private void Control_Click(object sender, EventArgs e)
{
if (!mc.check.READY_AUTORUN(sender))
{
return;
}
mc.check.push(sender, true);
this.Enabled = false;
if (sender.Equals(BT_USE_LASER))
{
mc.para.setting(ref mc.para.CV.trayReverseCheckMethod1, 0);
}
if (sender.Equals(BT_USE_PATTERN))
{
mc.para.setting(ref mc.para.CV.trayReverseCheckMethod1, 1);
}
if (sender.Equals(BT_TrayReverseCheck))
{
if ((int)mc.para.CV.trayReverseCheckMethod1.value == 0)
{
#region Laser Method
//bool laserpreon;
double hwLaserOffsetX = mc.coor.MP.TOOL.X.LASER.value + 11500;
double hwLaserOffsetY = mc.coor.MP.TOOL.Y.LASER.value - 4500;
double posX = mc.para.CV.trayReverseXPos.value - hwLaserOffsetX + mc.para.CAL.HDC_LASER.x.value;
double posY = mc.para.CV.trayReverseYPos.value - hwLaserOffsetY + mc.para.CAL.HDC_LASER.y.value;
mc.hd.tool.jogMove(posX, posY, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
//mc.OUT.HD.LS.ON(out laserpreon, out ret.message);
// Laser Sensor ON
//mc.OUT.HD.LS.ON(true, out ret.message);
// Check Laser Sensor
//mc.OUT.HD.LS.ON(out ret.b, out ret.message);
//if (ret.b)
{
//mc.OUT.HD.LS.ZERO(true, out ret.message); if (ret.message != RetMessage.OK) ret.d = -1;
ret.d = mc.AIN.Laser(); if (ret.d < -10)
{
ret.d = -1;
}
//mc.IN.LS.ALM(out ret.b1, out ret.message); if (ret.message != RetMessage.OK) ret.d = -1;
//mc.IN.LS.FAR(out ret.b2, out ret.message); if (ret.message != RetMessage.OK) ret.d = -1;
//mc.IN.LS.NEAR(out ret.b3, out ret.message); if (ret.message != RetMessage.OK) ret.d = -1;
}
QueryTimer dwell = new QueryTimer();
dwell.Reset();
// Compare Result
if ((int)mc.para.CV.trayReverseResult.value == 1)
{
while (dwell.Elapsed < 10000)
{
//mc.IN.LS.ALM(out ret.b1, out ret.message);
ret.d = mc.AIN.Laser();
if (/*ret.b1 && */ ret.d != 10)
{
break;
}
}
mc.idle(10);
ret.d = mc.AIN.Laser();
//MessageBox.Show("검사시간 : " + Math.Round(dwell.Elapsed).ToString() + "[us]\n" + "검사결과 : " + Math.Round(ret.d, 3).ToString() + "[mm]");
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.INFORMATION, String.Format(textResource.MB_CV_TRAY_REV_CHECK_RESULT, Math.Round(dwell.Elapsed), Math.Round(ret.d, 3)));
}
else
{
// 정확한 측정을 위해 4초 뒤에 측정
//if (laserpreon)
// mc.idle(20);
//else
// mc.idle(4000);
//mc.IN.LS.ALM(out ret.b1, out ret.message);
ret.d = mc.AIN.Laser();
if (/*ret.b1 == false && */ ret.d == 10)
{
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, textResource.MB_CV_TRAY_REV_CHECK_ERROR);
//MessageBox.Show("트레이가 검사되지 않습니다.");
}
}
#endregion
}
else
{
#region Pattern Method
double posX = mc.para.CV.trayReverseXPos.value;
double posY = mc.para.CV.trayReverseYPos.value;
mc.hd.tool.jogMove(posX, posY, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
double rX = 0;
double rY = 0;
double rT = 0;
mc.hdc.LIVE = false;
#region HDC.req
if (mc.para.HDC.modelTrayReversePattern1.isCreate.value == (int)BOOL.TRUE)
{
mc.hdc.reqMode = REQMODE.FIND_MODEL;
mc.hdc.reqModelNumber = (int)HDC_MODEL.TRAY_REVERSE_SHAPE1;
}
else
{
mc.hdc.reqMode = REQMODE.GRAB;
}
mc.hdc.lighting_exposure(mc.para.HDC.light[(int)LIGHTMODE_HDC.TRAY], mc.para.HDC.exposure[(int)LIGHTMODE_HDC.TRAY]);
mc.hdc.triggerMode = TRIGGERMODE.SOFTWARE;
mc.hdc.req = true;
#endregion
mc.main.Thread_Polling();
#region HDC result
if (mc.para.HDC.modelTrayReversePattern1.isCreate.value == (int)BOOL.TRUE)
{
rX = mc.hdc.cam.model[(int)HDC_MODEL.TRAY_REVERSE_SHAPE1].resultX;
rY = mc.hdc.cam.model[(int)HDC_MODEL.TRAY_REVERSE_SHAPE1].resultY;
rT = mc.hdc.cam.model[(int)HDC_MODEL.TRAY_REVERSE_SHAPE1].resultAngle;
mc.log.debug.write(mc.log.CODE.ETC, "X : " + Math.Round(rX, 3).ToString() + ", Y : " + Math.Round(rY, 3).ToString());
}
else
{
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.FAILURE, "Tray Reverse Pattern Model(#1) is not created!!");
}
#endregion
#endregion
}
}
if (sender.Equals(BT_TrayReverseTeach))
{
mc.hd.tool.jogMove(mc.para.CV.trayReverseXPos.value, mc.para.CV.trayReverseYPos.value, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
FormJogPad ff = new FormJogPad();
ff.dataX = mc.para.CV.trayReverseXPos;
ff.dataY = mc.para.CV.trayReverseYPos;
if ((int)mc.para.CV.trayReverseCheckMethod1.value == 0)
{
ff.jogMode = JOGMODE.LASER_TRAYREVERSE;
ff.ShowDialog();
}
else
{
ff.jogMode = JOGMODE.PATTERN_TRAYREVERSE1;
ff.Show();
while (true)
{
mc.idle(100); if (ff.IsDisposed)
{
break;
}
}
}
mc.para.setting(ref mc.para.CV.trayReverseXPos, ff.dataX.value);
mc.para.setting(ref mc.para.CV.trayReverseYPos, ff.dataY.value);
}
if (sender.Equals(BT_USE_LASER2))
{
mc.para.setting(ref mc.para.CV.trayReverseCheckMethod2, 0);
}
if (sender.Equals(BT_USE_PATTERN2))
{
mc.para.setting(ref mc.para.CV.trayReverseCheckMethod2, 1);
}
if (sender.Equals(BT_TrayReverseCheck2))
{
if ((int)mc.para.CV.trayReverseCheckMethod2.value == 0)
{
#region Laser Method
bool laserpreon;
// move to Laser Check Position(Head Camera Position)
//double posX = mc.para.CV.trayReverseXPos.value - mc.coor.MP.TOOL.X.LASER.value - mc.para.CAL.HDC_LASER.x.value;
//double posY = mc.para.CV.trayReverseYPos.value - mc.coor.MP.TOOL.Y.LASER.value - mc.para.CAL.HDC_LASER.y.value;
double posX = mc.para.CV.trayReverseXPos2.value - mc.coor.MP.TOOL.X.LASER.value + mc.para.CAL.HDC_LASER.x.value;
double posY = mc.para.CV.trayReverseYPos2.value - mc.coor.MP.TOOL.Y.LASER.value + mc.para.CAL.HDC_LASER.y.value;
mc.hd.tool.jogMove(posX, posY, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
mc.OUT.HD.LS.ON(out laserpreon, out ret.message);
// Laser Sensor ON
//mc.OUT.HD.LS
mc.OUT.HD.LS.ON(true, out ret.message);
// Check Laser Sensor
mc.OUT.HD.LS.ON(out ret.b, out ret.message);
if (ret.b)
{
mc.OUT.HD.LS.ZERO(true, out ret.message); if (ret.message != RetMessage.OK)
{
ret.d = -1;
}
ret.d = mc.AIN.Laser(); if (ret.d < -10)
{
ret.d = -1;
}
mc.IN.LS.ALM(out ret.b1, out ret.message); if (ret.message != RetMessage.OK)
{
ret.d = -1;
}
mc.IN.LS.FAR(out ret.b2, out ret.message); if (ret.message != RetMessage.OK)
{
ret.d = -1;
}
mc.IN.LS.NEAR(out ret.b3, out ret.message); if (ret.message != RetMessage.OK)
{
ret.d = -1;
}
}
QueryTimer dwell = new QueryTimer();
dwell.Reset();
// Compare Result
if ((int)mc.para.CV.trayReverseResult2.value == 1)
{
while (dwell.Elapsed < 10000)
{
mc.IN.LS.ALM(out ret.b1, out ret.message);
ret.d = mc.AIN.Laser();
if (ret.b1 && ret.d != 10)
{
break;
}
}
mc.idle(10);
ret.d = mc.AIN.Laser();
//MessageBox.Show("검사시간 : " + Math.Round(dwell.Elapsed).ToString() + "[us]\n" + "검사결과 : " + Math.Round(ret.d, 3).ToString() + "[mm]");
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.INFORMATION, String.Format(textResource.MB_CV_TRAY_REV_CHECK_RESULT, Math.Round(dwell.Elapsed), Math.Round(ret.d, 3)));
}
else
{
// 정확한 측정을 위해 4초 뒤에 측정
if (laserpreon)
{
mc.idle(20);
}
else
{
mc.idle(4000);
}
mc.IN.LS.ALM(out ret.b1, out ret.message);
ret.d = mc.AIN.Laser();
if (ret.b1 == false && ret.d == 10)
{
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, textResource.MB_CV_TRAY_REV_CHECK_ERROR);
//MessageBox.Show("트레이가 검사되지 않습니다.");
}
}
#endregion
}
else
{
#region Pattern Method
double posX = mc.para.CV.trayReverseXPos2.value;
double posY = mc.para.CV.trayReverseYPos2.value;
mc.hd.tool.jogMove(posX, posY, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
double rX = 0;
double rY = 0;
double rT = 0;
mc.hdc.LIVE = false;
#region HDC.req
if (mc.para.HDC.modelTrayReversePattern2.isCreate.value == (int)BOOL.TRUE)
{
mc.hdc.reqMode = REQMODE.FIND_MODEL;
mc.hdc.reqModelNumber = (int)HDC_MODEL.TRAY_REVERSE_SHAPE2;
}
else
{
mc.hdc.reqMode = REQMODE.GRAB;
}
mc.hdc.lighting_exposure(mc.para.HDC.light[(int)LIGHTMODE_HDC.TRAY], mc.para.HDC.exposure[(int)LIGHTMODE_HDC.TRAY]);
mc.hdc.triggerMode = TRIGGERMODE.SOFTWARE;
mc.hdc.req = true;
#endregion
mc.main.Thread_Polling();
#region HDC result
if (mc.para.HDC.modelTrayReversePattern2.isCreate.value == (int)BOOL.TRUE)
{
rX = mc.hdc.cam.model[(int)HDC_MODEL.TRAY_REVERSE_SHAPE2].resultX;
rY = mc.hdc.cam.model[(int)HDC_MODEL.TRAY_REVERSE_SHAPE2].resultY;
rT = mc.hdc.cam.model[(int)HDC_MODEL.TRAY_REVERSE_SHAPE2].resultAngle;
mc.log.debug.write(mc.log.CODE.ETC, "X : " + Math.Round(rX, 3).ToString() + ", Y : " + Math.Round(rY, 3).ToString());
}
else
{
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.FAILURE, "Tray Reverse Pattern Model(#2) is not created!!");
}
#endregion
#endregion
}
}
if (sender.Equals(BT_TrayReverseTeach2))
{
mc.hd.tool.jogMove(mc.para.CV.trayReverseXPos2.value, mc.para.CV.trayReverseYPos2.value, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
FormJogPad ff = new FormJogPad();
ff.dataX = mc.para.CV.trayReverseXPos2;
ff.dataY = mc.para.CV.trayReverseYPos2;
if ((int)mc.para.CV.trayReverseCheckMethod1.value == 0)
{
ff.jogMode = JOGMODE.LASER_TRAYREVERSE2;
ff.ShowDialog();
}
else
{
ff.jogMode = JOGMODE.PATTERN_TRAYREVERSE2;
ff.Show();
while (true)
{
mc.idle(100); if (ff.IsDisposed)
{
break;
}
}
}
mc.para.setting(ref mc.para.CV.trayReverseXPos2, ff.dataX.value);
mc.para.setting(ref mc.para.CV.trayReverseYPos2, ff.dataY.value);
}
EXIT:
mc.para.write(out ret.b); if (!ret.b)
{
mc.message.alarm("para write error");
}
refresh();
mc.main.Thread_Polling();
mc.check.push(sender, false);
this.Enabled = true;
}
private void Control_Click(object sender, EventArgs e)
{
//if (!mc.check.READY_AUTORUN(sender)) return;
mc.check.push(sender, true);
#region BT_PUSHER_CALIBRATION
if (sender.Equals(BT_PUSHER_CALIBRATION))
{
posX = mc.ps.pos.PUSH;
jogMode = JOGMODE.PUSHER;
mc.ps.jogMove(posX, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarm("Motion Error : " + ret.message.ToString()); goto EXIT;
}
FormJogPad ff = new FormJogPad();
ff.jogMode = JOGMODE.PUSHER;
ff.dataX = mc.para.UD.PusherPos;
ff.ShowDialog();
mc.para.UD.PusherPos.value = ff.dataX.value;
mc.para.setting(ref mc.para.UD.PusherPos, ff.dataX.value);
}
#endregion
#region BT_MAGAZINE_CALIBRATION
if (sender.Equals(BT_MAGAZINE_CALIBRATION))
{
if (unitCodeBoatMGSelect == UnitCodeBoatMGSelect.MG2)
{
if (unitCodeSlotSelect == UnitCodeSlotSelect.START)
{
posZ = (double)MP_MG_Z.MG2_READY;
}
else
{
posZ = (double)MP_MG_Z.MG2_END;
}
}
else if (unitCodeBoatMGSelect == UnitCodeBoatMGSelect.MG3)
{
if (unitCodeSlotSelect == UnitCodeSlotSelect.START)
{
posZ = (double)MP_MG_Z.MG3_READY;
}
else
{
posZ = (double)MP_MG_Z.MG3_END;
}
}
else
{
if (unitCodeSlotSelect == UnitCodeSlotSelect.START)
{
posZ = (double)MP_MG_Z.MG1_READY;
}
else
{
posZ = (double)MP_MG_Z.MG1_END;
}
}
posZ += mc.para.UD.MagazinePos[(int)unitCodeBoatMGSelect, (int)unitCodeSlotSelect].z.value;
mc.ps.jogMove(mc.ps.pos.READY, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarm("Motion Error : " + ret.message.ToString()); goto EXIT;
}
mc.unloader.Elev.jogMove(posZ, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarm("Motion Error : " + ret.message.ToString()); goto EXIT;
}
FormJogPadZ ff = new FormJogPadZ();
ff.mode = MP_HD_Z_MODE.MAGAZINE_CAL;
ff.mgSelect = unitCodeBoatMGSelect;
ff.slotSelect = unitCodeSlotSelect;
ff.dataZ = mc.para.UD.MagazinePos[(int)unitCodeBoatMGSelect, (int)unitCodeSlotSelect].z;
ff.ShowDialog();
mc.para.setting(ref mc.para.UD.MagazinePos[(int)unitCodeBoatMGSelect, (int)unitCodeSlotSelect].z, ff.dataZ.value);
}
#endregion
#region BT_MAGAZINE_READY
if (sender.Equals(BT_MAGAZINE_READY_POS_CALIBRATION))
{
posZ = mc.unloader.Elev.pos.READY;
mc.ps.jogMove(mc.ps.pos.READY, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarm("Motion Error : " + ret.message.ToString()); goto EXIT;
}
mc.unloader.Elev.jogMove(posZ, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarm("Motion Error : " + ret.message.ToString()); goto EXIT;
}
FormJogPadZ ff = new FormJogPadZ();
ff.mode = MP_HD_Z_MODE.MAGAZINE_READY;
ff.dataZ = mc.para.UD.ReadyPos;
ff.ShowDialog();
mc.para.setting(ref mc.para.UD.ReadyPos, ff.dataZ.value);
}
#endregion
if (sender.Equals(BT_MG_PITCH))
{
double tmpPitch1 = (mc.unloader.Elev.pos.MG1_END - mc.unloader.Elev.pos.MG1_READY) / (mc.para.UD.slotCount.value - 1);
//double tmpPitch2 = (mc.mg.Elev.pos.MG2_END - mc.mg.Elev.pos.MG2_READY) / (mc.para.UD.slotCount.value - 1);
//double tmpPitch3 = (mc.mg.Elev.pos.MG3_END - mc.mg.Elev.pos.MG3_READY) / (mc.para.UD.slotCount.value - 1);
mc.para.UD.slotPitch.value = Math.Round(Math.Abs(tmpPitch1 / 1000), 2);
}
EXIT:
bool r;
mc.para.write(out r);
if (!r)
{
mc.message.alarm("para write error");
}
refresh();
mc.error.CHECK();
mc.check.push(sender, false);
}
