530 lines
21 KiB
C#
530 lines
21 KiB
C#
using Aurora;
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using Aurora.Api;
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using Aurora.Api.Manager;
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using AuroraIO;
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using AuroraLaser;
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using AuroraLaser.Trumpf;
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using AuroraLaserScanner;
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using AuroraLBAD.Services;
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using CoreUnit.Control.UserControl.Canvas;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using GUI;
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using Hermes;
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using MilCommon;
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using MilUI;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using VisionCommon;
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using WeldingCommon;
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using WeldingCommon.Alarm;
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using WeldingCommon.Devices;
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using WeldingCommon.Devices.Laser;
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using WeldingCommon.Recipes;
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using WeldingCommon.Sequences;
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using WeldingCommon.Settings;
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using WeldingCommon.Vision.WeldingObjectGenerator;
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using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
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using static ILSOS_PrismaticRD_PTOP.Device.PLCControllerPTOP;
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using static WeldingCommon.Devices.Laser.PAIX_PrismaticScanner;
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using static WeldingCommon.Devices.PLCController;
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namespace ILSOS_PrismaticRD_PTOP.Sequences
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{
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internal class SeqTestRun
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{
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static readonly Logger Log = new Logger("SeqWaitWeldOrChangePage");
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const string SEQ_ENTER = "[SeqWaitWeldOrChangePage] SEQ_ENTER";
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const string SEQ_CHECK_INIT_CONDITION = "[SeqAutoRunLFW] Check Init Condition";
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const string SEQ_CHECK_LOAD_COMPLETE = "[SeqAutoRunKS] Check Load Complete";
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const string SEQ_GET_PLC_PAGE_CHANGE_REQ_ON = "[SeqWaitWeldOrChangePage] Get PLC Page Change Request On"; // PLC Page Change Request ON
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const string SEQ_SET_PC_PAGE_CHANGE_ACK_ON = "[SeqWaitWeldOrChangePage] Set PC Page Change Ack On"; // PC Page Change Reqeust ACK ON
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const string SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF = "[SeqWaitWeldOrChangePage] Get PLC Page Change Request Off"; // PLC Page Change Request OFF
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const string SEQ_SET_PC_PAGE_CHANGE_ACK_OFF = "[SeqWaitWeldOrChangePage] Set PC Page Change Ack Off"; // PC Page Change Reqeust OFF
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const string SEQ_GET_PLC_WELD_REQ_ON = "[SeqWaitWeldOrChangePage] Get PLC Weld Request On"; // PLC Weld Request ON
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const string SEQ_EXECUTE_WELDING = "[SeqAutoRunKS] Execute Welding";
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const string SEQ_COMPLETE = "[SeqWaitWeldOrChangePage] SEQ_COMPLETE"; // 완료
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private PLCController _PLC;
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private Scanner _Scanner;
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// 레이저 상태 변화
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//private IODevice _IOLaser;
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private LaserIOControl _IOLaser;
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private static DataModel Models { get; set; }
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private static List<IDrawObject> _UnpackDrawObject;
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private SeqTestRun_InitParam _InitParam;
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private SeqTestRun_OutParam _OutParam;
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private eListNo _WeldingScannerListNo;
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private List<IDrawObject> _SelectedObjectList;
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private static short _PLCPageNo = 1;
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private DateTime _AutoRunStartTime;
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private DateTime _WeldingStartTime;
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private TimeSpan _WeldingSpanTime;
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private DateTime _WeldEndTime;
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private TimeSpan _InterfaceSpanTime;
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private DateTime _InterfaceStartTime;
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const int PLC_TIMEOUT = 60;
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private string _CurrentModelName;
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private SeqTestRun _ModelItem;
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public SequenceBuilder Builder()
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{
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var sb = new SequenceBuilder(1000, true);
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////var sb = new SequenceBuilder(1000, false); // With log
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sb.AddAction(SEQ_ENTER, Sequence_Enter);
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sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
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sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);
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// Page Change Request
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sb.AddAction(SEQ_GET_PLC_PAGE_CHANGE_REQ_ON, GetPLCPageChangeRequestOn);
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sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_ACK_ON, SetPCPageChangeRequestACKOn);
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sb.AddAction(SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF, GetPLCPageChangeRequestOff);
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sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_ACK_OFF, SetPCPageChangeRequestACKOff);
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// Weld Reqeust
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// Weld Request I/F는 없어도 됨. 왜냐하면, PLC에서 Busy 신호만 보기 때문임.
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sb.AddAction(SEQ_GET_PLC_WELD_REQ_ON, GetPLCWeldRequestOn);
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sb.AddAction(SEQ_EXECUTE_WELDING, ExecuteWelding);
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sb.AddAction(SEQ_COMPLETE, Complete);
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sb.Flows(sb.Init > sb[SEQ_ENTER]
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> sb[SEQ_CHECK_LOAD_COMPLETE]
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> sb[SEQ_GET_PLC_PAGE_CHANGE_REQ_ON] > sb[SEQ_SET_PC_PAGE_CHANGE_ACK_ON]
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> sb[SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF] > sb[SEQ_SET_PC_PAGE_CHANGE_ACK_OFF]
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> sb[SEQ_EXECUTE_WELDING]
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> sb[SEQ_COMPLETE]
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> sb.Final);
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sb.OnForceError(OnForceError);
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sb.OnStopped(OnStopped);
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sb.Draw("SeqTestRun.pdf");
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return sb;
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}
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private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("SeqTestRun Start");
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Log.I("[SeqTestRun]Sequence_Enter");
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InitDev(context);
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if (!CheckDeviceReady(context))
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{
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Log.E("The devices are not active.");
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return null;
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}
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if (InitSequenceVariable(context) == false)
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{
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return null;
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}
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_InitParam = param.Param as SeqTestRun_InitParam;
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if (_InitParam.NeedPageNo)
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_PLCPageNo = _InitParam.CurrentPageNo;
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else
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_PLCPageNo = 1;
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// 레이저 Word 값을 위함
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Models = _InitParam.Models;
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return SequenceAction.Ok();
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}
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// 용접리스트1 확인
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private SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]CheckInitCondition");
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var startTime = DateTime.Now;
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_WeldingScannerListNo = eListNo.LIST1;
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return SequenceAction.Ok();
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}
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private SequenceActionResult CheckLoadComplete (SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]CheckLoadComplete");
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Status.SetWorkingPosition(eWorkingPosition.LOADING_CELL);
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while (!context.Stopped)
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{
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if (_PLC.ReadBit((int)eBitInput.PLC_WELD_READY_REQ).data)
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{
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Log.I(string.Format($"[PLCInterface]GET PLC_WELD_READY_REQ True"));
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_PLC.WriteBit((int)eBitOutput.PC_WELD_READY_ACK, true);
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Log.I(string.Format($"[PLCInterface]SET PC_WELD_READY_ACK True"));
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break;
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}
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_InterfaceSpanTime = DateTime.Now.Subtract(_InterfaceStartTime);
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if (_InterfaceSpanTime.TotalMilliseconds > (PLC_TIMEOUT * 1000))
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{
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Log.E("TIMEOUT_PLC_WELD_READY_REQEUST");
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_InterfaceStartTime = DateTime.Now;
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}
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Thread.Sleep(10);
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}
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return SequenceAction.Ok();
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}
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private SequenceActionResult GetPLCPageChangeRequestOn(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]GetPLCPageChangeRequestOn");
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var res = context.RetryUntilSuccess(() => _PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
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if (res == E2.TIMEOUT)
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{
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Log.FuncE("Get PLC Page Change Request On Timeout !");
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return null;
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}
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Log.W(string.Format("PLC Page Change Request On"));
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return SequenceAction.Ok();
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}
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private SequenceActionResult SetPCPageChangeRequestACKOn(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]SetPCPageChangeRequestACKOn");
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if (_InitParam.NeedPageNo)
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{
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Thread.Sleep(100);
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_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
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_PLC.WriteWord(eCommonWordOutput.PC_PAGE_NO, (short)_PLCPageNo);
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Log.D($"When PageChangeReq is ON;{_PLCPageNo}");
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#region Tact Time 절감을 위한 페이지 체인지 인터페이스 중 Program No 변경
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// Unpack 관련 함수
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_UnpackDrawObject?.Clear();
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_UnpackDrawObject = new List<IDrawObject>();
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if (Models.Layers.Count() > _PLCPageNo - 1) UnpackRecipes(Models.Layers[_PLCPageNo - 1].Objects);
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else
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{
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Log.E($"[Page Change Req] Page No is not proper;{Models.Layers.Count()};{_PLCPageNo}");
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return null;
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}
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int paramIndex = 0;
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if (_UnpackDrawObject.Count > 0)
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{
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paramIndex = _UnpackDrawObject[0].ScannerParamID - 1;
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}
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else
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{
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paramIndex = 0;
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Log.E("[Page Change Req] Draw Objects is zero");
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}
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_CenterBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1;
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_RingBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
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_CenterRingRatio = 0;
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if (_CenterBeamPower == 0 && _RingBeamPower == 0)
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_CenterRingRatio = 100;
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else
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_CenterRingRatio = (int)Math.Round((double)(100 * _CenterBeamPower) / (double)(_CenterBeamPower + _RingBeamPower), 0); // Discrete 한 값이라서 Ring은 오차 발생
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// Ready 상태 변경 확인(Complete 상태에서 Laser Ready로 변환되기까지 시간이 걸림)
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var res = context.RetryUntilSuccess(_IOLaser.GetLaserReady, _InitParam.TimeoutSec * 1000, 1);
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if (res == E2.TIMEOUT)
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{
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Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReady"));
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return null;
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}
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Log.D(string.Format($"[Page Change Req] Laser Program Ready OK"));
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// Laser Program Parameters 설정(Laser Ready 상태는 용접 직전에 확인)
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List<(int, int, bool)> datas = new List<(int, int, bool)>();
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datas.Add((csWriteNodeNo.IW03, _CenterBeamPower, true));
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datas.Add((csWriteNodeNo.IW04, _RingBeamPower, true));
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datas.Add((csWriteNodeNo.IW05, _CenterRingRatio, true));
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// Ready 상태 변경 확인
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res = context.RetryUntilSuccess(() => LaserReadyResponse(), _InitParam.TimeoutSec * 1000, 1);
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if (res == E2.TIMEOUT)
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{
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Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReadyResponse"));
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return null;
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}
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Log.D(string.Format($"[Page Change Req] Laser Program Ready OK When ReadyResponse"));
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#endregion
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}
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_PLC.WriteBit(eCommonBitOutput.PC_PAGE_CHANGE_COMPLETE, true);
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Log.W(string.Format("Set PC Page Change Request ACK On"));
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Log.I($"Welding List Space : {_Scanner.GetListSpace()}");
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DateTime weldingTime = DateTime.Now;
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_Scanner.ExecuteList(0);
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//_Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
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//_MeasurementSpanTime = DateTime.Now.Subtract(weldingTime);
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//Log.D(string.Format($"[ComponentTeachingRun] Component Welding Complete Time : {_MeasurementSpanTime.TotalMilliseconds}"));
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return SequenceAction.Ok();
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}
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#region 레이저 값 변경을 위함
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private int _CenterBeamPower;
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private int _RingBeamPower;
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private int _CenterRingRatio;
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private static void UnpackRecipes(List<IDrawObject> recipes)
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{
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// Recipe를 재귀적으로 탐색해서 List로 재구성하는 함수
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if (recipes == null)
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return;
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for (int i = 0; i < recipes.Count; i++)
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{
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if (recipes[i] is Group)
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{
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Group subGroup = recipes[i] as Group;
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List<IDrawObject> subrecipes = subGroup.SubObjects as List<IDrawObject>;
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UnpackRecipes(subrecipes);
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}
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else
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{
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_UnpackDrawObject.Add(recipes[i]);
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}
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}
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}
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private bool LaserReadyResponse()
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{
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//if (ApplicationExt.IsSimulation)
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return true;
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}
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#endregion
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private SequenceActionResult GetPLCPageChangeRequestOff(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]GetPLCPageChangeRequestOff");
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//// 계속 페이지를 저장해줄 필요는 없음.
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//var res = context.RetryUntilSuccess(UpdatePLCPageWord, _InitParam.TimeoutSec * 1000, interval: 10);
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var res = context.RetryUntilSuccess(() => !_PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
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if (res == E2.TIMEOUT)
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{
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Log.FuncE(string.Format("Get PLC Page Change Request OFF Timeout ! : {0}", eCommonBitInput.PLC_PAGE_CHANGE_REQ));
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return null;
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}
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else Log.W(string.Format("Get PLC Page Change Request OFF Complete : {0}", eCommonBitInput.PLC_PAGE_CHANGE_REQ));
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return SequenceAction.Ok();
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}
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private SequenceActionResult SetPCPageChangeRequestACKOff(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]SetPCPageChangeRequestACKOff");
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if (_InitParam.NeedPageNo)
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{
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_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
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// PLC와 Request ON 시점에서 써주기로 하였으므로, 여기서는 굳이 써주지 않음.(확인용)
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//_PLC.WriteWord(_InitParam.SetPageNoAddress, (short)_PLCPageNo, AuroraPLC.PLCBase.ePLCDevice.D);
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Log.D($"When PageChangeReq is OFF;{_PLCPageNo}");
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}
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_PLC.WriteBit(eCommonBitOutput.PC_PAGE_CHANGE_COMPLETE, false);
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Log.W(string.Format("Set PC Page Change Request ACK Off"));
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return SequenceAction.Ok();
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}
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static DateTime WeldReqTime;
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private SequenceActionResult GetPLCWeldRequestOn(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]GetPLCWeldRequestOn");
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WeldReqTime = DateTime.Now;
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context.RetryUntilSuccess(() => _PLC.ReadBit(eCommonBitInput.PLC_WELD_READY_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
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Log.W(string.Format("Get PLC Weld Request On"));
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return SequenceAction.Ok();
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}
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private SequenceActionResult ExecuteWelding(SequenceContext context, string id, SequenceActionResult param)
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{
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Log.I("[SeqTestRun]ExecuteWelding");
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Status.SetWorkingPosition(eWorkingPosition.EXECUTING_WELD);
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Log.D(string.Format($"[TeachingRun] Welding Start"));
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DateTime weldingTime = DateTime.Now;
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_Scanner.ExecuteList(_WeldingScannerListNo);
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_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
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Log.D(string.Format($"[TeachingRun] Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
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double dExecuteListTime = _Scanner.GetTime();
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Log.I(string.Format($"[TeachingRun] ExecuteList Time : {dExecuteListTime * 1000} msec"));
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// OCT File Fomrat Record Test
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//SaveOCTFileFormat();
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// File Format Record Test
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weldingTime = DateTime.Now;
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//SaveScannerRecordFileForamt();
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_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
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Log.D(string.Format($"[TeachingRun] SaveScannerRecordFileForamt Time : {_WeldingSpanTime.TotalMilliseconds}"));
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weldingTime = DateTime.Now;
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_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
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//용접 완료 후 CorrectionFile Vision으로 원복
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_Scanner.SelectCorrectionTable(1);
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_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
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Log.D(string.Format($"[TeachingRun] Change SelectCorrectionTable Time : {_WeldingSpanTime.TotalMilliseconds}"));
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//int recipeNo = _RecipeManager.ActivatedRecipe().Id;
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_IOLaser._iOUnit.WriteDoBit(Convert.ToInt32(ePrismaticDOAddress.EX_Red_Control), true);
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if()
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_PLC.WriteBit((int)eBitOutput.PC_WELD_READY_ACK, false);
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Log.I(string.Format($"[PLCInterface]SET PC_WELD_REQEUST_ACK False"));
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_PLC.WriteBit((int)eBitOutput.PC_WELD_BUSY, true);
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Log.I(string.Format($"[PLCInterface]SET PC_WELD_BUSY False"));
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return SequenceAction.Ok();
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}
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private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
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{
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SeqTestRun_OutParam result = new SeqTestRun_OutParam() { PLCPageNo = (short)_PLCPageNo, Success = true, _WeldReqTime = WeldReqTime };
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Log.D("CheckWeldingComplete Sequence Complete");
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_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE, true);
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Log.I(string.Format($"[PLCInterface]SET PC_WELD_COMPLETE True"));
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_PLC.WriteBit((int)eBitOutput.PC_WELD_BUSY, false);
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Log.I(string.Format($"[PLCInterface]SET PC_WELD_BUSY False"));
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return SequenceAction.Ok(result);
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}
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private void OnStopped(SequenceContext context)
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{
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Log.W("SequenceAction Ok : OnStopped");
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}
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private void OnForceError(SequenceContext context, string arg2)
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{
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Log.W("SequenceAction Ok : OnForceError");
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}
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private bool UpdatePLCPageWord()
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{
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if (_InitParam.NeedPageNo)
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{
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_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
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_PLC.WriteWord(eCommonWordOutput.PC_PAGE_NO, (short)_PLCPageNo);
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}
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return !_PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data;
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}
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static private bool pageChangeRequestBit = false;
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static private bool weldRequestBit = false;
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private bool CheckRequest()
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{
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pageChangeRequestBit = _PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data;
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weldRequestBit = _PLC.ReadBit(eCommonBitInput.PLC_WELD_READY_REQ).data;
|
|
return (pageChangeRequestBit || weldRequestBit);
|
|
}
|
|
|
|
#region Device 및 상태 확인 함수 (시퀸스 공용)
|
|
private bool InitSequenceVariable(SequenceContext context)
|
|
{
|
|
int recipeNo = _PLC.ReadWord((int)eWordInput.PLC_PAGE_NO).data;
|
|
if (recipeNo == 1)
|
|
{
|
|
|
|
}
|
|
|
|
//_RecipeDrawObjects = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
|
|
//_WeldingScannerListNo = eListNo.LIST1;
|
|
return true;
|
|
}
|
|
|
|
private void InitDev(SequenceContext context)
|
|
{
|
|
//Device Init
|
|
//_IODevice = context.GetIOUnit();
|
|
_IOLaser = VisionEnv.AuroraEnv.DeviceManager[CommonDeviceIds.IODevice] as LaserIOControl;
|
|
_Scanner = context.GetLaserScanner();
|
|
_PLC = context.GetPLC();
|
|
}
|
|
|
|
private bool CheckDeviceReady(SequenceContext context)
|
|
{
|
|
List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.PLCDevice };
|
|
bool isAllDeviceActivated = true;
|
|
foreach (string item in deviceListToCheck)
|
|
{
|
|
if (!context.Devices[item].IsActivated)
|
|
{
|
|
isAllDeviceActivated = isAllDeviceActivated && false;
|
|
}
|
|
}
|
|
|
|
return isAllDeviceActivated;
|
|
}
|
|
|
|
private bool CheckCondition(SequenceContext context)
|
|
{
|
|
if (CheckCondition_Interlock())
|
|
{
|
|
if (InitializeDeviceStatus(context))
|
|
{
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
private bool InitializeDeviceStatus(SequenceContext context)
|
|
{
|
|
// format 유지, ReceiveCellInfo 없음
|
|
return true;
|
|
}
|
|
|
|
private bool CheckCondition_Interlock()
|
|
{
|
|
// PLC, Data, IO 등 Interlock checking
|
|
|
|
return true;
|
|
}
|
|
#endregion
|
|
}
|
|
|
|
public class SeqTestRun_InitParam : InitParam
|
|
{
|
|
public short CurrentPageNo { get; set; }
|
|
public bool NeedPageNo { get; set; }
|
|
public DataModel Models { get; set; }
|
|
public int TimeoutSec { get; set; }
|
|
}
|
|
public class SeqTestRun_OutParam : OutParam
|
|
{
|
|
public bool IsComplete { get; set; }
|
|
public short PLCPageNo { get; set; }
|
|
public DateTime _WeldReqTime { get; set; }
|
|
}
|
|
}
|