();
Status.GetProcessingWeldingData().WeldingJigNo = _WeldingJigNo.ToString();
}
} }
else else
{ {
return SEQ_EXECUTE_WELDING; _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
Log.I(string.Format("Page 불러오기 : [0])"));
} }
//var item = _SelectedDrawObjectList[0];
// 여기서 어디로 가는지 설정 필요함
return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
#endregion #endregion
// 입력한 Scanner List를 완료대기열에 추가
// Won : GetProcessingWeldingData().WorkLotId 는 CellTrakcer로 부터 받은 상태의 LotId
// GetProcessingWeldingData().LotId 는 AutorunView에 표기할 용접이 완료 된 LotID
string LotId = Status.GetProcessingWeldingData().WorkLotId; // CellTracker로 부터 WorkLotID, WorkCellID 받는 구문 추가 후 해당 데이터로 입력 필요
string CellId = Status.GetProcessingWeldingData().WorkCellId;
SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, true, LotId, CellId);
_RecipeNo = _RecipeManager.ActivatedRecipe().Id;
SetWeldingData();
return SequenceAction.Ok();
#endregion
} }
private ScannerParam GetSelectedDrawObjectData(IDrawObject DrawObj)
{
if (DrawObj is Line lineItem)
return WeldingRecipeManager.GetScannerParam(lineItem.ScannerParamNo);
else if (DrawObj is Arc arcItem)
return WeldingRecipeManager.GetScannerParam(arcItem.ScannerParamNo);
else if (DrawObj is Group groupItem)
return WeldingRecipeManager.GetScannerParam(groupItem.ScannerParamNo);
return null;
}
private void SetWeldingData()
{
ScannerParam laserParam = null;
laserParam = GetSelectedDrawObjectData(_SelectedDrawObjectList[0]);
if (laserParam != null)
{
// EDC 보내는 용도
Status.GetProcessingWeldingData().LaserPowerCore = laserParam.LaserPower1.ToString();
Status.GetProcessingWeldingData().MarkSpeed = laserParam.MarkSpeed.ToString();
Status.GetProcessingWeldingData().FocalLength = (_PLC.ReadDWord((int)eWordInput.PLC_WELDING_FOCAL_LENGTH).data / 1000f).ToString();
Status.GetProcessingWeldingData().WeldingJigNo = _WeldingJigNo.ToString();
}
}
public void WaitForEncoderNextRotarySection(int weldingCount, int rotaryJigCount, double rotaryAngleOffset, double encoderResetOffset, out double sectionStartAngle) public void WaitForEncoderNextRotarySection(int weldingCount, int rotaryJigCount, double rotaryAngleOffset, double encoderResetOffset, out double sectionStartAngle)
{ {
// 한 바퀴당 지그 숫자에 따른 변경 // 한 바퀴당 지그 숫자에 따른 변경
@ -897,7 +908,7 @@ namespace ILSOS_ACW_H52A.Sequences
_Scanner.WaitForEncoderRotateRange(encoderAllowedMinDegree, encoderAllowedMaxDegree, sectionStartAngle, sectionEndAngle); _Scanner.WaitForEncoderRotateRange(encoderAllowedMinDegree, encoderAllowedMaxDegree, sectionStartAngle, sectionEndAngle);
} }
public bool GetRotaryCanExist(int jigNo) public bool GetRotaryCanExist(int jigNo)
{ {
#region 지그 16개 요청기록 로그 남기기, 빠져나간 캔에 대한 Complete Bit 초기화 #region 지그 16개 요청기록 로그 남기기, 빠져나간 캔에 대한 Complete Bit 초기화
@ -1148,29 +1159,24 @@ namespace ILSOS_ACW_H52A.Sequences
return SequenceAction.Ok(); return SequenceAction.Ok();
} }
public static bool CycleStopTest = false;
private static string CheckCycleStop(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) private string CheckCycleStop(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{ {
Status.SetWorkingPosition(eWorkingPosition.CHECKING_CYCLE); Status.SetWorkingPosition(eWorkingPosition.CHECKING_CYCLE);
// TODO: 확인 필요, CybleStop 에 대한 내용, cycle stop 여부 가져오기 // TODO: 확인 필요, CybleStop 에 대한 내용, cycle stop 여부 가져오기
//bCycleStop = GetCycleStopRequest(); //bCycleStop = GetCycleStopRequest();
// 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 = false; bool cycleStop = _PLC.ReadBit((int)eBitInput.PLC_MANUAL_REQ).data;
if (cycleStop) if (cycleStop || CycleStopTest)
{
return SEQ_SAVE_RESULT_DATA; return SEQ_SAVE_RESULT_DATA;
}
else else
{
return SEQ_CHECK_LOAD_COMPLETE; return SEQ_CHECK_LOAD_COMPLETE;
}
} }
// END ALL // END ALL
#endregion
private static string CheckCanWelded(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) private static string CheckCanWelded(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{ {
if (isWeled) if (isWeled)
@ -1179,13 +1185,19 @@ namespace ILSOS_ACW_H52A.Sequences
return SEQ_CHECK_CYCLE_STOP; return SEQ_CHECK_CYCLE_STOP;
} }
private SequenceActionResult SaveCellAPDData(SequenceContext context, string id, SequenceActionResult param)
{
if (Status.GetProcessingWeldingData().APD.Count > 0)
{
string directoryPath = "D:\\ILSOSConfig\\APD_History";
string fileName = Status.GetProcessingWeldingData().APD.First().Date.ToString("HHmmss") + "_" + Status.GetProcessingWeldingData().APD.First().CellID;
string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName);
Status.GetProcessingWeldingData().APD.CreateFiles(fullPath);
}
return SequenceAction.Ok();
}
private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param) private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
{ {
string directoryPath = "D:\\ILSOSConfig\\APD_History";
string fileName = Status.GetProcessingWeldingData().APD.First().Date.ToString("HHmmss") + "_" + Status.GetProcessingWeldingData().APD.First().CellID;
string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName);
Status.GetProcessingWeldingData().APD.CreateFiles(fullPath);
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true); context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
return SequenceAction.Ok(); return SequenceAction.Ok();
} }
@ -1309,6 +1321,8 @@ namespace ILSOS_ACW_H52A.Sequences
private void OnSeqActionStop() private void OnSeqActionStop()
{ {
Status.EquipmentMode = eEquipmentMode.MANUAL;
//PLC All BIT OFF //PLC All BIT OFF
for (int i = 0; i < _RotaryJigCount; i++) for (int i = 0; i < _RotaryJigCount; i++)
{ {

258
Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs
View File

@ -3,7 +3,6 @@ using Aurora.Api;
using Aurora.Api.Manager; using Aurora.Api.Manager;
using Aurora.View; using Aurora.View;
using AuroraCellTracker; using AuroraCellTracker;
//using AuroraOCT;
using AuroraIO; using AuroraIO;
using AuroraLaser; using AuroraLaser;
using AuroraLaserScanner; using AuroraLaserScanner;
@ -13,7 +12,6 @@ using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas; using CoreUnit.Scanner.UserControl.ScannerCanvas;
using DB; using DB;
using Hermes; using Hermes;
using ILSOS_CCW_H52A.Device;
using ILSOS_CCW_H52A.Models; using ILSOS_CCW_H52A.Models;
using ILSOS_CCW_H52A.RMS; using ILSOS_CCW_H52A.RMS;
using System; using System;
@ -22,18 +20,18 @@ using System.IO;
using System.Linq; using System.Linq;
using System.Reflection; using System.Reflection;
using System.Threading; using System.Threading;
using System.Windows;
using WeldingCommon; using WeldingCommon;
using WeldingCommon.Alarm; using WeldingCommon.Alarm;
using WeldingCommon.Devices; using WeldingCommon.Devices;
using WeldingCommon.Recipes; using WeldingCommon.Recipes;
using WeldingCommon.Sequences; using WeldingCommon.Sequences;
using WeldingCommon.Settings;
using WeldingCommon.Utils; using WeldingCommon.Utils;
using static AuroraLBAD.Service.StreamLightLBAD; using static AuroraLBAD.Service.StreamLightLBAD;
using static ILSOS_CCW_H52A.Device.IOController_CCW_H52A; using static ILSOS_CCW_H52A.Device.IOController_CCW_H52A;
using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A; using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;
using static ILSOS_CCW_H52A.Device.ScannerListCCWH52A; using static ILSOS_CCW_H52A.Device.ScannerListCCWH52A;
using Application = System.Windows.Application;
using SystemParameter = WeldingCommon.Settings.SystemParameter;
namespace ILSOS_CCW_H52A.Sequences namespace ILSOS_CCW_H52A.Sequences
{ {
@ -43,6 +41,7 @@ namespace ILSOS_CCW_H52A.Sequences
const string SEQ_ENTER = "[SeqAutoRunCCWH52A] SEQ_ENTER"; // inputParam 으로 받자. const string SEQ_ENTER = "[SeqAutoRunCCWH52A] SEQ_ENTER"; // inputParam 으로 받자.
const string SEQ_CHECK_INIT_CONDITION = "[SeqAutoRunCCWH52A] Check Init Condition"; // Check Init Condition const string SEQ_CHECK_INIT_CONDITION = "[SeqAutoRunCCWH52A] Check Init Condition"; // Check Init Condition
const string SEQ_FORK_ENCODER_MONITOR = "[SeqAutoRunCCWH52A] Fork Encoder Monitor"; const string SEQ_FORK_ENCODER_MONITOR = "[SeqAutoRunCCWH52A] Fork Encoder Monitor";
const string SEQ_ENCODER_MONITOR = "[SeqAutoRunCCWH52A] Check Encoder Monitor"; const string SEQ_ENCODER_MONITOR = "[SeqAutoRunCCWH52A] Check Encoder Monitor";
const string SEQ_JOIN_ENCODER_MONITOR = "[SeqAutoRunCCWH52A] Join Encoder Monitor"; const string SEQ_JOIN_ENCODER_MONITOR = "[SeqAutoRunCCWH52A] Join Encoder Monitor";
@ -52,6 +51,7 @@ namespace ILSOS_CCW_H52A.Sequences
public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunCCWH52A] Check Scanner List Complete"; public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunCCWH52A] Check Scanner List Complete";
const string SEQ_CHECK_CAN_EXIST = "[SeqAutoRunCCWH52A] Check Can Exist";
const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunCCWH52A] Ready ScannerList"; 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_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Set Sequence Param (UploadWeldingList Seq)";
@ -70,6 +70,8 @@ namespace ILSOS_CCW_H52A.Sequences
const string SEQ_DO_ID_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunCCWH52A] Process (ReportCellResult Seq)"; const string SEQ_DO_ID_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunCCWH52A] Process (ReportCellResult Seq)";
const string SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunCCWH52A] Get Sequence Result (ReportCellResult Seq)"; const string SEQ_GET_RESULT_REPORT_CELL_RESULT_SEQ = "[SeqAutoRunCCWH52A] Get Sequence Result (ReportCellResult Seq)";
const string SEQ_APD_DATA_SAVE = "[SeqAutoRunCCWH52A] APD Data Save";
//const string SEQ_REPORT_CELLINFO_TO_PLC = "[SeqAutoRunCCWH52A] ReportCellInfoToPLC"; //const string SEQ_REPORT_CELLINFO_TO_PLC = "[SeqAutoRunCCWH52A] ReportCellInfoToPLC";
const string SEQ_CHECK_CYCLE_STOP = "[SeqAutoRunCCWH52A] Check Cycle Stop"; const string SEQ_CHECK_CYCLE_STOP = "[SeqAutoRunCCWH52A] Check Cycle Stop";
const string SEQ_CHECK_CAN_WELDED = "[SeqAutoRunCCWH52A] Check Can Welded"; const string SEQ_CHECK_CAN_WELDED = "[SeqAutoRunCCWH52A] Check Can Welded";
@ -106,7 +108,7 @@ namespace ILSOS_CCW_H52A.Sequences
private IRecipeManager _RecipeManager; private IRecipeManager _RecipeManager;
private eListNo _WeldingScannerListNo; private eListNo _WeldingScannerListNo = eListNo.LIST1;
private List<IDrawObject> _SelectedDrawObjectList; private List<IDrawObject> _SelectedDrawObjectList;
@ -115,6 +117,10 @@ namespace ILSOS_CCW_H52A.Sequences
private uint _TodayProduct; private uint _TodayProduct;
private uint _TotalProduct; private uint _TotalProduct;
private double _LaserPowerByLBAD;
private int _CompletedJigNo;
private static bool isWeled;
private bool _ModulationMode; private bool _ModulationMode;
private DateTime _AutoRunStartTime; private DateTime _AutoRunStartTime;
@ -127,9 +133,6 @@ namespace ILSOS_CCW_H52A.Sequences
private double _CellMeasureCenterOffsetX; private double _CellMeasureCenterOffsetX;
private double _CellMeasureCenterOffsetY; private double _CellMeasureCenterOffsetY;
private double _LaserPowerByLBAD;
private int _CompletedJigNo;
// MOTF // MOTF
private TimeSpan _WeldInterval; private TimeSpan _WeldInterval;
@ -143,16 +146,15 @@ namespace ILSOS_CCW_H52A.Sequences
private double _WeldingStartAngle; private double _WeldingStartAngle;
private bool isTheFirstListWrite; private bool isTheFirstListWrite = true;
private bool isTheSecondListWrite; private bool isTheSecondListWrite = true;
private bool isTheFirstListExecute; private bool isTheFirstListExecute;
private int _RecipeNo; private int _RecipeNo;
private static bool isWeled;
private bool _WeldingDone;
private bool UsePlcShotThemAll { get; set; } = false; private bool UsePlcShotThemAll { get; set; } = false;
private bool UsePlcPositionCompensation { get; set; } = false; private bool UsePlcPositionCompensation { get; set; } = false;
private string RecipeFileName { get; set; } = ""; private string RecipeFileName { get; set; } = "";
private enum InitErrorList private enum InitErrorList
{ {
SUCCESS = 0, SUCCESS = 0,
@ -163,7 +165,6 @@ namespace ILSOS_CCW_H52A.Sequences
MOTF_OFF, MOTF_OFF,
PLC_ALARM, PLC_ALARM,
} }
public SequenceBuilder Builder() public SequenceBuilder Builder()
{ {
var sb = new SequenceBuilder(1000, true); var sb = new SequenceBuilder(1000, true);
@ -174,18 +175,20 @@ namespace ILSOS_CCW_H52A.Sequences
sb.AddFork(SEQ_FORK_ENCODER_MONITOR); sb.AddFork(SEQ_FORK_ENCODER_MONITOR);
sb.AddAction(SEQ_ENCODER_MONITOR, EncoderMonitor); sb.AddAction(SEQ_ENCODER_MONITOR, EncoderMonitor);
sb.AddJoin(SEQ_JOIN_ENCODER_MONITOR); sb.AddJoin(SEQ_JOIN_ENCODER_MONITOR);
sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete); sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);
sb.AddAction(SEQ_CHECK_SCANNER_LIST_COMPLETE, CheckScannerListComplete); sb.AddAction(SEQ_CHECK_SCANNER_LIST_COMPLETE, CheckScannerListComplete);
sb.AddDecision(SEQ_READY_SCANNER_LIST, ReadyScannerList); sb.AddDecision(SEQ_CHECK_CAN_EXIST, CheckCanExist);
sb.AddAction(SEQ_READY_SCANNER_LIST, ReadyScannerList);
sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams);
sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo());
sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult);
sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams); sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, SequenceManager.GetSeqBuilder_SeqUploadWeldingList()); 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_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_EXECUTE_WELDING, ExecuteWelding);
sb.AddAction(SEQ_REQUEST_UNLOAD_CELL, RequestUnloadCell); sb.AddAction(SEQ_REQUEST_UNLOAD_CELL, RequestUnloadCell);
@ -197,20 +200,23 @@ namespace ILSOS_CCW_H52A.Sequences
sb.AddDecision(SEQ_CHECK_CAN_WELDED, CheckCanWelded); sb.AddDecision(SEQ_CHECK_CAN_WELDED, CheckCanWelded);
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_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);
sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_CHECK_LOAD_COMPLETE] sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_CHECK_LOAD_COMPLETE]
> sb[SEQ_CHECK_CAN_EXIST]
> sb[SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ] > sb[SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ]
> sb[SEQ_CHECK_SCANNER_LIST_COMPLETE] > sb[SEQ_READY_SCANNER_LIST] > sb[SEQ_READY_SCANNER_LIST]
> 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_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_CHECK_CYCLE_STOP] > sb[SEQ_APD_DATA_SAVE] > 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_READY_SCANNER_LIST] > sb[SEQ_EXECUTE_WELDING]); sb.Flows(sb[SEQ_CHECK_CAN_EXIST] > sb[SEQ_EXECUTE_WELDING]);
sb.Flows(sb[SEQ_CHECK_CAN_WELDED] > sb[SEQ_CHECK_CYCLE_STOP]); // 용접을 하지 않은 Cell은 상위보고 하지 않는다. sb.Flows(sb[SEQ_CHECK_CAN_WELDED] > sb[SEQ_CHECK_CYCLE_STOP]); // 용접을 하지 않은 Cell은 상위보고 하지 않는다.
sb.Flows(sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_LOAD_COMPLETE]); sb.Flows(sb[SEQ_CHECK_CYCLE_STOP] > sb[SEQ_CHECK_LOAD_COMPLETE]);
@ -218,7 +224,11 @@ namespace ILSOS_CCW_H52A.Sequences
sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_INIT_CONDITION_ERROR] > sb.Final); 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]); 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]);
///
//// 1. 시퀀스 시작 ~ 포크 //// 1. 시퀀스 시작 ~ 포크
//sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_FORK_ENCODER_MONITOR]); //sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_FORK_ENCODER_MONITOR]);
@ -267,6 +277,8 @@ namespace ILSOS_CCW_H52A.Sequences
_RecipeManager = Application.Current.AuroraEnv().RecipeManager; _RecipeManager = Application.Current.AuroraEnv().RecipeManager;
_SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter); _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
InitDev(context); InitDev(context);
if (!CheckDeviceReady(context)) if (!CheckDeviceReady(context))
{ //Check Device { //Check Device
@ -276,7 +288,6 @@ namespace ILSOS_CCW_H52A.Sequences
//return null; //return null;
} }
if (InitSequenceVariable(context) == false) if (InitSequenceVariable(context) == false)
{ {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError); //AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
@ -299,7 +310,7 @@ namespace ILSOS_CCW_H52A.Sequences
var mainPage = WeldingRecipeManager.GetWeldingPage(); var mainPage = WeldingRecipeManager.GetWeldingPage();
_ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlAutoPage; _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlAutoPage;
_WeldingScannerListNo = eListNo.LIST1; //_WeldingScannerListNo = eListNo.LIST1;
_CellMeasureCenterOffsetX = 0.0; _CellMeasureCenterOffsetX = 0.0;
_CellMeasureCenterOffsetY = 0.0; _CellMeasureCenterOffsetY = 0.0;
@ -365,7 +376,12 @@ namespace ILSOS_CCW_H52A.Sequences
private bool CheckCondition_Interlock() private bool CheckCondition_Interlock()
{ {
// PLC, Data, IO 등 Interlock checking // 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; return true;
} }
@ -483,13 +499,13 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I(string.Format($"ScannerUnit.InitRotaryOnTheFlyWeldingCount : m_abwRotaryEncoderOffset({_RotaryEncoderOffset}), weldingCount({_WeldingCount}), weldingJigNo({_WeldingJigNo}), rotaryJigCount({_RotaryJigCount})")); Log.I(string.Format($"ScannerUnit.InitRotaryOnTheFlyWeldingCount : m_abwRotaryEncoderOffset({_RotaryEncoderOffset}), weldingCount({_WeldingCount}), weldingJigNo({_WeldingJigNo}), rotaryJigCount({_RotaryJigCount})"));
// 용접 완료 대기 스캐너 List 리셋 // 용접 완료 대기 스캐너 List 리셋
ResetInputScannerList(); //ResetInputScannerList();
WaitingScannerList.Reset(); //WaitingScannerList.Reset();
CompleteScannerList.Reset(); //CompleteScannerList.Reset();
isTheFirstListWrite = true; // 작업 시작 시 처음 2개의 List는 입력하고 시작한다 //isTheFirstListWrite = true; // 작업 시작 시 처음 2개의 List는 입력하고 시작한다
isTheSecondListWrite = true; //isTheSecondListWrite = true;
isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange //isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange
InitAutoRunBit(); // GetRotaryCurrentPosition() 호출 이후 AutoStatus True 변경 InitAutoRunBit(); // GetRotaryCurrentPosition() 호출 이후 AutoStatus True 변경
#endregion #endregion
@ -561,7 +577,6 @@ namespace ILSOS_CCW_H52A.Sequences
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false); context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
return SEQ_INIT_CONDITION_ERROR; return SEQ_INIT_CONDITION_ERROR;
} }
// AutoMode 전환 시점
Status.EquipmentMode = eEquipmentMode.AUTO; Status.EquipmentMode = eEquipmentMode.AUTO;
var startTime = DateTime.Now; var startTime = DateTime.Now;
@ -584,6 +599,7 @@ namespace ILSOS_CCW_H52A.Sequences
// List가 실행 중이라면(ex : 엔코더 대기 상태 등), 반환값은 0, LoadList 할 수 없는 상태(List 실행 중이거나, 엔코더 대기 상태) // 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 // LoadList가 0보다 크면 다음 시퀀스 진행해야 함
_InterfaceStartTime = DateTime.Now; _InterfaceStartTime = DateTime.Now;
while (!context.Stopped) while (!context.Stopped)
{ {
if (_Scanner.LoadList(_WeldingScannerListNo) > 0) if (_Scanner.LoadList(_WeldingScannerListNo) > 0)
@ -632,6 +648,7 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I("ERR_SCANNER_LIST_PROCESSING_TIMEOVER"); Log.I("ERR_SCANNER_LIST_PROCESSING_TIMEOVER");
return SequenceAction.Error(); return SequenceAction.Error();
// WON : 2칸 전에 용접을 진행하지 않아 현재 Angle이 CompleteScannerList.StartAngle + 45 범위를 벗어난 경우라면 에러 상황이 아니므로 에러로 처리 할 필요가 없다 // WON : 2칸 전에 용접을 진행하지 않아 현재 Angle이 CompleteScannerList.StartAngle + 45 범위를 벗어난 경우라면 에러 상황이 아니므로 에러로 처리 할 필요가 없다
// 위에 CheckCurrentEncoderAngle if문 조건 대신 아래 내용으로 테스트 해본 뒤에 적용 필요 // 위에 CheckCurrentEncoderAngle if문 조건 대신 아래 내용으로 테스트 해본 뒤에 적용 필요
//if (!CheckCurrentEncoderAngle(CompleteScannerList.StartAngle)) { //if (!CheckCurrentEncoderAngle(CompleteScannerList.StartAngle)) {
@ -647,13 +664,8 @@ namespace ILSOS_CCW_H52A.Sequences
if (CompleteScannerList.CanExist) if (CompleteScannerList.CanExist)
{ {
isWeled = true; isWeled = true;
#region 용접 시간, 엔코더 측정/기록
//_WeldInterval = DateTime.Now - _WeldEndTime;
//_WeldEndTime = DateTime.Now;
//double elapsedTime = _Scanner.GetTime();
//_WeldingSpanTime = TimeSpan.FromSeconds(elapsedTime); // Encoder 대기 넘어간 후의, 실제 스캐너 리스트 실행 시간
//_WeldingStartTime = _WeldEndTime.Subtract(_WeldingSpanTime);
#region 용접 시간, 엔코더 측정/기록
double elaspedTime = _Scanner.GetTime(); double elaspedTime = _Scanner.GetTime();
if (CompleteScannerList.WeldComplete) if (CompleteScannerList.WeldComplete)
@ -665,9 +677,6 @@ namespace ILSOS_CCW_H52A.Sequences
_LotId = CompleteScannerList.LotId; _LotId = CompleteScannerList.LotId;
_CellId = CompleteScannerList.CellId; _CellId = CompleteScannerList.CellId;
_LaserPowerByLBAD = StreamLightLBAD.LaserPowerByLBAD[CompleteScannerList.JigNo];
_CompletedJigNo = CompleteScannerList.JigNo;
Log.I(string.Format("JigNo : {0}, Weld start : {1}, Weld End : {2}, WeldTime : {3}, interval : {4:F3}", 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)); CompleteScannerList.JigNo, _WeldingStartTime.ToString("HH:mm:ss.fff"), _WeldEndTime.ToString("HH:mm:ss.fff"), _WeldingSpanTime.TotalMilliseconds, _WeldInterval.TotalSeconds));
@ -680,13 +689,6 @@ namespace ILSOS_CCW_H52A.Sequences
UpdateProductInfoForView(); UpdateProductInfoForView();
} }
//if (_SystemParameter.BypassModeLBAD == false) {
// if (_StreamLightLBAD.SendWeldingStop() == false) {
// Log.I(string.Format($"[LBAD Interface]SendWeldingStop null"));
// //return null;
// }
//}
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);
UtilUnit.logUnit.SetLog(LogUnit.eLogType.PRODUCT, MethodBase.GetCurrentMethod().Name, "UPDATE_PRODUCT_COUNT;" + _WeldEndTime.ToString("yyyy-MM-dd HH:mm:ss")); UtilUnit.logUnit.SetLog(LogUnit.eLogType.PRODUCT, MethodBase.GetCurrentMethod().Name, "UPDATE_PRODUCT_COUNT;" + _WeldEndTime.ToString("yyyy-MM-dd HH:mm:ss"));
@ -707,6 +709,7 @@ namespace ILSOS_CCW_H52A.Sequences
_Scanner.SaveRecord(DataFilePath); _Scanner.SaveRecord(DataFilePath);
} }
#endregion #endregion
} }
} }
} }
@ -729,22 +732,16 @@ namespace ILSOS_CCW_H52A.Sequences
if (currentAngle < startAngle + 45)// 다음 리스트 구간이 끝나기 전까지는 완료가 되어야 한다 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)); Log.I(string.Format("Current encoder check OK, startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
_WeldingDone = true;
return true; return true;
} }
else Log.I(string.Format("Current encoder check NG(Too late), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle)); else Log.I(string.Format("Current encoder check NG(Too late), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
} }
else else Log.I(string.Format("Current encoder check NG(Too early), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
{
Log.I(string.Format("Current encoder check NG(Too early), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
_WeldingDone = false;
}
return false; return false;
} }
private string ReadyScannerList(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) private string CheckCanExist(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{ {
Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST); Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);
@ -792,6 +789,17 @@ namespace ILSOS_CCW_H52A.Sequences
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)
return SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ;
else
return SEQ_EXECUTE_WELDING;
#endregion
}
private SequenceActionResult ReadyScannerList(SequenceContext context, string id, SequenceActionResult param)
{
#region 이력
// 입력한 Scanner List를 완료대기열에 추가 // 입력한 Scanner List를 완료대기열에 추가
//SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist); //SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist);
@ -815,58 +823,61 @@ namespace ILSOS_CCW_H52A.Sequences
//// SEQ_WAIT_WELDING_START 의 기능이 어떻게 되는 지 확인 후 //// SEQ_WAIT_WELDING_START 의 기능이 어떻게 되는 지 확인 후
//// 건너뛰어도 되면 SEQ_EXECUTE_WELDING 으로 변경 해도 됨 //// 건너뛰어도 되면 SEQ_EXECUTE_WELDING 으로 변경 해도 됨
//return SEQ_WAIT_WELDING_START; //return SEQ_WAIT_WELDING_START;
#endregion
if (canExist) #region 용접할 Objects 선택
if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length)
{ {
#region 용접할 Objects 선택 _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[_WeldingJigNo - 1].Objects;
if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length) Log.I(string.Format("Page 불러오기 : [{0}])", _WeldingJigNo - 1));
{
_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
// 입력한 Scanner List를 완료대기열에 추가
// Won : GetProcessingWeldingData().WorkLotId 는 CellTrakcer로 부터 받은 상태의 LotId
// GetProcessingWeldingData().LotId 는 AutorunView에 표기할 용접이 완료 된 LotID
string LotId = Status.GetProcessingWeldingData().WorkLotId; // CellTracker로 부터 WorkLotID, WorkCellID 받는 구문 추가 후 해당 데이터로 입력 필요
string CellId = Status.GetProcessingWeldingData().WorkCellId;
SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist, LotId, CellId);
_RecipeNo = _RecipeManager.ActivatedRecipe().Id;
var item = _SelectedDrawObjectList[0];
if (item is Line)
{
Line lineItem = (Line)item;
ScannerParam laserParam = WeldingRecipeManager.GetScannerParam(lineItem.ScannerParamNo);
// EDC 보내는 용도
Status.GetProcessingWeldingData().LaserPowerCore = laserParam.LaserPower1.ToString();
Status.GetProcessingWeldingData().MarkSpeed = laserParam.MarkSpeed.ToString();
Status.GetProcessingWeldingData().FocalLength = (_PLC.ReadDWord((int)eWordInput.PLC_WELDING_FOCAL_LENGTH).data / 1000f).ToString();
Status.GetProcessingWeldingData().WeldingJigNo = _WeldingJigNo.ToString();
}
} }
else else
{ {
return SEQ_EXECUTE_WELDING; _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
Log.I(string.Format("Page 불러오기 : [0])"));
} }
//var item = _SelectedDrawObjectList[0];
// 여기서 어디로 가는지 설정 필요함
return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
#endregion #endregion
// 입력한 Scanner List를 완료대기열에 추가
// Won : GetProcessingWeldingData().WorkLotId 는 CellTrakcer로 부터 받은 상태의 LotId
// GetProcessingWeldingData().LotId 는 AutorunView에 표기할 용접이 완료 된 LotID
string LotId = Status.GetProcessingWeldingData().WorkLotId; // CellTracker로 부터 WorkLotID, WorkCellID 받는 구문 추가 후 해당 데이터로 입력 필요
string CellId = Status.GetProcessingWeldingData().WorkCellId;
SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, true, LotId, CellId);
_RecipeNo = _RecipeManager.ActivatedRecipe().Id;
SetWeldingData();
return SequenceAction.Ok();
#endregion
} }
private ScannerParam GetSelectedDrawObjectData(IDrawObject DrawObj)
{
if (DrawObj is Line lineItem)
return WeldingRecipeManager.GetScannerParam(lineItem.ScannerParamNo);
else if (DrawObj is Arc arcItem)
return WeldingRecipeManager.GetScannerParam(arcItem.ScannerParamNo);
else if (DrawObj is Group groupItem)
return WeldingRecipeManager.GetScannerParam(groupItem.ScannerParamNo);
return null;
}
private void SetWeldingData()
{
ScannerParam laserParam = null;
laserParam = GetSelectedDrawObjectData(_SelectedDrawObjectList[0]);
if (laserParam != null)
{
// EDC 보내는 용도
Status.GetProcessingWeldingData().LaserPowerCore = laserParam.LaserPower1.ToString();
Status.GetProcessingWeldingData().MarkSpeed = laserParam.MarkSpeed.ToString();
Status.GetProcessingWeldingData().FocalLength = (_PLC.ReadDWord((int)eWordInput.PLC_WELDING_FOCAL_LENGTH).data / 1000f).ToString();
Status.GetProcessingWeldingData().WeldingJigNo = _WeldingJigNo.ToString();
}
}
public void WaitForEncoderNextRotarySection(int weldingCount, int rotaryJigCount, double rotaryAngleOffset, double encoderResetOffset, out double sectionStartAngle) public void WaitForEncoderNextRotarySection(int weldingCount, int rotaryJigCount, double rotaryAngleOffset, double encoderResetOffset, out double sectionStartAngle)
{ {
// 한 바퀴당 지그 숫자에 따른 변경 // 한 바퀴당 지그 숫자에 따른 변경
@ -976,7 +987,6 @@ namespace ILSOS_CCW_H52A.Sequences
{ {
return null; return null;
} }
return SequenceAction.Ok(); return SequenceAction.Ok();
} }
@ -1014,7 +1024,6 @@ namespace ILSOS_CCW_H52A.Sequences
return SequenceAction.Ok(); return SequenceAction.Ok();
} }
private SequenceActionResult EncoderMonitor(SequenceContext context, string id, SequenceActionResult param) private SequenceActionResult EncoderMonitor(SequenceContext context, string id, SequenceActionResult param)
{ {
int EncoderLogCount = 0; int EncoderLogCount = 0;
@ -1033,7 +1042,6 @@ namespace ILSOS_CCW_H52A.Sequences
if (InputScannerList[(int)_WeldingScannerListNo - 1].CanExist) 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})"); Log.I($"Fork Before Min Rotate Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo}, JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
EncoderLogCount = 0;
if (!_SystemParameter.BypassModeLBAD) if (!_SystemParameter.BypassModeLBAD)
{ {
if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false) if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false)
@ -1060,13 +1068,15 @@ namespace ILSOS_CCW_H52A.Sequences
{ {
InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime = DateTime.Now; InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime = DateTime.Now;
InputScannerList[(int)_WeldingScannerListNo - 1].WeldComplete = true; InputScannerList[(int)_WeldingScannerListNo - 1].WeldComplete = true;
EncoderLogCount = 0;
Log.I($"Laser On, Welding Complete. JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
} }
if (EncoderLogCount == 0) if (EncoderLogCount == 0)
{ {
Log.I($"Fork Laser On Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo} JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})"); Log.I($"Fork Laser On Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo}, JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
} }
EncoderLogCount = (EncoderLogCount + 1) % 10; EncoderLogCount = (EncoderLogCount + 1) % 7;
} }
for (int i = 0; i < _RotaryJigCount; i++) for (int i = 0; i < _RotaryJigCount; i++)
@ -1149,29 +1159,24 @@ namespace ILSOS_CCW_H52A.Sequences
return SequenceAction.Ok(); return SequenceAction.Ok();
} }
private static string CheckCycleStop(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) public static bool CycleStopTest = false;
private string CheckCycleStop(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{ {
Status.SetWorkingPosition(eWorkingPosition.CHECKING_CYCLE); Status.SetWorkingPosition(eWorkingPosition.CHECKING_CYCLE);
// TODO: 확인 필요, CybleStop 에 대한 내용, cycle stop 여부 가져오기 // TODO: 확인 필요, CybleStop 에 대한 내용, cycle stop 여부 가져오기
//bCycleStop = GetCycleStopRequest(); //bCycleStop = GetCycleStopRequest();
// 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 = false; bool cycleStop = _PLC.ReadBit((int)eBitInput.PLC_MANUAL_REQ).data;
if (cycleStop) if (cycleStop || CycleStopTest)
{
return SEQ_SAVE_RESULT_DATA; return SEQ_SAVE_RESULT_DATA;
}
else else
{
return SEQ_CHECK_LOAD_COMPLETE; return SEQ_CHECK_LOAD_COMPLETE;
}
} }
// END ALL
#endregion
// END ALL
private static string CheckCanWelded(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param) private static string CheckCanWelded(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
{ {
if (isWeled) if (isWeled)
@ -1179,6 +1184,18 @@ namespace ILSOS_CCW_H52A.Sequences
else else
return SEQ_CHECK_CYCLE_STOP; return SEQ_CHECK_CYCLE_STOP;
} }
private SequenceActionResult SaveCellAPDData(SequenceContext context, string id, SequenceActionResult param)
{
if (Status.GetProcessingWeldingData().APD.Count > 0)
{
string directoryPath = "D:\\ILSOSConfig\\APD_History";
string fileName = Status.GetProcessingWeldingData().APD.First().Date.ToString("HHmmss") + "_" + Status.GetProcessingWeldingData().APD.First().CellID;
string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName);
Status.GetProcessingWeldingData().APD.CreateFiles(fullPath);
}
return SequenceAction.Ok();
}
private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param) private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
{ {
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true); context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
@ -1304,7 +1321,6 @@ namespace ILSOS_CCW_H52A.Sequences
private void OnSeqActionStop() private void OnSeqActionStop()
{ {
// ManualMode 전환 시점
Status.EquipmentMode = eEquipmentMode.MANUAL; Status.EquipmentMode = eEquipmentMode.MANUAL;
//PLC All BIT OFF //PLC All BIT OFF
@ -1347,10 +1363,20 @@ namespace ILSOS_CCW_H52A.Sequences
} }
} }
// For CSV 저장용
public class CenterPositionData : NotifyPropertyChangedBase
{
private double _CenterX;
public double CenterX { get => _CenterX; set => SetProperty(ref _CenterX, value); }
private double _CenterY;
public double CenterY { get => _CenterY; set => SetProperty(ref _CenterY, value); }
}
public class SeqAutoRunCCWH52A_InitParam : InitParam public class SeqAutoRunCCWH52A_InitParam : InitParam
{ {
public ScoutSeqParams ScoutSeqParams { get; set; } public ScoutSeqParams ScoutSeqParams { get; set; }
public bool UseStream { get; set; } public bool UseStream { get; set; }
} }
public class SeqAutoRunCCWH52A_OutParam : OutParam public class SeqAutoRunCCWH52A_OutParam : OutParam

7
WeldingComponents/WeldingCommon/Data/ActualProcessData.cs
View File

@ -26,6 +26,7 @@ namespace WeldingCommon.Data
{ {
table.Columns.Add("Date", typeof(string)); table.Columns.Add("Date", typeof(string));
table.Columns.Add("Time", typeof(string)); table.Columns.Add("Time", typeof(string));
table.Columns.Add(nameof(ActualProcessUnit.WeldType), typeof(string));
table.Columns.Add(nameof(ActualProcessUnit.LotID), typeof(string)); table.Columns.Add(nameof(ActualProcessUnit.LotID), typeof(string));
table.Columns.Add(nameof(ActualProcessUnit.CellID), typeof(string)); table.Columns.Add(nameof(ActualProcessUnit.CellID), typeof(string));
table.Columns.Add(nameof(ActualProcessUnit.EncoderCheck), typeof(bool)); table.Columns.Add(nameof(ActualProcessUnit.EncoderCheck), typeof(bool));
@ -60,7 +61,7 @@ namespace WeldingCommon.Data
protected override void InsertItem(int index, ActualProcessUnit item) protected override void InsertItem(int index, ActualProcessUnit item)
{ {
base.InsertItem(index, item); base.InsertItem(index, item);
table.Rows.Add(item.Date.ToString("yyyy-MM-dd"), item.Date.ToString("HH:mm:ss.fff"), item.LotID, item.CellID, item.EncoderCheck, table.Rows.Add(item.Date.ToString("yyyy-MM-dd"), item.Date.ToString("HH:mm:ss.fff"),item.WeldType, item.LotID, item.CellID, item.EncoderCheck,
item.StartPointX, item.StartPointY, item.EndPointX, item.EndPointY, item.StartPointX, item.StartPointY, item.EndPointX, item.EndPointY,
item.WeldCondition, item.LaserOnDelay, item.LaserOffDelay, item.JumpDelay, item.MarkDelay, item.WeldCondition, item.LaserOnDelay, item.LaserOffDelay, item.JumpDelay, item.MarkDelay,
item.PolygonDelay, item.Power, item.JumpSpeed, item.MarkSpeed, item.JumpX, item.PolygonDelay, item.Power, item.JumpSpeed, item.MarkSpeed, item.JumpX,
@ -80,6 +81,10 @@ namespace WeldingCommon.Data
private DateTime _Date; private DateTime _Date;
public string LotID { get => Status.GetProcessingWeldingData().LotId; } public string LotID { get => Status.GetProcessingWeldingData().LotId; }
public string CellID { get => Status.GetProcessingWeldingData().CellId; } public string CellID { get => Status.GetProcessingWeldingData().CellId; }
public string WeldType { get => _WeldType; set => SetProperty(ref _WeldType, value); }
private string _WeldType;
public bool EncoderCheck { get => _EncoderCheck; set => SetProperty(ref _EncoderCheck, value); } public bool EncoderCheck { get => _EncoderCheck; set => SetProperty(ref _EncoderCheck, value); }
private bool _EncoderCheck; private bool _EncoderCheck;
public double StartPointX { get => _StartPointX; set => SetProperty(ref _StartPointX, value); } public double StartPointX { get => _StartPointX; set => SetProperty(ref _StartPointX, value); }

26
WeldingComponents/WeldingCommon/Sequences/Main/SeqUploadWeldingList.cs
View File

@ -418,6 +418,7 @@ namespace WeldingCommon.Sequences {
laserLog.Power = param.LaserPower1; laserLog.Power = param.LaserPower1;
laserLog.JumpSpeed = param.JumpSpeed; laserLog.JumpSpeed = param.JumpSpeed;
laserLog.MarkSpeed = param.MarkSpeed; laserLog.MarkSpeed = param.MarkSpeed;
laserLog.WeldType = "Line";
// 2. 스캐너 가공 작업 // 2. 스캐너 가공 작업
// 2.1. Wobbel 관련 설정 // 2.1. Wobbel 관련 설정
@ -1412,6 +1413,20 @@ namespace WeldingCommon.Sequences {
float percentLaser2 = 0; float percentLaser2 = 0;
SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
//CSV Laser Log 추가
var laserLog = new ActualProcessUnit();
laserLog.Date = DateTime.Now;
laserLog.WeldCondition = param.No + 1;
laserLog.LaserOnDelay = param.LaserOnDelay;
laserLog.LaserOffDelay = param.LaserOffDelay;
laserLog.JumpDelay = param.JumpDelay;
laserLog.MarkDelay = param.MarkDelay;
laserLog.PolygonDelay = param.PolygonDelay;
laserLog.Power = param.LaserPower1;
laserLog.JumpSpeed = param.JumpSpeed;
laserLog.MarkSpeed = param.MarkSpeed;
laserLog.WeldType = "Arc";
Log.I(string.Format($"[Arc Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); Log.I(string.Format($"[Arc Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
// 2. 스캐너 가공 작업 // 2. 스캐너 가공 작업
@ -1443,6 +1458,10 @@ namespace WeldingCommon.Sequences {
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})"));
//CSV Laser Log 추가
laserLog.JumpX = obj.PF1.X + xOffset;
laserLog.JumpY = obj.PF1.Y + yOffset;
} }
} else { } else {
@ -1643,6 +1662,13 @@ namespace WeldingCommon.Sequences {
Log.I(string.Format($"[Arc Weld] Arc center ({obj.CenterPointF.X + xOffset},{obj.CenterPointF.Y + yOffset}), Sweep angle : ({obj.SweepAngle})")); Log.I(string.Format($"[Arc Weld] Arc center ({obj.CenterPointF.X + xOffset},{obj.CenterPointF.Y + yOffset}), Sweep angle : ({obj.SweepAngle})"));
} }
//CSV Laser Log 추가
laserLog.StartPointX = obj.PF1.X;
laserLog.StartPointY = obj.PF1.Y;
laserLog.EndPointX = obj.PF2.X;
laserLog.EndPointY = obj.PF2.Y;
Status.GetProcessingWeldingData().APD.Add(laserLog);
} }
private void LoadArc3PScannerParam(Arc3Point obj) private void LoadArc3PScannerParam(Arc3Point obj)