622 lines
23 KiB
C#
622 lines
23 KiB
C#
using Aurora.Api;
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using Aurora.Api.Manager;
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using AuroraIO;
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using Hermes;
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using System;
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using System.Windows;
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using static AuroraIO.Vendor.PAIX.PAIXIO;
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namespace AuroraMotionBoard.Ajin
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{
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public class AJINDevice : Device
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{
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private readonly Logger Log = new Logger("AjinMotion");
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public AJINDeviceConfig _config;
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private IODevice _IO;
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private int _MotorCount;
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private bool _XPosInterlockType;
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//var systemParameterILSOS = AuroraEnv.SettingEntry[SettingIds.SystemParameter] as SystemParameter;
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//systemParameterILSOS.MachineType == eMachineType.PRIBAT_L1
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//public AJINDevice(bool XPosInterlock, string deviceId, bool isSimul = false)
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public AJINDevice(bool XPosInterlockType, IDeviceManager deviceManager, string deviceId)
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{
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//_devManager = deviceManager;
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_XPosInterlockType = XPosInterlockType;
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_IO = deviceManager["IO_Board"] as IODevice;
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}
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protected override int DoActivate(IDeviceConfig config)
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{
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_config = config as AJINDeviceConfig;
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if (IsSimul) {
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return E1.OK;
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}
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_MotorCount = _config.TotalMotorCount;
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if (!Init())
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return E1.NETWORK;
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return E1.OK;
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}
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protected override int DoDeactivate()
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{
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if (!IsSimul) {
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if (!Close())
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return E1.NETWORK;
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}
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return E1.OK;
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}
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public bool Init()
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{
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try {
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uint res = 0;
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int count = 0;
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// 객체 초기화
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if (CAXL.AxlIsOpened() == (int)AXT_BOOLEAN.FALSE) {
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res = CAXL.AxlOpen(0);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxlOpen Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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}
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// Board Count 추가
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res = CAXL.AxlGetBoardCount(ref count);
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if (count < 1 || (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)) {
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Log.E($"AXM AxlGetBoardCount Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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// Motion Param Setting File Load
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if (!string.IsNullOrEmpty(_config.MotionSettingsPath)) {
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res = CAXM.AxmMotLoadParaAll(_config.MotionSettingsPath);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmMotLoadParaAll Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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}
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} catch (Exception e) {
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Log.FuncE(e.Message);
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return false;
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}
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return true;
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}
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public bool Close()
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{
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try {
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int res = 0;
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// 객체 초기화
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res = CAXL.AxlClose();
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if (res != (int)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxlClose Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return false;
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}
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return true;
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}
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public bool AmpDisable(int Axis)
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{
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try {
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uint res = 0;
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double Decel = 0.0;
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res = CAXM.AxmMoveStop(Axis, Decel);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmMoveStop Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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if (ServoOnOff(Axis, (uint)AXT_MOTION_SIGNAL_LEVEL.INACTIVE))
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return false;
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if (AlarmReset(Axis))
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return false;
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return false;
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}
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return true;
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}
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#region Home Func
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public int SetHomeVelocity(int AxisNo, double VelFirst, double VelSecond, double VelThird, double velLast, double AccFirst, double AccSecond)
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{
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try {
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uint res = 0;
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res = CAXM.AxmHomeSetVel(AxisNo, VelFirst, VelSecond, VelThird, velLast, AccFirst, AccSecond);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM SetHomeVelocity Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E2.ABORTED;
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}
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return E1.OK;
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}
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public int SetHomeMethod(int AxisNo, int HmDir, uint HomeSignal, uint Zphas, double HomeClrTime, double HomeOffset)
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{
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try {
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uint res = 0;
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res = CAXM.AxmHomeSetMethod(AxisNo, HmDir, HomeSignal, Zphas, HomeClrTime, HomeOffset);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmHomeSetMethod Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E2.ABORTED;
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}
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return E1.OK;
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}
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public int StartHome(int Axis)
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{
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try {
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if (GetAlarmStatus(Axis) || !IsServoOn(Axis)) return E2.ABORTED;
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if (CheckXPosInterlock(_XPosInterlockType, Axis) == false)
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return E2.ABORTED;
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else {
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uint res = 0;
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res = CAXM.AxmHomeSetStart(Axis);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM Home Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E2.ABORTED;
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}
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return E1.OK;
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}
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public uint GetHomeResult(int Axis)
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{
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uint status = 0;
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try {
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uint res = 0;
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res = CAXM.AxmHomeGetResult(Axis, ref status);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmHomeGetResult Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return status;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E1.OK;
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}
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return status;
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}
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#endregion
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#region Move Func
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public int MoveABS(int Axis, double Pos, double Vel, double Accel, double Decel)
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{
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try {
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if ((uint)AXT_MOTION_HOME_RESULT.HOME_SUCCESS != GetHomeResult(Axis) || GetAlarmStatus(Axis) || !IsServoOn(Axis)) return E2.ABORTED;
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if (CheckXPosInterlock(_XPosInterlockType, Axis) == false)
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return E2.ABORTED;
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else {
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double curr = GetCurrentPosition(Axis);
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if (double.IsNaN(curr))
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return E2.ABORTED;
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if (Math.Abs(curr - Pos) < 0.001)
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return E1.OK;
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uint res = CAXM.AxmMotSetAbsRelMode(Axis, (uint)AXT_MOTION_ABSREL.POS_ABS_MODE);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmMotSetAbsRelMode Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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if (Move(Axis, Pos, Vel, Accel, Decel) < 0)
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E1.ARGUMENT;
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}
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return E1.OK;
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}
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public int MoveREL(int Axis, double Pos, double Vel, double Accel, double Decel)
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{
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try {
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if ((uint)AXT_MOTION_HOME_RESULT.HOME_SUCCESS != GetHomeResult(Axis) || GetAlarmStatus(Axis) || !IsServoOn(Axis)) return E2.ABORTED;
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if (CheckXPosInterlock(_XPosInterlockType, Axis) == false)
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return E2.ABORTED;
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else {
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double curr = GetCurrentPosition(Axis);
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if (double.IsNaN(curr))
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return E2.ABORTED;
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if (Math.Abs(curr + Pos) < 0.001)
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return E1.OK;
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uint res = CAXM.AxmMotSetAbsRelMode(Axis, (uint)AXT_MOTION_ABSREL.POS_REL_MODE);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmMotSetAbsRelMode Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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if (Move(Axis, Pos, Vel, Accel, Decel) < 0)
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E1.ARGUMENT;
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}
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return E1.OK;
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}
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internal int Move(int Axis, double Pos, double Vel, double Accel, double Decel)
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{
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try {
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if ((uint)AXT_MOTION_HOME_RESULT.HOME_SUCCESS != GetHomeResult(Axis) || GetAlarmStatus(Axis) || !IsServoOn(Axis)) return E2.ABORTED;
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if (CheckXPosInterlock(_XPosInterlockType, Axis) == false)
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return E2.ABORTED;
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uint res = 0;
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res = CAXM.AxmMoveStartPos(Axis, Pos, Vel, Accel, Decel);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM Stop Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E2.ABORTED;
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}
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return E1.OK;
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}
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public int MoveJog(int Axis, int direction, double velocity, double Accel, double Decel)
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{
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try {
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if ((uint)AXT_MOTION_HOME_RESULT.HOME_SUCCESS != GetHomeResult(Axis) || GetAlarmStatus(Axis) || !IsServoOn(Axis)) return E2.ABORTED;
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if (CheckXPosInterlock(_XPosInterlockType, Axis) == false)
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return E2.ABORTED;
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uint res = 0;
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res = CAXM.AxmMoveVel(Axis, direction * velocity, Accel, Decel);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM Jog Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E2.ABORTED;
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}
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return E1.OK;
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}
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public int Stop(int Axis)
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{
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try {
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uint res = 0;
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res = CAXM.AxmMoveSStop(Axis);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM Stop Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return E2.ABORTED;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return E2.ABORTED;
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}
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return E1.OK;
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}
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#endregion
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#region Getter Func
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public (int boardNo, int modulePos, int ModuleId) ReadAxisInfo(int Axis)
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{
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int BoardNo = 0, ModulePos = 0;
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uint ModuleID = 0;
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try {
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uint res = 0;
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res = CAXM.AxmInfoGetAxis(Axis, ref BoardNo, ref ModulePos, ref ModuleID);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmInfoGetAxis Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return (BoardNo, ModulePos, (int)ModuleID);
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return (BoardNo, ModulePos, (int)ModuleID);
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}
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return (BoardNo, ModulePos, (int)ModuleID);
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}
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public double GetTargetPosition(int Axis)
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{
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double pos = 0.0;
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try {
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uint res = 0;
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res = CAXM.AxmStatusGetCmdPos(Axis, ref pos);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM GetTargetPosition Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return double.NaN;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return double.NaN;
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}
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return pos;
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}
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public double GetCurrentPosition(int Axis)
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{
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double pos = 0.0;
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try {
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uint res = 0;
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res = CAXM.AxmStatusGetActPos(Axis, ref pos);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM GetCurrentPosition Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return double.NaN;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return double.NaN;
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}
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return pos;
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}
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public bool CheckInside(double Target, double cur)
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{
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if (Target - 0.1 < cur && cur < Target + 0.1)
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return true;
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return false;
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}
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public bool ReadInPosition(int Axis)
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{
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uint status = 0;
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try {
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uint res = 0;
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res = CAXM.AxmSignalReadInpos(Axis, ref status);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM ReadInposition Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return false;
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}
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return status == (uint)AXT_MOTION_SIGNAL_LEVEL.ACTIVE ? true : false;
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}
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public bool ReadInMotion(int Axis)
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{
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if (IsSimul)
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return true;
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uint status = 0;
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try {
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uint res = 0;
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res = CAXM.AxmStatusReadInMotion(Axis, ref status);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM ReadInMotion Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return false;
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}
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return status == (uint)AXT_MOTION_SIGNAL_LEVEL.ACTIVE ? true : false;
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}
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public double ReadServoLoadRatio(int Axis)
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{
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double status = 0;
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try {
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uint res = 0;
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res = CAXM.AxmStatusReadServoLoadRatio(Axis, ref status);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmStatusReadServoLoadRatio Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return double.NaN;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return double.NaN;
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}
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return double.NaN;
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}
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public (bool HwPos, bool HwNeg) ReadLimit(int Axis)
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{
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uint posStatus = 0, negStatus = 0;
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try {
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uint res = 0;
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res = CAXM.AxmSignalReadLimit(Axis, ref posStatus, ref negStatus);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM ReadLimit Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return (true, true);
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return (true, true);
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}
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return (posStatus == (uint)AXT_MOTION_SIGNAL_LEVEL.ACTIVE ? true : false,
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negStatus == (uint)AXT_MOTION_SIGNAL_LEVEL.ACTIVE ? true : false);
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}
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#endregion
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public bool ServoOnOff(int Axis, uint onoff)
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{
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if (IsSimul)
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return true;
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try {
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uint res = 0;
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res = CAXM.AxmSignalServoOn(Axis, onoff);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM ServoOnOff Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return false;
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}
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return true;
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}
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public bool IsServoOn(int Axis)
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{
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if (IsSimul)
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return true;
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uint status = 0;
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try {
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uint res = 0;
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res = CAXM.AxmSignalIsServoOn(Axis, ref status);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM ReadInMotion Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
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return false;
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}
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} catch (Exception ex) {
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Log.FuncE(ex.Message);
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return false;
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}
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return status == (uint)AXT_MOTION_SIGNAL_LEVEL.ACTIVE ? true : false;
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}
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public bool AlarmReset(int Axis)
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{
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if (IsSimul)
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return true;
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try {
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uint res = 0;
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res = CAXM.AxmSignalServoAlarmReset(Axis, (uint)AXT_USE.ENABLE);
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if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
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Log.E($"AXM AxmSignalServoAlarmReset Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
|
|
return false;
|
|
}
|
|
} catch (Exception ex) {
|
|
Log.FuncE(ex.Message);
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
public double ReadCurrentVelocity(int Axis)
|
|
{
|
|
double status = 0;
|
|
try {
|
|
uint res = 0;
|
|
res = CAXM.AxmStatusReadVel(Axis, ref status);
|
|
if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
|
|
Log.E($"AXM AxmStatusReadServoLoadRatio Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
|
|
return double.NaN;
|
|
}
|
|
} catch (Exception ex) {
|
|
Log.FuncE(ex.Message);
|
|
return double.NaN;
|
|
}
|
|
return status;
|
|
}
|
|
public bool GetAlarmStatus(int Axis)
|
|
{
|
|
if (IsSimul)
|
|
return false;
|
|
|
|
try {
|
|
//res는 함수의 실행 결과 여부고 alarmCode에 따라서 알람 유무를 확인해야 함
|
|
//Return True : Alarm 상태
|
|
uint res = 0;
|
|
uint alarmCode = 0;
|
|
res = CAXM.AxmStatusReadServoAlarm(Axis, 0, ref alarmCode);
|
|
if (res != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) {
|
|
Log.E($"AXM AxmStatusRequestServoAlarm Func Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), res)}");
|
|
return true;
|
|
} else {
|
|
if (alarmCode != 0) {
|
|
Log.E($"AXM AxmStatusRequestServoAlarm Error : {Enum.GetName(typeof(AXT_FUNC_RESULT), alarmCode)}");
|
|
return true;
|
|
} else
|
|
return false;
|
|
}
|
|
} catch (Exception ex) {
|
|
Log.FuncE(ex.Message);
|
|
return false;
|
|
}
|
|
}
|
|
public const uint DPRAM_COMMON_CMD_SIIIH_SCAN = 0x74;
|
|
|
|
public bool CheckXPosInterlock(bool XPosInterlockType, int Axis)
|
|
{
|
|
if (XPosInterlockType) {
|
|
if (Axis == 1) {
|
|
bool bSuctionUp = false;
|
|
bool bSuctionDown = false;
|
|
|
|
// TODO: 향후, 공용으로 처리 할 수 있는 방법 확인 필요함, 장비 안에서 Interlock 을 처리 한다든지..
|
|
// 장비별로 존재하는 Interlock 이므로, 필요하다면 해당 장비군의 Git 에서 별도 처리
|
|
//bSuctionUp = _IO._iOUnit.ReadDiBit((Convert.ToInt32(ePTDIAddress.SUCTION_UP_CY)));
|
|
//bSuctionDown = _IO._iOUnit.ReadDiBit((Convert.ToInt32(ePTDIAddress.SUCTION_DOWN_CY)));
|
|
|
|
if (bSuctionUp == true && bSuctionDown == false) {
|
|
return true;
|
|
} else
|
|
return false;
|
|
} else
|
|
return true;
|
|
|
|
} else
|
|
return true;
|
|
}
|
|
public uint SSCNET_DeviceRescan(int Axis)
|
|
{
|
|
int nBoardCnt = 0;
|
|
double dCmdPos = 0;
|
|
int nOldTick = 0, nNewTick = 0, nTickTime = 0;
|
|
uint[] uSendData = new uint[22];
|
|
uint uReturn;
|
|
|
|
CAXL.AxlOpenNoReset(7);
|
|
CAXL.AxlGetBoardCount(ref nBoardCnt);
|
|
|
|
if (nBoardCnt < 1)
|
|
return (uint)AXT_FUNC_RESULT.AXT_RT_OPEN_ERROR;
|
|
|
|
System.Array.Clear(uSendData, 0, 22);
|
|
|
|
//'AxlSetSendBoardCommand' 함수의 첫 번째 인자는 보드 넘버입니다.
|
|
//PC에 장착한 순서에 따라 보드 넘버는 변경됩니다.
|
|
//EzConfig UC을 통해 보드 넘버를 알 수 있습니다.
|
|
uReturn = CAXDev.AxlSetSendBoardCommand(0, DPRAM_COMMON_CMD_SIIIH_SCAN, ref uSendData[21], 0);
|
|
|
|
nOldTick = Environment.TickCount;
|
|
|
|
while (true) {
|
|
//TimeOut Check
|
|
nNewTick = Environment.TickCount;
|
|
|
|
nTickTime = nNewTick - nOldTick;
|
|
if (nTickTime > 20000) {
|
|
MessageBox.Show("Scan Error");
|
|
return (uint)AXT_FUNC_RESULT.AXT_RT_OPEN_ERROR;
|
|
}
|
|
|
|
//Network Connect Check
|
|
uReturn = CAXM.AxmStatusGetCmdPos(Axis, ref dCmdPos);
|
|
if (uReturn == 0) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
CAXM.AxmMotLoadParaAll(_config.MotionSettingsPath);
|
|
|
|
CAXL.AxlClose();
|
|
CAXL.AxlOpenNoReset(7);
|
|
|
|
return (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS;
|
|
}
|
|
}
|
|
}
|