NohDoyeon241104
5be34e612e
레이저 발진기 교체(임시 Core/Ring 2대 -> 본 레이저 Max MFMC-2000/2000M 1대)에 따른 IO 재정의. 현장 적용 후 정상 동작 확인. - ePrismaticDIAddress / ePrismaticDOAddress 를 본 레이저 38핀 커넥터 매뉴얼 기준으로 재정의. 상태 신호 8개 -> 4개. 도면(엑셀) 라벨 오기도 함께 정정 (Laser_FIRE -> Laser_MAIN_PWR_STATE) - PAIX_PTOP / SeqAutoRunPTOP 의 중복 enum 정의 제거. WeldingCommon 의 PAIX_PrismaticScanner 를 IO 채널 번호의 단일 소스로 통일 - 발진 게이트를 Core/Ring_Control 2발 -> Laser_REMOTE 1발로 변경 (ExecuteWelding ON/OFF, 정지 시 해제) - DO 8 충돌 제거: Auto 시작 시 PCLBADReadyStatus(=8) write 삭제. 본 레이저 배선에서 DO 8 = Laser_AC_KEY 라 그대로 두면 Auto 시작이 레이저 AC KEY 릴레이를 켠다. LBAD 는 미등록 디바이스라 무의미 - GetLaserReady() 를 Laser_READY 단독 판정으로 변경 - 가이드빔 DO 를 EX_Red_Control -> Laser_GUIDE_BEAM_CONTROL 로 전환 - IO Board 에 설정 화면(UCIOInterfaceView) 연결 - IsLaserReady 표시를 DO Laser_REMOTE 되읽기로 확정 (260826 협의, 현장 미검증) 원복: 각 파일의 "260824 이전 원본" region 을 살리고 아래 블록을 제거하면 된다.
533 lines
21 KiB
C#
533 lines
21 KiB
C#
using Aurora;
|
|
using Aurora.Api;
|
|
using Aurora.Api.Manager;
|
|
using AuroraIO;
|
|
using AuroraLaser;
|
|
using AuroraLaser.Trumpf;
|
|
using AuroraLaserScanner;
|
|
using AuroraLBAD.Services;
|
|
using CoreUnit.Control.UserControl.Canvas;
|
|
using CoreUnit.Scanner.UserControl.ScannerCanvas;
|
|
using GUI;
|
|
using Hermes;
|
|
using MilCommon;
|
|
using MilUI;
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using System.Threading;
|
|
using System.Threading.Tasks;
|
|
using VisionCommon;
|
|
using WeldingCommon;
|
|
using WeldingCommon.Alarm;
|
|
using WeldingCommon.Devices;
|
|
using WeldingCommon.Devices.Laser;
|
|
using WeldingCommon.Recipes;
|
|
using WeldingCommon.Sequences;
|
|
using WeldingCommon.Settings;
|
|
using WeldingCommon.Vision.WeldingObjectGenerator;
|
|
using static AuroraIO.AJINEXTEK.AjinIO.IOModuleInfo;
|
|
using static ILSOS_PrismaticRD_PTOP.Device.PLCControllerPTOP;
|
|
using static WeldingCommon.Devices.Laser.PAIX_PrismaticScanner;
|
|
using static WeldingCommon.Devices.PLCController;
|
|
|
|
namespace ILSOS_PrismaticRD_TDC.Sequences
|
|
{
|
|
internal class SeqTestRun
|
|
{
|
|
static readonly Logger Log = new Logger("SeqWaitWeldOrChangePage");
|
|
|
|
const string SEQ_ENTER = "[SeqWaitWeldOrChangePage] SEQ_ENTER";
|
|
const string SEQ_CHECK_INIT_CONDITION = "[SeqAutoRunLFW] Check Init Condition";
|
|
const string SEQ_CHECK_LOAD_COMPLETE = "[SeqAutoRunKS] Check Load Complete";
|
|
const string SEQ_GET_PLC_PAGE_CHANGE_REQ_ON = "[SeqWaitWeldOrChangePage] Get PLC Page Change Request On"; // PLC Page Change Request ON
|
|
const string SEQ_SET_PC_PAGE_CHANGE_ACK_ON = "[SeqWaitWeldOrChangePage] Set PC Page Change Ack On"; // PC Page Change Reqeust ACK ON
|
|
const string SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF = "[SeqWaitWeldOrChangePage] Get PLC Page Change Request Off"; // PLC Page Change Request OFF
|
|
const string SEQ_SET_PC_PAGE_CHANGE_ACK_OFF = "[SeqWaitWeldOrChangePage] Set PC Page Change Ack Off"; // PC Page Change Reqeust OFF
|
|
const string SEQ_GET_PLC_WELD_REQ_ON = "[SeqWaitWeldOrChangePage] Get PLC Weld Request On"; // PLC Weld Request ON
|
|
const string SEQ_EXECUTE_WELDING = "[SeqAutoRunKS] Execute Welding";
|
|
const string SEQ_COMPLETE = "[SeqWaitWeldOrChangePage] SEQ_COMPLETE"; // 완료
|
|
|
|
private PLCController _PLC;
|
|
private Scanner _Scanner;
|
|
|
|
// 레이저 상태 변화
|
|
//private IODevice _IOLaser;
|
|
private LaserIOControl _IOLaser;
|
|
private static DataModel Models { get; set; }
|
|
private static List<IDrawObject> _UnpackDrawObject;
|
|
|
|
private SeqTestRun_InitParam _InitParam;
|
|
private SeqTestRun_OutParam _OutParam;
|
|
|
|
private eListNo _WeldingScannerListNo;
|
|
private List<IDrawObject> _SelectedObjectList;
|
|
|
|
private static short _PLCPageNo = 1;
|
|
|
|
private DateTime _AutoRunStartTime;
|
|
private DateTime _WeldingStartTime;
|
|
private TimeSpan _WeldingSpanTime;
|
|
private DateTime _WeldEndTime;
|
|
private TimeSpan _InterfaceSpanTime;
|
|
private DateTime _InterfaceStartTime;
|
|
const int PLC_TIMEOUT = 60;
|
|
|
|
private string _CurrentModelName;
|
|
private SeqTestRun _ModelItem;
|
|
|
|
public SequenceBuilder Builder()
|
|
{
|
|
var sb = new SequenceBuilder(1000, true);
|
|
////var sb = new SequenceBuilder(1000, false); // With log
|
|
|
|
sb.AddAction(SEQ_ENTER, Sequence_Enter);
|
|
sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
|
|
sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);
|
|
|
|
// Page Change Request
|
|
sb.AddAction(SEQ_GET_PLC_PAGE_CHANGE_REQ_ON, GetPLCPageChangeRequestOn);
|
|
sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_ACK_ON, SetPCPageChangeRequestACKOn);
|
|
sb.AddAction(SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF, GetPLCPageChangeRequestOff);
|
|
sb.AddAction(SEQ_SET_PC_PAGE_CHANGE_ACK_OFF, SetPCPageChangeRequestACKOff);
|
|
|
|
|
|
// Weld Reqeust
|
|
// Weld Request I/F는 없어도 됨. 왜냐하면, PLC에서 Busy 신호만 보기 때문임.
|
|
sb.AddAction(SEQ_GET_PLC_WELD_REQ_ON, GetPLCWeldRequestOn);
|
|
sb.AddAction(SEQ_EXECUTE_WELDING, ExecuteWelding);
|
|
|
|
|
|
sb.AddAction(SEQ_COMPLETE, Complete);
|
|
|
|
|
|
sb.Flows(sb.Init > sb[SEQ_ENTER]
|
|
> sb[SEQ_CHECK_LOAD_COMPLETE]
|
|
> sb[SEQ_GET_PLC_PAGE_CHANGE_REQ_ON] > sb[SEQ_SET_PC_PAGE_CHANGE_ACK_ON]
|
|
> sb[SEQ_GET_PLC_PAGE_CHANGE_REQ_OFF] > sb[SEQ_SET_PC_PAGE_CHANGE_ACK_OFF]
|
|
> sb[SEQ_EXECUTE_WELDING]
|
|
> sb[SEQ_COMPLETE]
|
|
> sb.Final);
|
|
|
|
sb.OnForceError(OnForceError);
|
|
|
|
sb.OnStopped(OnStopped);
|
|
|
|
sb.Draw("SeqTestRun.pdf");
|
|
|
|
return sb;
|
|
}
|
|
|
|
private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("SeqTestRun Start");
|
|
Log.I("[SeqTestRun]Sequence_Enter");
|
|
|
|
InitDev(context);
|
|
if (!CheckDeviceReady(context))
|
|
{
|
|
Log.E("The devices are not active.");
|
|
return null;
|
|
}
|
|
|
|
if (InitSequenceVariable(context) == false)
|
|
{
|
|
return null;
|
|
}
|
|
_InitParam = param.Param as SeqTestRun_InitParam;
|
|
|
|
if (_InitParam.NeedPageNo)
|
|
_PLCPageNo = _InitParam.CurrentPageNo;
|
|
else
|
|
_PLCPageNo = 1;
|
|
|
|
// 레이저 Word 값을 위함
|
|
Models = _InitParam.Models;
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
// 용접리스트1 확인
|
|
private SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]CheckInitCondition");
|
|
var startTime = DateTime.Now;
|
|
_WeldingScannerListNo = eListNo.LIST1;
|
|
|
|
return SequenceAction.Ok();
|
|
|
|
}
|
|
private SequenceActionResult CheckLoadComplete (SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]CheckLoadComplete");
|
|
Status.SetWorkingPosition(eWorkingPosition.LOADING_CELL);
|
|
|
|
while (!context.Stopped)
|
|
{
|
|
if (_PLC.ReadBit((int)eBitInput.PLC_WELD_TRIGGER_REQ).data)
|
|
{
|
|
Log.I(string.Format($"[PLCInterface]GET PLC_WELD_TRIGGER_REQ True"));
|
|
_PLC.WriteBit((int)eBitOutput.PC_WELD_TRIGGER_ACK, true);
|
|
Log.I(string.Format($"[PLCInterface]SET PC_WELD_TRIGGER_ACK True"));
|
|
|
|
break;
|
|
}
|
|
|
|
_InterfaceSpanTime = DateTime.Now.Subtract(_InterfaceStartTime);
|
|
if (_InterfaceSpanTime.TotalMilliseconds > (PLC_TIMEOUT * 1000))
|
|
{
|
|
Log.E("TIMEOUT_PLC_WELD_TRIGGER_REQEUST");
|
|
_InterfaceStartTime = DateTime.Now;
|
|
}
|
|
Thread.Sleep(10);
|
|
|
|
}
|
|
return SequenceAction.Ok();
|
|
|
|
|
|
}
|
|
private SequenceActionResult GetPLCPageChangeRequestOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]GetPLCPageChangeRequestOn");
|
|
var res = context.RetryUntilSuccess(() => _PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.FuncE("Get PLC Page Change Request On Timeout !");
|
|
return null;
|
|
}
|
|
Log.W(string.Format("PLC Page Change Request On"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult SetPCPageChangeRequestACKOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]SetPCPageChangeRequestACKOn");
|
|
if (_InitParam.NeedPageNo)
|
|
{
|
|
Thread.Sleep(100);
|
|
_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
|
|
_PLC.WriteWord(eCommonWordOutput.PC_PAGE_NO, (short)_PLCPageNo);
|
|
Log.D($"When PageChangeReq is ON;{_PLCPageNo}");
|
|
|
|
|
|
#region Tact Time 절감을 위한 페이지 체인지 인터페이스 중 Program No 변경
|
|
// Unpack 관련 함수
|
|
_UnpackDrawObject?.Clear();
|
|
_UnpackDrawObject = new List<IDrawObject>();
|
|
|
|
if (Models.Layers.Count() > _PLCPageNo - 1) UnpackRecipes(Models.Layers[_PLCPageNo - 1].Objects);
|
|
else
|
|
{
|
|
Log.E($"[Page Change Req] Page No is not proper;{Models.Layers.Count()};{_PLCPageNo}");
|
|
return null;
|
|
}
|
|
|
|
int paramIndex = 0;
|
|
|
|
if (_UnpackDrawObject.Count > 0)
|
|
{
|
|
paramIndex = _UnpackDrawObject[0].ScannerParamID - 1;
|
|
}
|
|
else
|
|
{
|
|
paramIndex = 0;
|
|
Log.E("[Page Change Req] Draw Objects is zero");
|
|
}
|
|
|
|
_CenterBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1;
|
|
_RingBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
|
|
_CenterRingRatio = 0;
|
|
|
|
if (_CenterBeamPower == 0 && _RingBeamPower == 0)
|
|
_CenterRingRatio = 100;
|
|
else
|
|
_CenterRingRatio = (int)Math.Round((double)(100 * _CenterBeamPower) / (double)(_CenterBeamPower + _RingBeamPower), 0); // Discrete 한 값이라서 Ring은 오차 발생
|
|
// Ready 상태 변경 확인(Complete 상태에서 Laser Ready로 변환되기까지 시간이 걸림)
|
|
|
|
var res = context.RetryUntilSuccess(_IOLaser.GetLaserReady, _InitParam.TimeoutSec * 1000, 1);
|
|
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReady"));
|
|
return null;
|
|
}
|
|
Log.D(string.Format($"[Page Change Req] Laser Program Ready OK"));
|
|
|
|
// Laser Program Parameters 설정(Laser Ready 상태는 용접 직전에 확인)
|
|
List<(int, int, bool)> datas = new List<(int, int, bool)>();
|
|
datas.Add((csWriteNodeNo.IW03, _CenterBeamPower, true));
|
|
datas.Add((csWriteNodeNo.IW04, _RingBeamPower, true));
|
|
datas.Add((csWriteNodeNo.IW05, _CenterRingRatio, true));
|
|
|
|
// Ready 상태 변경 확인
|
|
res = context.RetryUntilSuccess(() => LaserReadyResponse(), _InitParam.TimeoutSec * 1000, 1);
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReadyResponse"));
|
|
return null;
|
|
}
|
|
Log.D(string.Format($"[Page Change Req] Laser Program Ready OK When ReadyResponse"));
|
|
#endregion
|
|
}
|
|
|
|
_PLC.WriteBit(eCommonBitOutput.PC_PAGE_CHANGE_COMPLETE, true);
|
|
|
|
Log.W(string.Format("Set PC Page Change Request ACK On"));
|
|
|
|
|
|
Log.I($"Welding List Space : {_Scanner.GetListSpace()}");
|
|
DateTime weldingTime = DateTime.Now;
|
|
_Scanner.ExecuteList(0);
|
|
//_Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
|
|
//_MeasurementSpanTime = DateTime.Now.Subtract(weldingTime);
|
|
//Log.D(string.Format($"[ComponentTeachingRun] Component Welding Complete Time : {_MeasurementSpanTime.TotalMilliseconds}"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
#region 레이저 값 변경을 위함
|
|
private int _CenterBeamPower;
|
|
private int _RingBeamPower;
|
|
private int _CenterRingRatio;
|
|
private static void UnpackRecipes(List<IDrawObject> recipes)
|
|
{
|
|
// Recipe를 재귀적으로 탐색해서 List로 재구성하는 함수
|
|
if (recipes == null)
|
|
return;
|
|
|
|
for (int i = 0; i < recipes.Count; i++)
|
|
{
|
|
if (recipes[i] is Group)
|
|
{
|
|
Group subGroup = recipes[i] as Group;
|
|
List<IDrawObject> subrecipes = subGroup.SubObjects as List<IDrawObject>;
|
|
UnpackRecipes(subrecipes);
|
|
}
|
|
else
|
|
{
|
|
_UnpackDrawObject.Add(recipes[i]);
|
|
}
|
|
}
|
|
}
|
|
private bool LaserReadyResponse()
|
|
{
|
|
//if (ApplicationExt.IsSimulation)
|
|
return true;
|
|
}
|
|
#endregion
|
|
|
|
private SequenceActionResult GetPLCPageChangeRequestOff(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
|
|
Log.I("[SeqTestRun]GetPLCPageChangeRequestOff");
|
|
//// 계속 페이지를 저장해줄 필요는 없음.
|
|
//var res = context.RetryUntilSuccess(UpdatePLCPageWord, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
var res = context.RetryUntilSuccess(() => !_PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
|
|
if (res == E2.TIMEOUT)
|
|
{
|
|
Log.FuncE(string.Format("Get PLC Page Change Request OFF Timeout ! : {0}", eCommonBitInput.PLC_PAGE_CHANGE_REQ));
|
|
return null;
|
|
}
|
|
else Log.W(string.Format("Get PLC Page Change Request OFF Complete : {0}", eCommonBitInput.PLC_PAGE_CHANGE_REQ));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult SetPCPageChangeRequestACKOff(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]SetPCPageChangeRequestACKOff");
|
|
if (_InitParam.NeedPageNo)
|
|
{
|
|
_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
|
|
// PLC와 Request ON 시점에서 써주기로 하였으므로, 여기서는 굳이 써주지 않음.(확인용)
|
|
//_PLC.WriteWord(_InitParam.SetPageNoAddress, (short)_PLCPageNo, AuroraPLC.PLCBase.ePLCDevice.D);
|
|
Log.D($"When PageChangeReq is OFF;{_PLCPageNo}");
|
|
}
|
|
|
|
_PLC.WriteBit(eCommonBitOutput.PC_PAGE_CHANGE_COMPLETE, false);
|
|
Log.W(string.Format("Set PC Page Change Request ACK Off"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
static DateTime WeldReqTime;
|
|
private SequenceActionResult GetPLCWeldRequestOn(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]GetPLCWeldRequestOn");
|
|
WeldReqTime = DateTime.Now;
|
|
|
|
context.RetryUntilSuccess(() => _PLC.ReadBit(eCommonBitInput.PLC_WELD_TRIGGER_REQ).data, _InitParam.TimeoutSec * 1000, interval: 10);
|
|
|
|
Log.W(string.Format("Get PLC Weld Request On"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
private SequenceActionResult ExecuteWelding(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
Log.I("[SeqTestRun]ExecuteWelding");
|
|
Status.SetWorkingPosition(eWorkingPosition.EXECUTING_WELD);
|
|
Log.D(string.Format($"[TeachingRun] Welding Start"));
|
|
DateTime weldingTime = DateTime.Now;
|
|
_Scanner.ExecuteList(_WeldingScannerListNo);
|
|
_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
|
|
Log.D(string.Format($"[TeachingRun] Welding Complete Time : {_WeldingSpanTime.TotalMilliseconds}"));
|
|
|
|
double dExecuteListTime = _Scanner.GetTime();
|
|
Log.I(string.Format($"[TeachingRun] ExecuteList Time : {dExecuteListTime * 1000} msec"));
|
|
|
|
// OCT File Fomrat Record Test
|
|
//SaveOCTFileFormat();
|
|
|
|
// File Format Record Test
|
|
weldingTime = DateTime.Now;
|
|
//SaveScannerRecordFileForamt();
|
|
_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
|
|
Log.D(string.Format($"[TeachingRun] SaveScannerRecordFileForamt Time : {_WeldingSpanTime.TotalMilliseconds}"));
|
|
|
|
weldingTime = DateTime.Now;
|
|
_Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
|
|
|
|
//용접 완료 후 CorrectionFile Vision으로 원복
|
|
_Scanner.SelectCorrectionTable(1);
|
|
|
|
_WeldingSpanTime = DateTime.Now.Subtract(weldingTime);
|
|
Log.D(string.Format($"[TeachingRun] Change SelectCorrectionTable Time : {_WeldingSpanTime.TotalMilliseconds}"));
|
|
//int recipeNo = _RecipeManager.ActivatedRecipe().Id;
|
|
|
|
// 260824 EX_Red_Control → Laser_GUIDE_BEAM_CONTROL 로 명칭/채널 변경 (본 레이저)
|
|
// ※ 이 파일(SeqTestRun)은 미사용이며, _IOLaser 캐스팅이 항상 null 이라 실행되지 않는다.
|
|
// enum 심볼이 사라져 컴파일이 깨지므로 이름만 맞춰둔다.
|
|
_IOLaser._iOUnit.WriteDoBit(Convert.ToInt32(ePrismaticDOAddress.Laser_GUIDE_BEAM_CONTROL), true);
|
|
|
|
if()
|
|
|
|
_PLC.WriteBit((int)eBitOutput.PC_WELD_TRIGGER_ACK, false);
|
|
Log.I(string.Format($"[PLCInterface]SET PC_WELD_REQEUST_ACK False"));
|
|
_PLC.WriteBit((int)eBitOutput.PC_WELD_BUSY, true);
|
|
Log.I(string.Format($"[PLCInterface]SET PC_WELD_BUSY False"));
|
|
|
|
return SequenceAction.Ok();
|
|
}
|
|
|
|
private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
|
|
{
|
|
|
|
SeqTestRun_OutParam result = new SeqTestRun_OutParam() { PLCPageNo = (short)_PLCPageNo, Success = true, _WeldReqTime = WeldReqTime };
|
|
|
|
Log.D("CheckWeldingComplete Sequence Complete");
|
|
|
|
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE, true);
|
|
Log.I(string.Format($"[PLCInterface]SET PC_WELD_COMPLETE True"));
|
|
_PLC.WriteBit((int)eBitOutput.PC_WELD_BUSY, false);
|
|
Log.I(string.Format($"[PLCInterface]SET PC_WELD_BUSY False"));
|
|
|
|
return SequenceAction.Ok(result);
|
|
}
|
|
|
|
private void OnStopped(SequenceContext context)
|
|
{
|
|
Log.W("SequenceAction Ok : OnStopped");
|
|
}
|
|
|
|
private void OnForceError(SequenceContext context, string arg2)
|
|
{
|
|
Log.W("SequenceAction Ok : OnForceError");
|
|
}
|
|
private bool UpdatePLCPageWord()
|
|
{
|
|
if (_InitParam.NeedPageNo)
|
|
{
|
|
_PLCPageNo = _PLC.ReadWord(eCommonWordInput.PLC_PAGE_NO).data;
|
|
_PLC.WriteWord(eCommonWordOutput.PC_PAGE_NO, (short)_PLCPageNo);
|
|
}
|
|
return !_PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data;
|
|
}
|
|
static private bool pageChangeRequestBit = false;
|
|
static private bool weldRequestBit = false;
|
|
private bool CheckRequest()
|
|
{
|
|
pageChangeRequestBit = _PLC.ReadBit(eCommonBitInput.PLC_PAGE_CHANGE_REQ).data;
|
|
weldRequestBit = _PLC.ReadBit(eCommonBitInput.PLC_WELD_TRIGGER_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; }
|
|
}
|
|
}
|