public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
if (_eMotr == mi.LODR_XPckr)
{
//if (!MT_GetStopInpos(mi.WSTG_YGrpr))
//{
// sMsg = MT_GetName(mi.WSTG_YGrpr) + "is moving.";
// bRet = false;
//}
}
else if (_eMotr == mi.LODR_XPshr)
{
if (!CL_Complete(ci.LODR_PshrRtrCwCCw))
{
sMsg = CL_GetName(ci.LODR_PshrRtrCwCCw) + "is moving.";
bRet = false;
}
}
else if (_eMotr == mi.LODR_YIndx)
{
if (!CL_Complete(ci.LODR_GuideOpCl, fb.Bwd))
{
sMsg = CL_GetName(ci.LODR_GuideOpCl) + "is not Bwd";
bRet = false;
}
}
else
{
sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
bRet = false;
}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == sc.Idle)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
static public bool MT_GetStopPos(mi _eMotrNo, pv _ePos, double _dOfs = 0.0)
{
if (!MT_GetStop(_eMotrNo))
{
return(false);
}
return(MT_CmprPos(_eMotrNo, (PM_GetValue(_eMotrNo, _ePos) + _dOfs)));
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
//TOOL_ZVisn
//if (_eMotr == mi.VISN_ZGrpr)
//{
//
//
//}
//
////else if (_eMotr == mi.BARZ_ZPckr)
////{
//// //if (CL_GetCmd(ci.BARZ_YPckrFwBw)==fb.Fwd)
//// //{
//// // sMsg = CL_GetName(ci.BARZ_YPckrFwBw) + " is Fwd.";
//// // bRet = false;
//// //}
//
////}
//
//else
//{
// sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
// bRet = false;
//}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == 0)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
public bool MoveMotrSlow(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
if (!CheckSafe(_eMotr, _ePstn, _dOfsPos))
{
return(false);
}
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
MT_GoAbsSlow(_eMotr, dDstPos);
return(true);
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
//TOOL_ZVisn
if (_eMotr == mi.STCK_ZStck)
{
//if (!MT_GetStopInpos(mi.TOOL_YGent))
//{
// sMsg = MT_GetName(mi.TOOL_YGent) + " is moving.";
// bRet = false;
//}
//
//if (!MT_GetStopInpos(mi.TOOL_XLeft))
//{
// sMsg = MT_GetName(mi.TOOL_XLeft) + " is moving.";
// bRet = false;
//}
}
else
{
sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
bRet = false;
}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Log.Trace(MT_GetName(_eMotr), sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == 0)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
//if (_eMotr == mi.IDXF_XFrnt)
//{
// //if (!MT_GetStopInpos(mi.SSTG_YGrpr))
// //{
// // sMsg = MT_GetName(mi.SSTG_YGrpr) + "is moving.";
// // bRet = false;
// //}
//}
//else
//{
// sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
// bRet = false;
//}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == sc.Idle)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
if (OM.MstOptn.bDebugMode)
{
return(true);
}
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
//if (_eMotr == mi.WORK_ZMvRear)
//{
//
//}
//else
//{
// sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
// bRet = false;
//}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == sc.Idle)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
//무브함수들의 리턴이 Done을 의미 한게 아니고 명령 전달이 됐는지 여부로 바꿈.
//Done 확인을 위해서는 GetStop을 써야함.
public bool MoveMotr(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
if (!CheckSafe(_eMotr, _ePstn, _dOfsPos))
{
return(false);
}
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (Step.iCycle != 0)
{
MT_GoAbsRun(_eMotr, dDstPos);
}
else
{
MT_GoAbsMan(_eMotr, dDstPos);
}
return(true);
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
if (_eMotr == mi.OUT_TRelB)
{
}
else if (_eMotr == mi.OUT_TRelT)
{
}
else if (_eMotr == mi.OUT_YGuid)
{
}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == sc.Idle)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
public static int GetValueSpdPer(mi _eAxisNo, pv _ePstnNo)
{
return(GetValueSpdPer((uint)_eAxisNo, (uint)_ePstnNo));
}
static public int PM_GetValueSpdPer(mi _eMotrNo, pv _iPstnValue)
{
return(PM.GetValueSpdPer((uint)_eMotrNo, (uint)_iPstnValue));
}
//public void PW_
static public double PM_GetValue(mi _eMotrNo, pv _iPstnValue)
{
return(PM.GetValue((uint)_eMotrNo, (uint)_iPstnValue));
}
static public bool MT_CmprPos(mi _eMotrNo, pv _ePos, double _dRange = 0.0)
{
return(SM.MT.CmprPos((int)_eMotrNo, PM.GetValue((uint)_eMotrNo, (uint)_ePos), _dRange));
}
static public void MT_SetPos(mi _eMotrNo, pv _ePos)
{
SM.MT.SetPos((int)_eMotrNo, PM.GetValue((uint)_eMotrNo, (uint)_ePos));
}
static public void MT_GoAbsSlow(mi _eMotrNo, pv _ePos)
{
SM.MT.GoAbsSlow((int)_eMotrNo, PM.GetValue((uint)_eMotrNo, (uint)_ePos));
}
static public void MT_GoAbsMan(uint _eMotrNo, pv _ePos)
{
SM.MTR.GoAbsMan((int)_eMotrNo, PM.GetValue((uint)_eMotrNo, (uint)_ePos));
}
public static void SetValue(mi _uAxisNo, pv _uPstnNo, double _dValue)
{
SetValue((uint)_uAxisNo, (uint)_uPstnNo, _dValue);
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
if (_eMotr == mi.TBLE_TTble)
{
if (CL_GetCmd(ci.TBLE_Grpr1FwBw) != fb.Bwd)
{
sMsg = "Grpper 1번 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.TBLE_Grpr2FwBw) != fb.Bwd)
{
sMsg = "Grpper 2번 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.TBLE_Grpr3FwBw) != fb.Bwd)
{
sMsg = "Grpper 3번 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.TBLE_Grpr4FwBw) != fb.Bwd)
{
sMsg = "Grpper 4번 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.TBLE_Grpr5FwBw) != fb.Bwd)
{
sMsg = "Grpper 5번 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.TBLE_Grpr6FwBw) != fb.Bwd)
{
sMsg = "Grpper 6번 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.LODR_RngGrpFwBw) != fb.Bwd)
{
sMsg = "Loader Gripper 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.VISN_TurnGrpFwBw) != fb.Bwd)
{
sMsg = "Vision Gripper 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.MARK_AlgnFwBw) != fb.Bwd)
{
sMsg = "Mark Align 동작 중!"; bRet = false;
}
if (CL_GetCmd(ci.MARK_AlgnPinFwBw) != fb.Bwd)
{
sMsg = "Mark Align Pin 동작 중!"; bRet = false;
}
}
else
{
sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
bRet = false;
}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == sc.Idle)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
public static double GetValue(mi _eAxisNo, pv _ePstnNo)
{
return(GetValue((uint)_eAxisNo, (uint)_ePstnNo));
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
//TOOL_ZVisn
//if (_eMotr == mi.ULDR_XNzzl)
//{
//}
//else if(_eMotr == mi.ULDR_XGrpr)
//{
//}
//else if(_eMotr == mi.ULDR_YIndx)
//{
// if(MT_GetCmdPos(mi.ULDR_ZNzzl) > PM.GetValue(mi.ULDR_ZNzzl , pv.ULDR_ZNzzlWait) + 10)
// {
// sMsg = MT_GetName(mi.ULDR_ZNzzl) + "is not wait Position";
// bRet = false;
// }
// if (CL_GetCmd(ci.ULDR_OutPshrFwBw) != fb.Bwd)
// {
// sMsg = CL_GetName(ci.ULDR_OutPshrFwBw) + "is not Bwd";
// bRet = false;
// }
//}
//else if(_eMotr == mi.ULDR_ZNzzl)
//{
//}
//else if(_eMotr == mi.ULDR_ZPckr)
//{
//}
//else
//{
// sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
// bRet = false;
//}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == 0)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
public bool CheckSafe(mi _eMotr, pv _ePstn, double _dOfsPos = 0)
{
double dDstPos = PM_GetValue(_eMotr, _ePstn) + _dOfsPos;
if (MT_CmprPos(_eMotr, dDstPos))
{
return(true);
}
bool bRet = true;
string sMsg = "";
bool bZPickFwd = MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPickFwd));
bool bZPlaceFwd = MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPlaceFwd));
bool bZPickBwd = MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPickBwd));
bool bZPlaceBwd = MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPlaceBwd));
bool bYWork = MT_CmprPos(mi.LODR_YClmp, PM.GetValue(mi.LODR_YClmp, pv.LODR_YClmpWork));
bool bYWait = MT_CmprPos(mi.LODR_YClmp, PM.GetValue(mi.LODR_YClmp, pv.LODR_YClmpWait));
bool bYNotW = !bYWork && !bYWait;
bool bYFwd1 = MT_CmprPos(mi.LODR_YClmp, PM.GetValue(mi.LODR_YClmp, pv.LODR_YClmpPick)) &&
(MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPickBwd)) ||
MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPickFwd)) ||
MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpClampOn)));
bool bYFwd2 = MT_CmprPos(mi.LODR_YClmp, PM.GetValue(mi.LODR_YClmp, pv.LODR_YClmpPlace)) &&
(MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPlaceBwd)) ||
MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpPlaceFwd)) ||
MT_CmprPos(mi.LODR_ZClmp, PM.GetValue(mi.LODR_ZClmp, pv.LODR_ZClmpClampOff)));
if (!CL_Complete(ci.LODR_PusherFwBw, fb.Bwd))
{
sMsg = "Need to Loader Pusher Bwd Position"; bRet = false;
}
if (IO_GetX(xi.PREB_PkgInDetect))
{
sMsg = "Pre Buffer In Sensor Detected"; bRet = false;
}
if (_eMotr == mi.LODR_YClmp)
{
if (_ePstn == pv.LODR_YClmpPick)
{
if (!bZPickFwd)
{
sMsg = "Need to Loor Z Pick Fwd Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_YClmpPlace)
{
if (!bZPlaceFwd)
{
sMsg = "Need to Loor Z Place Fwd Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_YClmpWait)
{
if (!bYWork && !bZPickBwd && !bZPlaceBwd)
{
sMsg = "Need to Loor Z Pick or Place Bwd Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_YClmpWork)
{
if (!bYWait && !bZPickBwd && !bZPlaceBwd)
{
sMsg = "Need to Loor Z Pick or Place Bwd Position"; bRet = false;
}
}
}
else if (_eMotr == mi.LODR_ZClmp)
{
if (_ePstn == pv.LODR_ZClmpPickBwd)
{
if (!bYFwd1)
{
sMsg = "Need to Loor Y Z Pick Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpPickFwd)
{
if (bYNotW && !bYFwd1)
{
sMsg = "Need to Loor Wait or Work Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpClampOn)
{
if (!bYFwd1)
{
sMsg = "Need to Loor Y Z Pick Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpPlaceBwd)
{
if (!bYFwd2)
{
sMsg = "Need to Loor Y Z Place Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpPlaceFwd)
{
if (bYNotW && !bYFwd2)
{
sMsg = "Need to Loor Wait or Work Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpClampOff)
{
if (!bYFwd2)
{
sMsg = "Need to Loor Y Z Place Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpWait)
{
if (bYNotW)
{
sMsg = "Need to Loor Wait or Work Position"; bRet = false;
}
}
if (_ePstn == pv.LODR_ZClmpWorkStart)
{
if (bYNotW)
{
sMsg = "Need to Loor Wait or Work Position"; bRet = false;
}
}
}
else
{
sMsg = "Motor " + MT_GetName(_eMotr) + " is Not this parts.";
bRet = false;
}
if (!bRet)
{
m_sCheckSafeMsg = sMsg;
Trace(MT_GetName(_eMotr) + " " + sMsg);
//메뉴얼 동작일때.
if (Step.eSeq == sc.Idle)
{
Log.ShowMessage(MT_GetName(_eMotr), sMsg);
}
}
else
{
m_sCheckSafeMsg = "";
}
return(bRet);
}
