RobotAutomationDevelopment-Dept/LGES-OC5-PtoP-Welder
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fix: 페이지 핸드셰이크 ACK 정정 + Auto OFF 시 에코워드 조건부 초기화

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- CheckPageNoComp: PC_PAGE_NO 에코값과 현재 PLC_PAGE_NO 비교해
  일치 시 PC_PAGE_CHANGE_COMPLETE=true, 불일치 시 false (기존 무조건 false)
  → 동일 Recipe/Page 반복 시 완료 ACK 전달
- SeqStatusMonitor: PLC/PC Auto State OFF 에지 감시 →
  PC_RECIPE_NO/PC_PAGE_NO 0 초기화. 단 PC Auto OFF는
  M70515(Weld_01 Ready) 살아있으면 보존(Resume 시나리오)
- ExecuteWelding: 완료비트 송신 간 딜레이 5→50ms 여유 확보

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
노도연 2026-06-22 00:55:27 +09:00
parent 159eda2d4d
commit dd4f087e95
2 changed files with 33 additions and 13 deletions
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17
Machines/ILSOS_PrismaticRD_PTOP/Sequences/Monitoring/SeqStatusMonitor.cs
View File

@ -91,6 +91,23 @@ namespace WeldingCommon.Sequences
context.EventPublisher.Publish(new EventMessage("SeqStatusMonitor", CommonEventIds.EVENT_RESET_ALL_ALARMS_REQUEST));
}
// ── Auto State OFF 시 에코 워드(PC_RECIPE_NO/PC_PAGE_NO) 0 초기화 ──────────────
// PLC Auto OFF : 무조건 초기화
// PC Auto OFF : M70515(PLC_WELD_READY_REQ, Weld_01 Ready) 살아있으면 보존(초기화 생략)
bool plcAutoOff = ChangeChecker.IsChangedBoolMonitoring("PlcAutoStateOff",
_plc.ReadBit(PLCControllerPTOP.eBitInput.PLC_AUTO_STATUS).data, false);
bool pcAutoOff = ChangeChecker.IsChangedBoolMonitoring("PcAutoStateOff",
_plc.ReadOutBit(PLCControllerPTOP.eBitOutput.PC_AUTO_STATUS).data, false);
bool weldReadyAlive = _plc.ReadBit(PLCControllerPTOP.eBitInput.PLC_WELD_READY_REQ).data; // M70515
if (plcAutoOff || (pcAutoOff && !weldReadyAlive))
{
_plc.WriteWord(PLCControllerPTOP.eWordOutput.PC_RECIPE_NO, 0);
_plc.WriteWord(PLCControllerPTOP.eWordOutput.PC_PAGE_NO, 0);
Log.W($"[StatusMonitor] Auto OFF(PLC:{plcAutoOff}/PC:{pcAutoOff}, M70515:{weldReadyAlive}) → PC_RECIPE_NO/PC_PAGE_NO 0 초기화");
}
Thread.Sleep(NODE_SLEEP);
return SequenceAction.Ok();
}

29
Machines/ILSOS_PrismaticRD_PTOP/Sequences/SeqAutoRunPTOP.cs
View File

@ -518,8 +518,11 @@ namespace ILSOS_PrismaticRD_PTOP.Sequences
//MessageUtil.ShowErrorToast($"WriteWord -> {plcPageNo}");
//Thread.Sleep(1000);
_PLC.WriteBit(eBitOutput.PC_PAGE_CHANGE_COMPLETE, false);
Log.I("[CheckPageNoComp] Set PC_PAGE_CHANGE_COMPLETE false");
// 에코한 PC_PAGE_NO(plcPageNo)와 현재 PLC_PAGE_NO 비교 → 같으면 ACK ON, 다르면 OFF
short curPlcPageNo = _PLC.ReadWord(eWordInput.PLC_PAGE_NO).data;
bool pageMatched = (plcPageNo == curPlcPageNo);
_PLC.WriteBit(eBitOutput.PC_PAGE_CHANGE_COMPLETE, pageMatched);
Log.I($"[CheckPageNoComp] PC_PAGE_NO({plcPageNo}) == PLC_PAGE_NO({curPlcPageNo}) ? → PC_PAGE_CHANGE_COMPLETE {pageMatched}");
//Thread.Sleep(5);
// UI 페이지 업데이트 알림
@ -753,14 +756,14 @@ namespace ILSOS_PrismaticRD_PTOP.Sequences
Status.GetProcessingWeldingData().WeldingEndTime = DateTime.Now;
if (_CurrentPageNo == 1)
{
Log.D(string.Format($"[ExecuteWelding] -->(Wedling TackTime) {_CurrentPageNo} Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
}
else
{
Log.D(string.Format($"[ExecuteWelding] -->(Wedling TackTime) {_CurrentPageNo} Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
}
//if (_CurrentPageNo == 1)
//{
// Log.D(string.Format($"[ExecuteWelding] -->(Wedling TackTime) {_CurrentPageNo} Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
//}
//else
//{
// Log.D(string.Format($"[ExecuteWelding] -->(Wedling TackTime) {_CurrentPageNo} Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
//}
@ -783,14 +786,14 @@ namespace ILSOS_PrismaticRD_PTOP.Sequences
Log.D($"[ExecuteWelding] JumpAbs + SelectCorrectionTable Time: {_WeldingSpanTime.TotalMilliseconds}ms");
Log.D(string.Format($"[ExecuteWelding] Change SelectCorrectionTable Time : {_WeldingSpanTime.TotalMilliseconds}"));
Thread.Sleep(50);
// 양극(P) 미사용 → 모든 페이지 음극 완료 비트로 응답
_PLC.WriteBit((int)eBitOutput.PC_WELD_TRIGGER_ACK, false);
Log.I($"[ExecuteWelding] 용접완료 송신 - READY_ACK=false (PageNo:{plcPageNo})");
Thread.Sleep(5);
Thread.Sleep(50);
_PLC.WriteBit((int)eBitOutput.PC_WELD_BUSY, false);
Log.I($"[ExecuteWelding] 용접완료 송신 - BUSY=false (PageNo:{plcPageNo})");
Thread.Sleep(5);
Thread.Sleep(50);
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE, true);
Log.I($"[ExecuteWelding] 용접완료 송신 - COMPLETE=true (PageNo:{plcPageNo})");
Thread.Sleep(5);