//---------------------------------------------------------------------------
private void DataGrid_MotorStatus_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
m_nAxis = DataGrid_MotorStatus.SelectedIndex;
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis))
{
return;
}
m_dCmd = Math.Round(mc_Acs.fn_GetTargetPosition(m_nAxis), 3);
m_dEnc = Math.Round(mc_Acs.fn_GetEncoderPosition(m_nAxis), 3);
m_dJerk = Math.Round(mc_Acs.fn_GetParameterJerk(m_nAxis), 3);
m_dVel = Math.Round(mc_Acs.fn_GetParameterVelocity(m_nAxis), 3);
m_dAcc = Math.Round(mc_Acs.fn_GetParameterAcceleration(m_nAxis), 3);
m_dDec = Math.Round(mc_Acs.fn_GetParameterAcceleration(m_nAxis), 3);
TextBox_Cmd.Text = Convert.ToString(m_dCmd);
TextBox_Enc.Text = Convert.ToString(m_dEnc);
TextBox_Jerk.Text = Convert.ToString(m_dJerk);
TextBox_Vel.Text = Convert.ToString(m_dVel);
TextBox_Acc.Text = Convert.ToString(m_dAcc);
TextBox_Dec.Text = Convert.ToString(m_dDec);
}
//---------------------------------------------------------------------------
private void btHomeOffset_Click(object sender, RoutedEventArgs e)
{
//
MOTR.InitHomeOffset();
fn_WriteLog("[MASTER] ACS Home Offset Clear.");
}
//---------------------------------------------------------------------------
private void btJOGN_Click(object sender, RoutedEventArgs e)
{
if (m_nSelMotr < 0)
{
return;
}
if (DownBtn == null)
{
MOTR.Stop((EN_MOTR_ID)m_nSelMotr);
return;
}
//
switch (DownBtn.Name)
{
case "btJOGN":
MOTR.MoveJog((EN_MOTR_ID)m_nSelMotr, false);
break;
case "btJOGP":
MOTR.MoveJog((EN_MOTR_ID)m_nSelMotr, true);
break;
default:
MOTR.Stop((EN_MOTR_ID)m_nSelMotr);
break;
}
}
//---------------------------------------------------------------------------
private void btMoveN01_Click(object sender, RoutedEventArgs e)
{
//
if (m_nSelMotr < 0)
{
return;
}
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nSelMotr))
{
return; //JUNG/200608
}
Button selbtn = sender as Button;
switch (selbtn.Name)
{
default:
break;
case "btMoveN01": IO.fn_MovePTP_R(m_nSelMotr, -0.1); break;
case "btMoveN10": IO.fn_MovePTP_R(m_nSelMotr, -1.0); break;
case "btMoveP01": IO.fn_MovePTP_R(m_nSelMotr, +0.1); break;
case "btMoveP10": IO.fn_MovePTP_R(m_nSelMotr, +1.0); break;
}
}
//---------------------------------------------------------------------------
private void UserButton_Click_6(object sender, RoutedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
//mc_Acs.fn_SetBuffer(m_nAxis, true); //HOME
int nHomeNo = MOTR.ManNoHome((EN_MOTR_ID)m_nAxis);
if (!fn_UserMsg($"{STRING_MOTOR_ID[m_nAxis]} Motor Home?", EN_MSG_TYPE.Check))
{
return;
}
SEQ.fn_Reset();
if (nHomeNo == 32) //Z-Axis
{
if (SEQ_SPIND.fn_IsExistTool() && !FM.fn_IsLvlMaster())
{
fn_UserMsg("Please remove tool");
return;
}
}
MAN.fn_ManProcOn(nHomeNo, true, false);
}
//---------------------------------------------------------------------------
private void menuSave_Click(object sender, RoutedEventArgs e)
{
//Run Check
if (SEQ._bAuto || SEQ._bRun)
{
return;
}
//Save
switch ((EN_PAGE)m_nNowPage)
{
case EN_PAGE.IO:
IO.fn_LoadIO(false);
fn_WriteLog("[Setting Save] IO");
break;
case EN_PAGE.OPTION:
mc_Option.fn_DisplayOptionData(false);
fn_WriteLog("[Setting Save] OPTION");
break;
case EN_PAGE.VISION:
fn_WriteLog("[Setting Save] VISION");
break;
case EN_PAGE.ERROR:
EPU.fn_LoadErrorData(false);
fn_WriteLog("[Setting Save] ERROR");
break;
case EN_PAGE.MOTOR:
mc_Motor.fn_GridToBuff();
MOTR.Load(false, FM._sCurrJob);
FM.fn_LoadMastOptn(false); //JUNG/200723
fn_WriteLog("[Setting Save] MOTOR");
break;
case EN_PAGE.LAMP:
mc_Lamp.fn_GridToBuff();
LAMP.fn_Load(false);
fn_WriteLog("[Setting Save] LAMP");
break;
case EN_PAGE.ACTUATOR:
mc_Actr.fn_GridToBuff();
ACTR.fn_Load(false);
fn_WriteLog("[Setting Save] ACTUATOR");
break;
default:
break;
}
}
//---------------------------------------------------------------------------
//MANUAL, Sequence
private void THREAD_PROCESS_2()
{
bool bGo = false;
double Start = 0;
double Scan = 0;
//
try
{
while (m_bThreadRun[TH2])
{
Thread.Sleep(1);
if (!bGo)
{
Start = TICK._GetTickTime();
m_bWatchDog[TH2] = false;
//Motor Data Update
MOTR.fn_Update(SEQ._bRun);
m_bWatchDog[TH2] = true;
Scan = TICK._GetTickTime() - Start;
bGo = true;
m_tDelayTimer[TH2].Clear();
}
if (Scan < THREAD_INTERVAL2)
{
if (!m_tDelayTimer[TH2].OnDelay(bGo, THREAD_INTERVAL2 - Scan))
{
continue;
}
}
bGo = false;
//Scan Time Check
m_nScanTime [TH2] = (uint)(TICK._GetTickTime() - m_nStartTime[TH2]);
m_nStartTime[TH2] = (uint)TICK._GetTickTime();
}
}
catch (System.Exception ex)
{
m_bWatchDog[TH2] = false;
System.Diagnostics.Trace.WriteLine(ex.Message);
LOG.ExceptionTrace("[THREAD_PROCESS_2]", ex);
}
}
//---------------------------------------------------------------------------
private void UserButton_Click_5(object sender, RoutedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
//All Servo Off
mc_Acs.fn_SetDisableAll();
//
MOTR.fn_SetDisableSMC();
}
//---------------------------------------------------------------------------
private void btJOGP_PreviewMouseUp(object sender, MouseButtonEventArgs e)
{
if (m_nSelMotr < 0)
{
return;
}
//
m_bDrngDown = false;
DownBtn = null;
MAN._bJog = false;
MOTR.Stop((EN_MOTR_ID)m_nSelMotr);
}
//---------------------------------------------------------------------------
private void Page_Loaded(object sender, RoutedEventArgs e)
{
m_UpdateTimer.IsEnabled = true;
m_UpdateTimer.Start();
m_bConnect = MOTR._bConnect;
//
if (AcsApi == null)
{
AcsApi = MOTR.fn_GetAPI();
mc_Acs = new ACSControl(AcsApi);
}
}
//---------------------------------------------------------------------------
private void UserButton_Click_1(object sender, RoutedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis))
{
MOTR.SetServo((EN_MOTR_ID)m_nAxis, false);
}
else
{
mc_Acs.fn_SetDisabled(m_nAxis);
}
}
//---------------------------------------------------------------------------
private void btMove_PreviewMouseDown(object sender, MouseButtonEventArgs e)
{
if (!double.TryParse(tbSetPos.Text, out double dPos))
{
return;
}
if (dPos < 0)
{
return;
}
MAN._dDirectPos = dPos;
int nManNo = (int)MOTR.ManNoDirect(EN_MOTR_ID.miSPD_X) + (25 * m_nSelMotr);
MAN.fn_ManProcOn(nManNo, true, false);
}
private void UserButton_Click_4(object sender, RoutedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
for (int i = 0; i < motStatusdataTable.Rows.Count; i++)
{
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis))
{
continue;
}
mc_Acs.fn_SetEnabled(i);
}
MOTR.fn_SetEnableSMC();
}
//-------------------------------------------------------------------------------------------------
private void fn_UpdateMotorParameter()
{
for (int i = 0; i < motParameterdataTable.Rows.Count; i++)
{
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)i))
{
continue;
}
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.VEL] = Math.Round(mc_Acs.fn_GetParameterVelocity(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.DEC] = Math.Round(mc_Acs.fn_GetParameterDeceleration(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.KDEC] = Math.Round(mc_Acs.fn_GetParameterKillDeceleration(i), 3);
if (mc_Acs.fn_GetStateSoftwareRightLimit(i))
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWPOT] = "ON";
motParameterdataTable.Rows[i]["POTBACK"] = "Red";
}
else
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWPOT] = "OFF";
motParameterdataTable.Rows[i]["POTBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateSoftwareLeftLimit(i))
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWNOT] = "ON";
motParameterdataTable.Rows[i]["NOTBACK"] = "Red";
}
else
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWNOT] = "OFF";
motParameterdataTable.Rows[i]["NOTBACK"] = "LightGray";
}
}
}
//---------------------------------------------------------------------------
private void fn_tmUpdate(object sender, EventArgs e)
{
//
m_UpdateTimer.Stop();
if (m_bDrngDown)
{
DownBtn.PerformClick();
}
m_nSelMotr = cbMotr.SelectedIndex;
if (m_nSelMotr >= 0)
{
lbCmdPos.Content = MOTR.GetCmdPos((EN_MOTR_ID)m_nSelMotr);
lbEncPos.Content = MOTR.GetEncPos((EN_MOTR_ID)m_nSelMotr);
}
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nSelMotr)) //JUNG/200608
{
btMoveN01.IsEnabled = false;
btMoveN10.IsEnabled = false;
btMoveP01.IsEnabled = false;
btMoveP10.IsEnabled = false;
}
else
{
btMoveN01.IsEnabled = true;
btMoveN10.IsEnabled = true;
btMoveP01.IsEnabled = true;
btMoveP10.IsEnabled = true;
}
m_UpdateTimer.Start();
}
//---------------------------------------------------------------------------
//Update Timer
private void fn_tmUpdate(object sender, EventArgs e)
{
//
//m_UpdateTimer.Stop();
m_UpdateTimer.IsEnabled = false;
//Error Check
EPU.fn_ErrorDisplay();
//Run Status
fn_SetLabelColor(ref lbRun, SEQ._bRun, Brushes.Green, Brushes.DarkGray);
fn_SetLabelText(ref lbRun, SEQ._bRun, "RUN", "STOP", Brushes.Black, Brushes.Chocolate);
//
bool a = SEQ._bRun && SEQ_CLEAN._bDrngCleaning && SEQ_CLEAN._bDrngRotateHome;
bool b = (MOTR.IsAllHomeEnd() && MOTR.IsAllServoOn()) || a;
//fn_SetLabelColor(ref btAllHome, MOTOR.IsAllHome(), Brushes.Lime, Brushes.LightGray);
fn_SetLabel(ref lbAllHome, b? "ALL HOME" : "NEED INIT...", b ? Brushes.White : Brushes.Brown, b ? Brushes.Black : SEQ._bFlick1? Brushes.Aqua : Brushes.Yellow);
fn_SetLabelColor(ref lbAuto, SEQ._bAuto, Brushes.Green, Brushes.DarkBlue);
lbAuto.Content = SEQ._bAuto ? "AUTO" : "MANUAL";
lbAuto.Foreground = SEQ._bAuto ? Brushes.Black : Brushes.LightYellow;
//
btDoor_O.IsEnabled = !SEQ._bRun;
btDoor_C.IsEnabled = !SEQ._bRun;
lbAllHome.IsEnabled = !SEQ._bRun;
lbAuto.IsEnabled = !SEQ._bRun;
//btSDoor_O.IsEnabled = !SEQ._bRun;
//btSDoor_C.IsEnabled = !SEQ._bRun;
//btReset.Background = EPU.fn_GetHasErr()? Brushes.Green : SEQ._bFlick1 ? Brushes.Gray : Brushes.Yellow;
//btDoor_O.Background = (!IO.XV[(int)EN_INPUT_ID.xSYS_DR_Right_KeyIn] || !IO.XV[(int)EN_INPUT_ID.xSYS_DR_Left_KeyIn]) ? Brushes.MintCream : Brushes.MintCream;
//btDoor_C.Background = ( IO.XV[(int)EN_INPUT_ID.xSYS_DR_Right_KeyIn ] && IO.XV[(int)EN_INPUT_ID.xSYS_DR_Left_KeyIn]) ? Brushes.MintCream : Brushes.MintCream;
bool bDoorOutput = IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_FrontLeft] || IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_FrontRight] || IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_Side];
bool bDoorKeyIn = IO.XV[(int)EN_INPUT_ID.xSYS_DR_Right_KeyIn] && IO.XV[(int)EN_INPUT_ID.xSYS_DR_Left_KeyIn] && IO.XV[(int)EN_INPUT_ID.xSYS_DR_SideDoor_KeyIn];
bool bDoorActrOk = IO.XV[(int)EN_INPUT_ID.xSYS_DR_MainClose_R] && IO.XV[(int)EN_INPUT_ID.xSYS_DR_MainClose_L] && IO.XV[(int)EN_INPUT_ID.xSYS_DR_SideDoorClose];
btDoor_O.Background = (!bDoorOutput && bDoorKeyIn && bDoorActrOk) ? G_COLOR_BTNNORMAL : Brushes.Lime;
//JUNG/200525/삭제
//bool bDoorY = IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_FrontLeft] == true || IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_FrontRight] == true ||
// IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_Side ] == true;
//btDoor_O .Background = bDoorY ? Brushes.Gray : Brushes.WhiteSmoke;
//btSDoor_O.Background = ( IO.YV[(int)EN_OUTPUT_ID.ySYS_Door_Side ] == true) ? Brushes.Gray : Brushes.WhiteSmoke;
//
btLight.Background = IO.YV[(int)EN_OUTPUT_ID.ySYS_Light]? Brushes.Lime : new SolidColorBrush(Color.FromArgb(0xFF, 0xF7, 0xF7, 0xF7));
//
m_UpdateTimer.IsEnabled = true;
}
//---------------------------------------------------------------------------
public void fn_SaveToBuff()
{
for (int i = 0; i < MOTR.GetPartCnt(); i++)
{
FM.m_stMasterOpt.bAutoOff[i] = (bool)cbOffAR[i].IsChecked;
}
if (rbAuto.IsChecked == true)
{
FM.m_stMasterOpt.nRunMode = EN_RUN_MODE.AUTO_MODE;
}
else if (rbTEST.IsChecked == true)
{
FM.m_stMasterOpt.nRunMode = EN_RUN_MODE.TEST_MODE;
}
else if (rbMAN.IsChecked == true)
{
FM.m_stMasterOpt.nRunMode = EN_RUN_MODE.MAN_MODE;
}
FM.m_stMasterOpt.nUseSkipDoor = cbSkipDoor.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipLeak = cbSkipLeak.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipFan = cbSkipFan.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipAir = cbSkipAir.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipWaterLvl = cbSkipWtLvl.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipWaterLeak = cbSkipWtLeak.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipAccura = cbSkipAccura.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseSkipDP = cbSkipDP.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nToolSkip = cbSkipTool.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nPlateSkip = cbSkipPlate.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nStorageSkip = cbSkipStrg.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nMagaSkip = cbSkipMaga.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseVision = cbUseVisn.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseDirPos = cbUseDirPos.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseCalForce = cbUseCalFoc.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseRESTApi = cbUseREST.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseDI = cbUseOnlyDI.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nEPDOnlyMeasure = cbEPDOnlyMeasure.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseMOC = cbUseMOC.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseCleanPos = cbUseCleanPos.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUsePMC = cbUsePMC.IsChecked == true ? 1 : 0;
FM.m_stMasterOpt.nUseDCOMReset = cbUseDCOMRst.IsChecked == true ? 1 : 0;
//FM.m_stMasterOpt.nUseAutoSlury = cbUseAutoSlry.IsChecked == true ? 1 : 0;
//
int.TryParse(tbDrainTime.Text, out FM.m_stMasterOpt.nDrainTime);
int.TryParse(tbSepBlowTime.Text, out FM.m_stMasterOpt.nSepBlowTime);
int.TryParse(tbSuckBackTime.Text, out FM.m_stMasterOpt.nSuckBackTime);
double.TryParse(tbTrPickOffset.Text, out FM.m_stMasterOpt.dPickOffset);
double.TryParse(tbTrPlaceOffset.Text, out FM.m_stMasterOpt.dPlaceOffset);
int.TryParse(tbUtilTimeout.Text, out FM.m_stMasterOpt.nUtilMaxTime);
int.TryParse(tbDCOMCnt.Text, out FM.m_stMasterOpt.nDCOMCnt);
double.TryParse(tbYIntercept.Text, out FM.m_stMasterOpt.dYIntercept);
double.TryParse(tbYSlope.Text, out FM.m_stMasterOpt.dYSlope);
double.TryParse(tbforceOffset.Text, out FM.m_stMasterOpt.dforceOffset);
double.TryParse(tbYInterceptBT.Text, out FM.m_stMasterOpt.dYInterceptBT); //JUNG/200908
double.TryParse(tbYSlopeBT.Text, out FM.m_stMasterOpt.dYSlopeBT);
double.TryParse(tbDCOMRatio.Text, out FM.m_stMasterOpt.dDCOMRatio);
double.TryParse(tbSpdOffset.Text, out FM.m_stMasterOpt.dSpdOffset);
double.TryParse(tbCalStart.Text, out FM.m_stMasterOpt.dStartDCOM);
//double.TryParse(tbLDCBtmOffset .Text, out FM.m_stMasterOpt.dLDCBtmOffset);
//
FM.fn_LoadMastOptn(false); //JUNG/200511
}
//---------------------------------------------------------------------------
private void Page_Loaded(object sender, RoutedEventArgs e)
{
for (int i = 0; i < MOTR.GetPartCnt(); i++)
{
if (i == 0)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 1)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 2)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 3)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 4)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 5)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 6)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 7)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 8)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
if (i == 9)
{
cbOffAR[i].Visibility = Visibility.Visible; cbOffAR[i].Content = MOTR.fn_GetPartName(i); cbOffAR[i].IsChecked = FM.m_stMasterOpt.bAutoOff[i];
}
}
if (FM.m_stMasterOpt.nRunMode == EN_RUN_MODE.AUTO_MODE)
{
rbAuto.IsChecked = true;
}
else if (FM.m_stMasterOpt.nRunMode == EN_RUN_MODE.TEST_MODE)
{
rbTEST.IsChecked = true;
}
else if (FM.m_stMasterOpt.nRunMode == EN_RUN_MODE.MAN_MODE)
{
rbMAN.IsChecked = true;
}
cbSkipDoor.IsChecked = (FM.m_stMasterOpt.nUseSkipDoor == 1) ? true : false;
cbSkipLeak.IsChecked = (FM.m_stMasterOpt.nUseSkipLeak == 1) ? true : false;
cbSkipFan.IsChecked = (FM.m_stMasterOpt.nUseSkipFan == 1) ? true : false;
cbSkipAir.IsChecked = (FM.m_stMasterOpt.nUseSkipAir == 1) ? true : false;
cbSkipWtLvl.IsChecked = (FM.m_stMasterOpt.nUseSkipWaterLvl == 1) ? true : false;
cbSkipWtLeak.IsChecked = (FM.m_stMasterOpt.nUseSkipWaterLeak == 1) ? true : false;
cbSkipAccura.IsChecked = (FM.m_stMasterOpt.nUseSkipAccura == 1) ? true : false;
cbSkipDP.IsChecked = (FM.m_stMasterOpt.nUseSkipDP == 1) ? true : false;
cbSkipTool.IsChecked = (FM.m_stMasterOpt.nToolSkip == 1) ? true : false;
cbSkipPlate.IsChecked = (FM.m_stMasterOpt.nPlateSkip == 1) ? true : false;
cbSkipStrg.IsChecked = (FM.m_stMasterOpt.nStorageSkip == 1) ? true : false;
cbSkipMaga.IsChecked = (FM.m_stMasterOpt.nMagaSkip == 1) ? true : false;
cbUseVisn.IsChecked = (FM.m_stMasterOpt.nUseVision == 1) ? true : false;
cbUseDirPos.IsChecked = (FM.m_stMasterOpt.nUseDirPos == 1) ? true : false;
cbUseCalFoc.IsChecked = (FM.m_stMasterOpt.nUseCalForce == 1) ? true : false;
cbUseREST.IsChecked = (FM.m_stMasterOpt.nUseRESTApi == 1) ? true : false;
cbUseOnlyDI.IsChecked = (FM.m_stMasterOpt.nUseDI == 1) ? true : false;
cbEPDOnlyMeasure.IsChecked = (FM.m_stMasterOpt.nEPDOnlyMeasure == 1) ? true : false;
cbUseMOC.IsChecked = (FM.m_stMasterOpt.nUseMOC == 1) ? true : false;
cbUseCleanPos.IsChecked = (FM.m_stMasterOpt.nUseCleanPos == 1) ? true : false;
cbUsePMC.IsChecked = (FM.m_stMasterOpt.nUsePMC == 1) ? true : false;
cbUseDCOMRst.IsChecked = (FM.m_stMasterOpt.nUseDCOMReset == 1) ? true : false;
//cbUseAutoSlry.IsChecked = (FM.m_stMasterOpt.nUseAutoSlury == 1) ? true : false;
//
tbDrainTime.Text = FM.m_stMasterOpt.nDrainTime.ToString();
tbSepBlowTime.Text = FM.m_stMasterOpt.nSepBlowTime.ToString();
tbSuckBackTime.Text = FM.m_stMasterOpt.nSuckBackTime.ToString();
tbTopOffset.Text = FM.m_stMasterOpt.dUtilOffset.ToString();
tbTrPickOffset.Text = FM.m_stMasterOpt.dPickOffset.ToString();
tbTrPlaceOffset.Text = FM.m_stMasterOpt.dPlaceOffset.ToString();
tbUtilTimeout.Text = FM.m_stMasterOpt.nUtilMaxTime.ToString();
tbYIntercept.Text = FM.m_stMasterOpt.dYIntercept.ToString();
tbYSlope.Text = FM.m_stMasterOpt.dYSlope.ToString();
tbforceOffset.Text = FM.m_stMasterOpt.dforceOffset.ToString();
tbYInterceptBT.Text = FM.m_stMasterOpt.dYInterceptBT.ToString();
tbYSlopeBT.Text = FM.m_stMasterOpt.dYSlopeBT.ToString();
tbDCOMRatio.Text = FM.m_stMasterOpt.dDCOMRatio.ToString();
tbDCOMCnt.Text = FM.m_stMasterOpt.nDCOMCnt.ToString();
tbSpdOffset.Text = FM.m_stMasterOpt.dSpdOffset.ToString();
tbCalStart.Text = FM.m_stMasterOpt.dStartDCOM.ToString();
//tbLDCBtmOffset .Text = FM.m_stMasterOpt.dLDCBtmOffset.ToString();
fn_SetTimer(true);
}
//---------------------------------------------------------------------------
//Update Timer
private void fn_tmUpdate(object sender, EventArgs e)
{
//m_UpdateTimer.Stop();
//
switch (m_nStep)
{
case 0:
tbLoadMsg.Text = " Now Loading System Data...";
if (!m_tDelayTimer.OnDelay(true, 300))
{
return;
}
m_tDelayTimer.Clear();
m_nStep++;
break;
case 1:
//Load Default file Info.
tbLoadMsg.Text = " Loading the Information..."; FM.fn_LoadLastInfo(true);
tbLoadMsg.Text = " Loading the Project Info..."; FM.fn_LoadProject(true, FM._sCurrJob);
tbLoadMsg.Text = " Loading the System Option..."; FM.fn_LoadSysOptn(true);
tbLoadMsg.Text = " Loading the Master Option..."; FM.fn_LoadMastOptn(true);
tbLoadMsg.Text = " Loading the Recipe Data..."; FM.fn_LoadRecipeInfo(true, FM._sRecipeName);
tbLoadMsg.Text = " Loading the Password..."; FM.fn_LoadPassWord(true);
tbLoadMsg.Text = " Loading SPC Data..."; SPC.Load(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 2:
if (!m_tDelayTimer.OnDelay(true, 100))
{
return;
}
tbLoadMsg.Text = " Loading the IO List..."; IO.fn_LoadIO(true);
tbLoadMsg.Text = " Loading the Lamp/Buzzer Data..."; LAMP.fn_Load(true);
tbLoadMsg.Text = " Loading the Actuator Data..."; ACTR.fn_Load(true);
//tbLoadMsg.Text = " ACS IO Connection...(SIM)" ; IO.fn_ACSConnect(UserConst.ACS_CON_SIM);
tbLoadMsg.Text = " ACS IO Connection..."; IO.fn_ACSConnect(UserConst.ACS_CON_NOR);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 3:
//if (!m_tDelayTimer.OnDelay(true, 100)) return;
tbLoadMsg.Text = " Loading the Error List..."; EPU.fn_LoadErrorData(true);
tbLoadMsg.Text = " Loading the Lamp/Buzzer Data..."; EPU.fn_LoadLampData(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 4:
if (!m_tDelayTimer.OnDelay(true, 500))
{
return;
}
//tbLoadMsg.Text = " Loading the Motor List...(SIM)"; MOTR.fn_InitMotor(UserConst.ACS_CON_SIM);
tbLoadMsg.Text = " Loading the Motor List..."; MOTR.fn_InitMotor(UserConst.ACS_CON_NOR);
tbLoadMsg.Text = " Loading the Vision Recipe..."; g_VisionManager.fn_LoadVision(FM._sRecipeName);
//tbLoadMsg.Text = " Loading the Motor Data..." ; FM.fn_LoadMastOptn(true);
//tbLoadMsg.Text = " Loading the Motor DSTB..." ; MOTR.fn_LoadMotrDisturb(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 5:
//if (!m_tDelayTimer.OnDelay(true, 500)) return;
tbLoadMsg.Text = " Loading the Data Manager Map Data..."; DM.fn_LoadMap(true);
tbLoadMsg.Text = " Loading the Sequence Data..."; SEQ.fn_LoadWorkInfo(true);
m_tDelayTimer.Clear();
m_nStep++;
break;
case 6:
//Row, Col Setting...
tbLoadMsg.Text = " Apply Project..."; FM.ApplyProject(FM._sCurrJob);
m_nStep++;
break;
case 7:
//LoadCell
tbLoadMsg.Text = " Initial Load Cell ...";
LDCBTM.fn_SetParam();
LDCBTM.fn_Open(LDCBTM._sSerialNo); //LDCBTM.fn_Open (FM.m_stMasterOpt.sLoadCellSN);
LDCBTM.fn_Close(); //JUNG/201014/Retry
LDCBTM.fn_Open(LDCBTM._sSerialNo);
//PMC, Slurry Init
//tbLoadMsg.Text = " Initial PMC IP,Port ..." ; PMC.fn_SetIpAddress(FM.m_stSystemOpt.sPMCIp, FM.m_stSystemOpt.nPMCPort);
tbLoadMsg.Text = " Initial REST API ..."; REST.fn_SetURL(FM.m_stSystemOpt.sRestApiUrl);
tbLoadMsg.Text = " Initial RFID Reader ...";
m_nStep++;
break;
case 8:
if (IO._bConnect)
{
//RFID
tbLoadMsg.Text = " Initial RFID Reader ..."; RFID.fn_Connect();
}
m_nStep++;
break;
case 9:
//if (!m_tDelayTimer.OnDelay(true, 500)) return;
//Main Load
fn_MainFormLoad();
m_UpdateTimer.Stop();
m_nStep++;
break;
default:
break;
}
//Step Inc.
pbStep.Value = m_nStep * 10;
//m_UpdateTimer.Start();
}
//---------------------------------------------------------------------------
void fn_ManualAlign(Rect rect)
{
// Manual align이라고 Log 표시 할 것. (Lot Log)
// - Map 바꿔줘야함 => Align을 Polishing으로.
// Inposition Check해야함.
int step_result = 0;
//bool bErr = false;
double dTiltInterpolation = 0.0;
Point pntStart = new Point();
Point pntEnd = new Point();
Point pntMillingStart = new Point();
Point pntMillingEnd = new Point();
Point pntModelSpan = new Point();
//ST_RESULT Result = new ST_RESULT();
ST_VISION_RESULT stvisionResult = new ST_VISION_RESULT(0);
double dPlateCenterX = MOTR[(int)EN_MOTR_ID.miSPD_X].GetPosToCmdId(EN_COMD_ID.User1);
double dPlateCenterY = MOTR[(int)EN_MOTR_ID.miPOL_Y].GetPosToCmdId(EN_COMD_ID.User1);
double dPlateInterpolationPosX = dPlateCenterX;
double dPlateInterpolationPosY = 0.0;
double dXOffset = 7;
double dYOffset = 7;
for (int step = 0; step < g_VisionManager.CurrentRecipe.Model[0].MillingCount; step++)
{
dTiltInterpolation = g_VisionManager.fn_GetTiltInterpolation(g_VisionManager.CurrentRecipe.Model[0].Milling[step].Tilt);
fn_WriteLog(this.Title + $"Tilt Interpolation : {dTiltInterpolation.ToString("0.000")}", UserEnum.EN_LOG_TYPE.ltVision);
pntStart.X = 0;
pntStart.Y = 0;
pntEnd.X = 0;
pntEnd.Y = 0;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseMilling = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Enable;
SEQ_SPIND.vresult.stRecipeList[step_result].dTilt = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Tilt;
SEQ_SPIND.vresult.stRecipeList[step_result].dRPM = g_VisionManager.CurrentRecipe.Model[0].Milling[step].RPM;
SEQ_SPIND.vresult.stRecipeList[step_result].dForce = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Force;
SEQ_SPIND.vresult.stRecipeList[step_result].dSpeed = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Speed;
SEQ_SPIND.vresult.stRecipeList[step_result].dPitch = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Pitch;
SEQ_SPIND.vresult.stRecipeList[step_result].nPathCnt = g_VisionManager.CurrentRecipe.Model[0].Milling[step].PathCount;
SEQ_SPIND.vresult.stRecipeList[step_result].nCycle = g_VisionManager.CurrentRecipe.Model[0].Milling[step].Cycle;
SEQ_SPIND.vresult.stRecipeList[step_result].nUtilType = g_VisionManager.CurrentRecipe.Model[0].Milling[step].UtilType;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseUtilFill = g_VisionManager.CurrentRecipe.Model[0].Milling[step].UtilFill;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseUtilDrain = g_VisionManager.CurrentRecipe.Model[0].Milling[step].UtilDrain;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseImage = g_VisionManager.CurrentRecipe.Model[0].Milling[step].MillingImage;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseEPD = g_VisionManager.CurrentRecipe.Model[0].Milling[step].EPD;
SEQ_SPIND.vresult.stRecipeList[step_result].nUseToolChg = g_VisionManager.CurrentRecipe.Model[0].Milling[step].ToolChange;
SEQ_SPIND.vresult.stRecipeList[step_result].nToolType = g_VisionManager.CurrentRecipe.Model[0].Milling[step].ToolType;
SEQ_SPIND.vresult.stRecipeList[step_result].dTiltOffset = dTiltInterpolation;
//vs.stRecipeList[step_result].nUtility = CurrentRecipe.Model[nModelNum].Milling[step].Util;
// Milling Rect의 좌상단 좌표 1사분면으로 변환. (Start End Position 계산 때문에 Rect 중심계산 생략)
pntMillingStart = fn_GetPositionFromImageCenter(
new Point(
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Left,
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Top)
, g_VisionManager._RecipeVision.CamWidth, g_VisionManager._RecipeVision.CamHeight);
pntMillingEnd = fn_GetPositionFromImageCenter(
new Point(
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Right,
g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Bottom)
, g_VisionManager._RecipeVision.CamWidth, g_VisionManager._RecipeVision.CamHeight);
fn_WriteLog(this.Title + $"Manual Align Step : {step}, MilPx X: {g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.X.ToString("0.000")}, MilPx Y: {g_VisionManager.CurrentRecipe.Model[0].Milling[step].MilRect.Y.ToString("0.000")}, pntMilling : S({pntMillingStart.X.ToString("0.000")}, {pntMillingStart.Y.ToString("0.000")}), E({pntMillingEnd.X.ToString("0.000")}, {pntMillingEnd.Y.ToString("0.000")})", UserEnum.EN_LOG_TYPE.ltVision);
//---------------------------------------------------------------------------
// Tilt 보상 적용 할 것.
//---------------------------------------------------------------------------
// Position 계산.
// Left
pntStart.X = pntMillingStart.X + pntModelSpan.X;
pntStart.X *= (g_VisionManager._RecipeVision.ResolutionX / 1000.0); // um -> mm
// Top
pntStart.Y = pntMillingStart.Y + pntModelSpan.Y;
pntStart.Y *= (g_VisionManager._RecipeVision.ResolutionY / 1000.0); // um -> mm
pntStart.Y += dTiltInterpolation; // (mm Scale)
// Right
pntEnd.X = pntMillingEnd.X + pntModelSpan.X;
pntEnd.X *= (g_VisionManager._RecipeVision.ResolutionX / 1000.0); // um -> mm
// Bottom
pntEnd.Y = pntMillingEnd.Y + pntModelSpan.Y;
pntEnd.Y *= (g_VisionManager._RecipeVision.ResolutionY / 1000.0); // um -> mm
pntEnd.Y += dTiltInterpolation; // (mm Scale)
fn_WriteLog(this.Title + $"pntStart : ({pntStart.X.ToString("0.000")}, {pntStart.Y.ToString("0.000")}), pntEnd : ({pntEnd.X.ToString("0.000")}, {pntEnd.Y.ToString("0.000")})", UserEnum.EN_LOG_TYPE.ltVision);
// Start Position Direction Calculation.
switch (g_VisionManager.CurrentRecipe.Model[0].Milling[step].StartPos)
{
// Left-Bottom
case 0:
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.X = pntStart.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.Y = pntEnd.Y;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.X = pntEnd.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.Y = pntStart.Y;
break;
// Right-Bottom
case 1:
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.X = pntEnd.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.Y = pntEnd.Y;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.X = pntStart.X;
SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.Y = pntStart.Y;
break;
}
fn_WriteLog(this.Title + $"End Direction : ({SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.X}, {SEQ_SPIND.vresult.stRecipeList[step_result].pStartPos.Y}), pntEnd : ({SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.X}, {SEQ_SPIND.vresult.stRecipeList[step_result].pEndPos.Y})", UserEnum.EN_LOG_TYPE.ltVision);
//---------------------------------------------------------------------------
// Theta
//---------------------------------------------------------------------------
SEQ_SPIND.vresult.stRecipeList[step_result].dTheta = 0;
//---------------------------------------------------------------------------
step_result++;
}
//---------------------------------------------------------------------------
// 좌표계 변환. => Cam 기준 상대좌표. (3사분면 좌표계)
stvisionResult.pntModel.X *= g_VisionManager._RecipeVision.ResolutionX / 1000.0;
stvisionResult.pntModel.Y *= g_VisionManager._RecipeVision.ResolutionY / 1000.0;
//---------------------------------------------------------------------------
int nTotal = stvisionResult.nTotalStep;
double dXpos = MOTR.GetEncPos(EN_MOTR_ID.miSPD_X);
double dYpos = MOTR.GetEncPos(EN_MOTR_ID.miPOL_Y);
double dTHpos = MOTR.GetEncPos(EN_MOTR_ID.miPOL_TH);
//Save X,Y Value
for (int n = 0; n < nTotal; n++)
{
// + (Spindle)
// □ (Cam)
// Spindle X Pos Value > Cam X Pos Value
// Spindle이 더가야하므로 Offset + 부호
// + (Spindle)
// □ (Cam)
// Spindle X Pos Value < Cam X Pos Value
// Spindle이 덜가야하므로 Offset - 부호
stvisionResult.stRecipeList[n].dStartX = dXpos - stvisionResult.stRecipeList[n].pStartPos.X + g_VisionManager._RecipeVision.SpindleOffsetX;
stvisionResult.stRecipeList[n].dEndX = dXpos - stvisionResult.stRecipeList[n].pEndPos.X + g_VisionManager._RecipeVision.SpindleOffsetX;
stvisionResult.stRecipeList[n].dStartY = dYpos + stvisionResult.stRecipeList[n].pStartPos.Y - g_VisionManager._RecipeVision.SpindleOffsetY;
stvisionResult.stRecipeList[n].dEndY = dYpos + stvisionResult.stRecipeList[n].pEndPos.Y - g_VisionManager._RecipeVision.SpindleOffsetY;
fn_WriteLog($"-----------------------------Result Process------------------------", EN_LOG_TYPE.ltVision);
fn_WriteLog($"{n} - Start Pos : {stvisionResult.stRecipeList[n].dStartX}, {stvisionResult.stRecipeList[n].dStartY}", EN_LOG_TYPE.ltVision);
fn_WriteLog($"{n} - End Pos : {stvisionResult.stRecipeList[n].dEndX}, {stvisionResult.stRecipeList[n].dEndY}", EN_LOG_TYPE.ltVision);
stvisionResult.stRecipeList[n].dPosTH = dTHpos;
//---------------------------------------------------------------------------
// System Offset
//---------------------------------------------------------------------------
stvisionResult.stRecipeList[n].dStartX += FM.m_stProjectBase.dPolishOffset_X;
stvisionResult.stRecipeList[n].dEndX += FM.m_stProjectBase.dPolishOffset_X;
stvisionResult.stRecipeList[n].dStartY += FM.m_stProjectBase.dPolishOffset_Y;
stvisionResult.stRecipeList[n].dEndX += FM.m_stProjectBase.dPolishOffset_Y;
stvisionResult.stRecipeList[n].dTilt += FM.m_stProjectBase.dPolishOffset_TI;
//---------------------------------------------------------------------------
// Theta Offset 은 추가 스탭 작업 요함.
// => Theta 가공은 Align 이후 특정 각도를 돌려서 가공을 하기위함 이므로.
//stvisionResult.stRecipeList[n].dPosTH += FM.m_stProjectBase.dPolishOffset_TH;
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// Vision Align InPosition Error
//---------------------------------------------------------------------------
// Interpolation Tilt.
dPlateInterpolationPosY = dPlateCenterY + g_VisionManager.fn_GetTiltInterpolation(stvisionResult.stRecipeList[n].dTilt);
//vresult.stRecipeList[n].dTiltOffset = g_VisionManager.fn_GetTiltInterpolation(stvisionResult.stRecipeList[n].dTilt);
//Console.WriteLine($"TiltOffset- Offset - {n}:{stvisionResult.stRecipeList[n].dTiltOffset}, Tilt : {stvisionResult.stRecipeList[n].dTilt}");
//fn_WriteLog($"TiltOffset- Offset - {n}:{stvisionResult.stRecipeList[n].dTiltOffset}, Tilt : {stvisionResult.stRecipeList[n].dTilt}");
if (stvisionResult.stRecipeList[n].dStartX <dPlateInterpolationPosX - dXOffset || stvisionResult.stRecipeList[n].dStartX> dPlateInterpolationPosX + dXOffset)
{
fn_WriteLog($"Start X InPosition Error.{n}", EN_LOG_TYPE.ltVision);
//bErr = true;
}
if (stvisionResult.stRecipeList[n].dEndX <dPlateInterpolationPosX - dXOffset || stvisionResult.stRecipeList[n].dEndX> dPlateInterpolationPosX + dXOffset)
{
//bErr = true;
}
if (stvisionResult.stRecipeList[n].dStartY <dPlateInterpolationPosY - dYOffset || stvisionResult.stRecipeList[n].dStartY> dPlateInterpolationPosY + dYOffset)
{
//bErr = true;
}
if (stvisionResult.stRecipeList[n].dEndY <dPlateInterpolationPosY - dYOffset || stvisionResult.stRecipeList[n].dEndY> dPlateInterpolationPosY + dYOffset)
{
//bErr = true;
}
}
//File Save
SEQ_SPIND.fn_LoadVisnResult(false);
DM.MAGA[(int)EN_MAGA_ID.POLISH].SetTo((int)EN_PLATE_STAT.ptsPolish);
}
//-------------------------------------------------------------------------------------------------
private void fn_UpdateMotorStatus()
{
for (int j = 0; j < motStatusdataTable.Rows.Count; j++)
{
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = MOTR[j].GetServo() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["SBACK"] = MOTR[j].GetServo() ? "Green" : "LightGray";
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd() ? "Green" : "LightGray";
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = MOTR[j].GetAlarm() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["ABACK"] = MOTR[j].GetAlarm() ? "Red" : "LightGray";
continue;
}
if (mc_Acs.fn_GetStateEnabled(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "ON";
motStatusdataTable.Rows[j]["SBACK"] = "Green";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "OFF";
motStatusdataTable.Rows[j]["SBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateAlarmAll(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "ON";
motStatusdataTable.Rows[j]["ABACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "OFF";
motStatusdataTable.Rows[j]["ABACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateMove(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "ON";
motStatusdataTable.Rows[j]["MBACK"] = "Green";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "OFF";
motStatusdataTable.Rows[j]["MBACK"] = "LightGray";
}
//
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd()? "Green" : "LightGray";
if (mc_Acs.fn_GetStateHardwareLeftLimit(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "ON";
motStatusdataTable.Rows[j]["PBACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "OFF";
motStatusdataTable.Rows[j]["PBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateHardwareRightLimit(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "ON";
motStatusdataTable.Rows[j]["NBACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "OFF";
motStatusdataTable.Rows[j]["NBACK"] = "LightGray";
}
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_R] = Math.Round(mc_Acs.fn_GetTargetPosition(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_F] = Math.Round(mc_Acs.fn_GetEncoderPosition(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.VELOCITY_F] = Math.Round(mc_Acs.fn_GetParameterVelocity(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.DEC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3);
}
}
