private void LB_Force_FactorX_DoubleClick(object sender, EventArgs e)
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.YesNo, DIAG_ICON_MODE.QUESTION, "Do you want to calculate force level?");
ff.ShowDialog();
ret.usrDialog = FormUserMessage.diagResult;
if (ret.usrDialog == DIAG_RESULT.Yes)
{
double step = (force.forceLevel[19].value - force.forceLevel[0].value) / 19;
for (int i = 0; i < 20; i++)
{
force.forceLevel[i].value = Math.Round(force.forceLevel[0].value + step * i, 2);
}
}
refresh();
}
public void moveReadyPosition()
{
switch (sqc)
{
case 0:
Esqc = 0;
sqc++;
break;
case 1:
if (mc.ps.RUNING)
{
break;
}
if (mc.ps.ERROR)
{
Esqc = sqc; sqc = SQC.ERROR; break;
}
if (!isAreaSafe())
{
errorCheck(ERRORCODE.MG, sqc, "", ALARM_CODE.E_MAGAZINE_IO_AREA_SENSOR_DETECT);
break;
}
if (!isConveyorSafe())
{
errorCheck(ERRORCODE.MG, sqc, "", ALARM_CODE.E_MAGAZINE_IO_BOAT_SENSOR_DETECT);
break;
}
#region Check Magazine Status
mc.UnloaderControl.readconfig();
if (MagazineIsFull())
{
sqc = 20; // 꽉 찼을 시 down sqc로 이동
break;
}
else
{
workMG = 0;
MagazineReadyPos(out workMG, out workSlot);
}
if (workMG == (int)MG_NUM.MG2)
{
posZ = pos.MG2_READY;
}
else if (workMG == (int)MG_NUM.MG3)
{
posZ = pos.MG3_READY;
}
else
{
posZ = pos.MG1_READY;
}
posZ -= workSlot * mc.para.UD.slotPitch.value * 1000;
#endregion
Z.move(posZ, out ret.message); if (mpiCheck(Z.config.axisCode, sqc, ret.message, "", false))
{
break;
}
dwell.Reset();
sqc++; break;
case 2:
if (!Z_AT_TARGET)
{
break;
}
dwell.Reset();
sqc++; break;
case 3:
if (!Z_AT_DONE)
{
break;
}
dwell.Reset();
sqc++; break;
case 4:
if (mc.para.UD.MagazineInCheck.value == 0)
{
sqc = SQC.STOP;
}
else
{
if (dwell.Elapsed < 100)
{
break;
}
mc.IN.MG.MG_IN(out ret.b, out ret.message); if (ioCheck(sqc, ret.message))
{
break;
}
if (ret.b)
{
sqc = SQC.STOP;
}
else
{
sqc++;
}
}
break;
case 5:
FormUserMessage ff = new FormUserMessage();
mc.OUT.MAIN.UserBuzzerCtl(true);
ff.SetDisplayItems(DIAG_SEL_MODE.RetrySkipCancel, DIAG_ICON_MODE.WARNING, "MG(#" + (workMG + 1).ToString() + ") 감지 에러 발생");
ff.ShowDialog();
DIAG_RESULT fResult = FormUserMessage.diagResult;
mc.OUT.MAIN.UserBuzzerCtl(false);
if (fResult == DIAG_RESULT.Retry)
{
dwell.Reset();
sqc--; break;
}
else if (fResult == DIAG_RESULT.Skip)
{
for (int i = 0; i < mc.UnloaderControl.MG_SLOT_COUNT; i++)
{
mc.UnloaderControl.MG_Status[workMG, i] = (int)MG_STATUS.SKIP;
EVENT.refreshEditMagazine(workMG, i);
}
mc.UnloaderControl.writeconfig();
sqc = 1; break;
}
else
{
errorCheck(ERRORCODE.MG, sqc, "", ALARM_CODE.E_MAGAGINE_NOT_EXIST);
break;
}
case 20:
posZ = mc.unloader.Elev.pos.READY;
mc.unloader.Elev.Z.move(posZ, out ret.message);
if (mpiCheck(Z.config.axisCode, sqc, ret.message, "", false))
{
break;
}
dwell.Reset();
sqc++; break;
case 21:
if (!Z_AT_TARGET)
{
break;
}
sqc++; dwell.Reset(); break;
case 22:
if (!Z_AT_DONE)
{
break;
}
sqc++; break;
case 23:
//mc.OUT.MG.MG_RESET(true, out ret.message);
errorCheck(ERRORCODE.MG, sqc, "", ALARM_CODE.E_MAGAGINE_STATUS_FULL); break;
case SQC.ERROR:
sqc = SQC.STOP; break;
case SQC.STOP:
sqc = SQC.END; break;
}
}
private void Control_Click(object sender, EventArgs e)
{
if (!mc.check.READY_PUSH(sender))
{
return;
}
mc.check.push(sender, true);
if (sender.Equals(TB_SFZSpeed))
{
mc.para.speedRate(UnitCode.SF, UnitCodeAxis.Z);
}
if (sender.Equals(TB_1stDownPitch))
{
mc.para.setting(mc.para.SF.firstDownPitch, out mc.para.SF.firstDownPitch);
}
if (sender.Equals(TB_1stDownVel))
{
mc.para.setting(mc.para.SF.firstDownVel, out mc.para.SF.firstDownVel);
}
if (sender.Equals(TB_2ndUpPitch))
{
mc.para.setting(mc.para.SF.secondUpPitch, out mc.para.SF.secondUpPitch);
}
if (sender.Equals(TB_2ndUpVel))
{
mc.para.setting(mc.para.SF.secondUpVel, out mc.para.SF.secondUpVel);
}
if (sender.Equals(TB_DownPitch))
{
mc.para.setting(mc.para.SF.downPitch, out mc.para.SF.downPitch);
}
if (sender.Equals(TB_DownVel))
{
mc.para.setting(mc.para.SF.downVel, out mc.para.SF.downVel);
}
if (sender.Equals(BT_UseBlow_SelectOnOff_On))
{
mc.para.setting(ref mc.para.SF.useBlow, (int)ON_OFF.ON);
}
if (sender.Equals(BT_UseBlow_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.SF.useBlow, (int)ON_OFF.OFF);
}
if (sender.Equals(BT_UseMGZ1_SelectOnOff_On))
{
mc.para.setting(ref mc.para.SF.useMGZ1, (int)ON_OFF.ON);
if (mc.init.success.SF)
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, String.Format(textResource.MB_REQ_INIT, "Stack Feeder"));
ff.ShowDialog();
mc.init.success.SF = false;
}
}
if (sender.Equals(BT_UseMGZ1_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.SF.useMGZ1, (int)ON_OFF.OFF);
}
if (sender.Equals(BT_UseMGZ2_SelectOnOff_On))
{
mc.para.setting(ref mc.para.SF.useMGZ2, (int)ON_OFF.ON);
if (mc.init.success.SF)
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, String.Format(textResource.MB_REQ_INIT, "Stack Feeder"));
ff.ShowDialog();
mc.init.success.SF = false;
}
}
if (sender.Equals(BT_UseMGZ2_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.SF.useMGZ2, (int)ON_OFF.OFF);
}
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);
}
private void BT_PositionSelect_Click(object sender, EventArgs e)
{
if (!mc.check.READY_PUSH(sender))
{
return;
}
mc.check.push(sender, true, (int)SelectedMenu.BOTTOM_RIGHT);
#region PositionSelect
if (sender.Equals(BT_PositionSelect_Tube1))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube1.Text;
}
if (sender.Equals(BT_PositionSelect_Tube2))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube2.Text;
}
if (sender.Equals(BT_PositionSelect_Tube3))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube3.Text;
}
if (sender.Equals(BT_PositionSelect_Tube4))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube4.Text;
}
if (sender.Equals(BT_PositionSelect_Tube5))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube5.Text;
}
if (sender.Equals(BT_PositionSelect_Tube6))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube6.Text;
}
if (sender.Equals(BT_PositionSelect_Tube7))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube7.Text;
}
if (sender.Equals(BT_PositionSelect_Tube8))
{
BT_PositionSelect.Text = BT_PositionSelect_Tube8.Text;
}
if (sender.Equals(BT_PositionSelect_MGZ1))
{
if (mc.para.SF.useMGZ1.value == 1)
{
BT_PositionSelect.Text = BT_PositionSelect_MGZ1.Text; mc.sf.readyPosition = 0;
}
else
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, String.Format(textResource.MB_SF_ONOFF, "MGZ#1"));
ff.ShowDialog();
}
}
if (sender.Equals(BT_PositionSelect_MGZ2))
{
if (mc.para.SF.useMGZ2.value == 1)
{
BT_PositionSelect.Text = BT_PositionSelect_MGZ2.Text; mc.sf.readyPosition = 1;
}
else
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, String.Format(textResource.MB_SF_ONOFF, "MGZ#2"));
ff.ShowDialog();
}
}
#endregion
mc.main.Thread_Polling();
mc.check.push(sender, false);
}
private void Control_Click(object sender, EventArgs e)
{
if (sender.Equals(BT_ESC))
{
if (threadForceCalibration != null)
{
if (threadForceCalibration.IsAlive)
{
EVENT.userDialogMessage(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, "Auto Calibration is Working!!!");
return;
}
}
for (int i = 0; i < 20; i++)
{
if (force.forceLevel[i].value != selectedToolForce.forceLevel[i].value || force.bottomForce[i].value != selectedToolForce.bottomForce[i].value ||
force.topForce[i].value != selectedToolForce.topForce[i].value || force.heightLevel[i].value != selectedToolForce.heightLevel[i].value)
{
calDataChanged = true;
break; // 다른 것이 있는지 없는지 유무만 판단하므로.. 하나라도 다르면 Break;
// 사실 다른 것만 인덱스로 받아서 업데이트 시키면 되는데 귀찮아서 그냥 통짜로함.
}
else if (calDataChanged)
{
calDataChanged = false; // true 일 경우에만 false로 바꿈.
}
}
if (calDataChanged)
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.YesNoCancel, DIAG_ICON_MODE.QUESTION, textResource.MB_ETC_PARA_SAVE);
ff.ShowDialog();
ret.usrDialog = FormUserMessage.diagResult;
if (ret.usrDialog == DIAG_RESULT.Yes)
{
if (selectedHead == 0)
{
for (int i = 0; i < 20; i++)
{
mc.para.CAL.Tool_Force1.forceLevel[i] = force.forceLevel[i];
mc.para.CAL.Tool_Force1.bottomForce[i] = force.bottomForce[i];
mc.para.CAL.Tool_Force1.topForce[i] = force.topForce[i];
mc.para.CAL.Tool_Force1.heightLevel[i] = force.heightLevel[i];
}
}
else
{
for (int i = 0; i < 20; i++)
{
mc.para.CAL.Tool_Force2.forceLevel[i] = force.forceLevel[i];
mc.para.CAL.Tool_Force2.bottomForce[i] = force.bottomForce[i];
mc.para.CAL.Tool_Force2.topForce[i] = force.topForce[i];
mc.para.CAL.Tool_Force2.heightLevel[i] = force.heightLevel[i];
}
}
mc.para.HD.place.placeForceOffset[0].value = 0; // clear
mc.para.HD.place.placeForceOffset[1].value = 0; // clear
}
}
this.Close();
}
#region BT_AutoCalibration
if (sender.Equals(BT_AutoCalibration))
{
if (threadForceCalibration != null)
{
if (threadForceCalibration.IsAlive)
{
EVENT.userDialogMessage(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.WARNING, "Auto Calibration is Working!!!");
return;
}
}
calDataChanged = true;
reqThreadStop = false;
BT_STOP.Enabled = true;
BT_AutoCalibration.Enabled = false;
selectedHead = cb_selectedTool.SelectedIndex;
double posX = mc.hd.tool.tPos.x[selectedHead].LOADCELL;
double posY = mc.hd.tool.tPos.y[selectedHead].LOADCELL;
mc.hd.tool.jogMove(posX, posY, out ret.message, true);
if (ret.message == RetMessage.OK)
{
threadForceCalibration = new Thread(forceCalibraion);
threadForceCalibration.Priority = ThreadPriority.Normal;
threadForceCalibration.Name = "forceCalibraion";
threadForceCalibration.Start();
mc.log.processdebug.write(mc.log.CODE.INFO, " forceCalibration");
}
}
#endregion
#region 0~19버튼 이벤트
if (sender.Equals(TB_Input_Force_0))
{
mc.para.setting(force.forceLevel[0], out force.forceLevel[0]);
}
if (sender.Equals(TB_Input_Force_1))
{
mc.para.setting(force.forceLevel[1], out force.forceLevel[1]);
}
if (sender.Equals(TB_Input_Force_2))
{
mc.para.setting(force.forceLevel[2], out force.forceLevel[2]);
}
if (sender.Equals(TB_Input_Force_3))
{
mc.para.setting(force.forceLevel[3], out force.forceLevel[3]);
}
if (sender.Equals(TB_Input_Force_4))
{
mc.para.setting(force.forceLevel[4], out force.forceLevel[4]);
}
if (sender.Equals(TB_Input_Force_5))
{
mc.para.setting(force.forceLevel[5], out force.forceLevel[5]);
}
if (sender.Equals(TB_Input_Force_6))
{
mc.para.setting(force.forceLevel[6], out force.forceLevel[6]);
}
if (sender.Equals(TB_Input_Force_7))
{
mc.para.setting(force.forceLevel[7], out force.forceLevel[7]);
}
if (sender.Equals(TB_Input_Force_8))
{
mc.para.setting(force.forceLevel[8], out force.forceLevel[8]);
}
if (sender.Equals(TB_Input_Force_9))
{
mc.para.setting(force.forceLevel[9], out force.forceLevel[9]);
}
if (sender.Equals(TB_Input_Force_10))
{
mc.para.setting(force.forceLevel[10], out force.forceLevel[10]);
}
if (sender.Equals(TB_Input_Force_11))
{
mc.para.setting(force.forceLevel[11], out force.forceLevel[11]);
}
if (sender.Equals(TB_Input_Force_12))
{
mc.para.setting(force.forceLevel[12], out force.forceLevel[12]);
}
if (sender.Equals(TB_Input_Force_13))
{
mc.para.setting(force.forceLevel[13], out force.forceLevel[13]);
}
if (sender.Equals(TB_Input_Force_14))
{
mc.para.setting(force.forceLevel[14], out force.forceLevel[14]);
}
if (sender.Equals(TB_Input_Force_15))
{
mc.para.setting(force.forceLevel[15], out force.forceLevel[15]);
}
if (sender.Equals(TB_Input_Force_16))
{
mc.para.setting(force.forceLevel[16], out force.forceLevel[16]);
}
if (sender.Equals(TB_Input_Force_17))
{
mc.para.setting(force.forceLevel[17], out force.forceLevel[17]);
}
if (sender.Equals(TB_Input_Force_18))
{
mc.para.setting(force.forceLevel[18], out force.forceLevel[18]);
}
if (sender.Equals(TB_Input_Force_19))
{
mc.para.setting(force.forceLevel[19], out force.forceLevel[19]);
}
if (sender.Equals(TB_Bottom_Force_0))
{
mc.para.setting(force.bottomForce[0], out force.bottomForce[0]);
}
if (sender.Equals(TB_Bottom_Force_1))
{
mc.para.setting(force.bottomForce[1], out force.bottomForce[1]);
}
if (sender.Equals(TB_Bottom_Force_2))
{
mc.para.setting(force.bottomForce[2], out force.bottomForce[2]);
}
if (sender.Equals(TB_Bottom_Force_3))
{
mc.para.setting(force.bottomForce[3], out force.bottomForce[3]);
}
if (sender.Equals(TB_Bottom_Force_4))
{
mc.para.setting(force.bottomForce[4], out force.bottomForce[4]);
}
if (sender.Equals(TB_Bottom_Force_5))
{
mc.para.setting(force.bottomForce[5], out force.bottomForce[5]);
}
if (sender.Equals(TB_Bottom_Force_6))
{
mc.para.setting(force.bottomForce[6], out force.bottomForce[6]);
}
if (sender.Equals(TB_Bottom_Force_7))
{
mc.para.setting(force.bottomForce[7], out force.bottomForce[7]);
}
if (sender.Equals(TB_Bottom_Force_8))
{
mc.para.setting(force.bottomForce[8], out force.bottomForce[8]);
}
if (sender.Equals(TB_Bottom_Force_9))
{
mc.para.setting(force.bottomForce[9], out force.bottomForce[9]);
}
if (sender.Equals(TB_Bottom_Force_10))
{
mc.para.setting(force.bottomForce[10], out force.bottomForce[10]);
}
if (sender.Equals(TB_Bottom_Force_11))
{
mc.para.setting(force.bottomForce[11], out force.bottomForce[11]);
}
if (sender.Equals(TB_Bottom_Force_12))
{
mc.para.setting(force.bottomForce[12], out force.bottomForce[12]);
}
if (sender.Equals(TB_Bottom_Force_13))
{
mc.para.setting(force.bottomForce[13], out force.bottomForce[13]);
}
if (sender.Equals(TB_Bottom_Force_14))
{
mc.para.setting(force.bottomForce[14], out force.bottomForce[14]);
}
if (sender.Equals(TB_Bottom_Force_15))
{
mc.para.setting(force.bottomForce[15], out force.bottomForce[15]);
}
if (sender.Equals(TB_Bottom_Force_16))
{
mc.para.setting(force.bottomForce[16], out force.bottomForce[16]);
}
if (sender.Equals(TB_Bottom_Force_17))
{
mc.para.setting(force.bottomForce[17], out force.bottomForce[17]);
}
if (sender.Equals(TB_Bottom_Force_18))
{
mc.para.setting(force.bottomForce[18], out force.bottomForce[18]);
}
if (sender.Equals(TB_Bottom_Force_19))
{
mc.para.setting(force.bottomForce[19], out force.bottomForce[19]);
}
if (sender.Equals(TB_Top_Force_0))
{
mc.para.setting(force.topForce[0], out force.topForce[0]);
}
if (sender.Equals(TB_Top_Force_1))
{
mc.para.setting(force.topForce[1], out force.topForce[1]);
}
if (sender.Equals(TB_Top_Force_2))
{
mc.para.setting(force.topForce[2], out force.topForce[2]);
}
if (sender.Equals(TB_Top_Force_3))
{
mc.para.setting(force.topForce[3], out force.topForce[3]);
}
if (sender.Equals(TB_Top_Force_4))
{
mc.para.setting(force.topForce[4], out force.topForce[4]);
}
if (sender.Equals(TB_Top_Force_5))
{
mc.para.setting(force.topForce[5], out force.topForce[5]);
}
if (sender.Equals(TB_Top_Force_6))
{
mc.para.setting(force.topForce[6], out force.topForce[6]);
}
if (sender.Equals(TB_Top_Force_7))
{
mc.para.setting(force.topForce[7], out force.topForce[7]);
}
if (sender.Equals(TB_Top_Force_8))
{
mc.para.setting(force.topForce[8], out force.topForce[8]);
}
if (sender.Equals(TB_Top_Force_9))
{
mc.para.setting(force.topForce[9], out force.topForce[9]);
}
if (sender.Equals(TB_Top_Force_10))
{
mc.para.setting(force.topForce[10], out force.topForce[10]);
}
if (sender.Equals(TB_Top_Force_11))
{
mc.para.setting(force.topForce[11], out force.topForce[11]);
}
if (sender.Equals(TB_Top_Force_12))
{
mc.para.setting(force.topForce[12], out force.topForce[12]);
}
if (sender.Equals(TB_Top_Force_13))
{
mc.para.setting(force.topForce[13], out force.topForce[13]);
}
if (sender.Equals(TB_Top_Force_14))
{
mc.para.setting(force.topForce[14], out force.topForce[14]);
}
if (sender.Equals(TB_Top_Force_15))
{
mc.para.setting(force.topForce[15], out force.topForce[15]);
}
if (sender.Equals(TB_Top_Force_16))
{
mc.para.setting(force.topForce[16], out force.topForce[16]);
}
if (sender.Equals(TB_Top_Force_17))
{
mc.para.setting(force.topForce[17], out force.topForce[17]);
}
if (sender.Equals(TB_Top_Force_18))
{
mc.para.setting(force.topForce[18], out force.topForce[18]);
}
if (sender.Equals(TB_Top_Force_19))
{
mc.para.setting(force.topForce[19], out force.topForce[19]);
}
#endregion
if (sender.Equals(BT_STOP))
{
reqThreadStop = true;
BT_STOP.Enabled = false;
if (threadForceCalibration.IsAlive)
{
mc.idle(10);
}
BT_AutoCalibration.Enabled = true;
}
if (sender.Equals(TB_Force_Test_Kilogram))
{
mc.para.setting(testKilogram, out testKilogram);
}
EXIT:
refresh();
}
private void Control_Click(object sender, EventArgs e)
{
if (!mc.check.READY_PUSH(sender))
{
return;
}
mc.check.push(sender, true);
#region search
if (sender.Equals(BT_Search1st_SelectOnOff_On))
{
mc.para.setting(ref mc.para.HD.pick.search.enable, (int)ON_OFF.ON);
}
if (sender.Equals(BT_Search1st_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.HD.pick.search.enable, (int)ON_OFF.OFF);
}
if (sender.Equals(TB_Search1st_Level))
{
mc.para.setting(mc.para.HD.pick.search.level, out mc.para.HD.pick.search.level);
}
if (sender.Equals(TB_Search1st_Speed))
{
mc.para.setting(mc.para.HD.pick.search.vel, out mc.para.HD.pick.search.vel);
}
if (sender.Equals(TB_Search1st_Delay))
{
mc.para.setting(mc.para.HD.pick.search.delay, out mc.para.HD.pick.search.delay);
}
#endregion
#region search2
if (sender.Equals(BT_Search2nd_SelectOnOff_On))
{
mc.para.setting(ref mc.para.HD.pick.search2.enable, (int)ON_OFF.ON);
}
if (sender.Equals(BT_Search2nd_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.HD.pick.search2.enable, (int)ON_OFF.OFF);
}
if (sender.Equals(TB_Search2nd_Level))
{
mc.para.setting(mc.para.HD.pick.search2.level, out mc.para.HD.pick.search2.level);
}
if (sender.Equals(TB_Search2nd_Speed))
{
mc.para.setting(mc.para.HD.pick.search2.vel, out mc.para.HD.pick.search2.vel);
}
if (sender.Equals(TB_Search2nd_Delay))
{
mc.para.setting(mc.para.HD.pick.search2.delay, out mc.para.HD.pick.search2.delay);
}
#endregion
#region delay
if (sender.Equals(TB_Delay))
{
mc.para.setting(mc.para.HD.pick.delay, out mc.para.HD.pick.delay);
}
if (sender.Equals(TB_Force))
{
mc.para.setting(mc.para.HD.pick.force, out mc.para.HD.pick.force);
}
#endregion
#region driver
if (sender.Equals(BT_Drive1st_SelectOnOff_On))
{
mc.para.setting(ref mc.para.HD.pick.driver.enable, (int)ON_OFF.ON);
}
if (sender.Equals(BT_Drive1st_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.HD.pick.driver.enable, (int)ON_OFF.OFF);
}
if (sender.Equals(TB_Drive1st_Level))
{
mc.para.setting(mc.para.HD.pick.driver.level, out mc.para.HD.pick.driver.level);
}
if (sender.Equals(TB_Drive1st_Speed))
{
mc.para.setting(mc.para.HD.pick.driver.vel, out mc.para.HD.pick.driver.vel);
}
if (sender.Equals(TB_Drive1st_Delay))
{
mc.para.setting(mc.para.HD.pick.driver.delay, out mc.para.HD.pick.driver.delay);
}
#endregion
#region driver2
if (sender.Equals(BT_Drive2nd_SelectOnOff_On))
{
mc.para.setting(ref mc.para.HD.pick.driver2.enable, (int)ON_OFF.ON);
}
if (sender.Equals(BT_Drive2nd_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.HD.pick.driver2.enable, (int)ON_OFF.OFF);
}
if (sender.Equals(TB_Drive2nd_Level))
{
mc.para.setting(mc.para.HD.pick.driver2.level, out mc.para.HD.pick.driver2.level);
}
if (sender.Equals(TB_Drive2nd_Speed))
{
mc.para.setting(mc.para.HD.pick.driver2.vel, out mc.para.HD.pick.driver2.vel);
}
if (sender.Equals(TB_Drive2nd_Delay))
{
mc.para.setting(mc.para.HD.pick.driver2.delay, out mc.para.HD.pick.driver2.delay);
}
#endregion
#region offset
if (sender.Equals(BT_PositionOffset_SelectSF1))
{
slectOffsetSF = UnitCodeSF.SF1;
}
if (sender.Equals(BT_PositionOffset_SelectSF2))
{
slectOffsetSF = UnitCodeSF.SF2;
}
if (sender.Equals(BT_PositionOffset_SelectSF3))
{
if (mc.swcontrol.mechanicalRevision == 0)
{
slectOffsetSF = UnitCodeSF.SF3;
}
else
{
slectOffsetSF = UnitCodeSF.SF5;
}
}
if (sender.Equals(BT_PositionOffset_SelectSF4))
{
if (mc.swcontrol.mechanicalRevision == 0)
{
slectOffsetSF = UnitCodeSF.SF4;
}
else
{
slectOffsetSF = UnitCodeSF.SF6;
}
}
if (sender.Equals(BT_PositionOffset_SelectSF5))
{
slectOffsetSF = UnitCodeSF.SF5;
}
if (sender.Equals(BT_PositionOffset_SelectSF6))
{
slectOffsetSF = UnitCodeSF.SF6;
}
if (sender.Equals(BT_PositionOffset_SelectSF7))
{
slectOffsetSF = UnitCodeSF.SF7;
}
if (sender.Equals(BT_PositionOffset_SelectSF8))
{
slectOffsetSF = UnitCodeSF.SF8;
}
if (sender.Equals(TB_PositionOffset_X))
{
mc.para.setting(mc.para.HD.pick.offset[(int)slectOffsetSF].x, out mc.para.HD.pick.offset[(int)slectOffsetSF].x);
}
if (sender.Equals(TB_PositionOffset_Y))
{
mc.para.setting(mc.para.HD.pick.offset[(int)slectOffsetSF].y, out mc.para.HD.pick.offset[(int)slectOffsetSF].y);
}
//if (sender.Equals(TB_PositionOffset_Z)) mc.para.setting(mc.para.HD.pick.offset[(int)slectOffsetSF].z, out mc.para.HD.pick.offset[(int)slectOffsetSF].z);
if (sender.Equals(BT_PositionOffset_Jog))
{
double posX, posY, posZ, posT;
#region moving
posX = mc.hd.tool.tPos.x[(int)UnitCodeHead.HD1].PICK(slectOffsetSF);
posY = mc.hd.tool.tPos.y[(int)UnitCodeHead.HD1].PICK(slectOffsetSF);
posZ = mc.hd.tool.tPos.z[(int)UnitCodeHead.HD1].PICK(slectOffsetSF);
posT = mc.hd.tool.tPos.t[(int)UnitCodeHead.HD1].ZERO;
mc.hd.tool.jogMove((int)UnitCodeHead.HD1, posX, posY, posZ, posT, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
#endregion
FormJogPadXYZ ff = new FormJogPadXYZ();
#region jogMode
if (slectOffsetSF == UnitCodeSF.SF1)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF1;
}
else if (slectOffsetSF == UnitCodeSF.SF2)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF2;
}
else if (slectOffsetSF == UnitCodeSF.SF3)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF3;
}
else if (slectOffsetSF == UnitCodeSF.SF4)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF4;
}
else if (slectOffsetSF == UnitCodeSF.SF5)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF5;
}
else if (slectOffsetSF == UnitCodeSF.SF6)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF6;
}
else if (slectOffsetSF == UnitCodeSF.SF7)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF7;
}
else if (slectOffsetSF == UnitCodeSF.SF8)
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF8;
}
else
{
ff.jogMode = JOGXYZ_MODE.HD_PICK_OFFSET_SF1;
}
#endregion
ff.dataX = mc.para.HD.pick.offset[(int)slectOffsetSF].x;
ff.dataY = mc.para.HD.pick.offset[(int)slectOffsetSF].y;
ff.dataZ = mc.para.HD.pick.offset[(int)slectOffsetSF].z;
ff.ShowDialog();
mc.para.setting(ref mc.para.HD.pick.offset[(int)slectOffsetSF].x, ff.dataX.value);
mc.para.setting(ref mc.para.HD.pick.offset[(int)slectOffsetSF].y, ff.dataY.value);
mc.para.setting(ref mc.para.HD.pick.offset[(int)slectOffsetSF].z, ff.dataZ.value);
#region moving
posX = mc.hd.tool.cPos.x.REF0;
posY = mc.hd.tool.cPos.y.REF0;;
posZ = mc.hd.tool.tPos.z[(int)UnitCodeHead.HD1].XY_MOVING;
posT = mc.hd.tool.tPos.t[(int)UnitCodeHead.HD1].ZERO;
mc.hd.tool.jogMove((int)UnitCodeHead.HD1, posX, posY, posZ, posT, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
#endregion
}
if (sender.Equals(BT_PositionOffset_AllClear))
{
ret.usrDialog = FormMain.UserMessageBox(DIAG_SEL_MODE.OKCancel, DIAG_ICON_MODE.QUESTION, textResource.MB_HD_PICK_INIT_OFFSET_XYZ);
//mc.message.OkCancel("모든 Pick Offset X,Y,Z 값은 초기화 됩니다. 계속 진행할까요?", out ret.dialog);
if (ret.usrDialog == DIAG_RESULT.Cancel)
{
goto EXIT;
}
for (int i = 0; i < 8; i++)
{
mc.para.setting(ref mc.para.HD.pick.offset[i].x, 0);
mc.para.setting(ref mc.para.HD.pick.offset[i].y, 0);
mc.para.setting(ref mc.para.HD.pick.offset[i].z, 0);
}
}
if (sender.Equals(BT_AutoPickCompenClear))
{
FormUserMessage ff = new FormUserMessage();
ff.SetDisplayItems(DIAG_SEL_MODE.YesNo, DIAG_ICON_MODE.WARNING, textResource.MB_HD_PICK_INIT_AUTO_TRACK);
ff.ShowDialog();
ret.usrDialog = FormUserMessage.diagResult;
if (ret.usrDialog == DIAG_RESULT.Yes)
{
for (int i = 0; i < 8; i++)
{
mc.para.HD.pick.pickPosComp[i].x.value = 0;
mc.para.HD.pick.pickPosComp[i].y.value = 0;
}
ff.SetDisplayItems(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.INFORMATION, textResource.MB_HD_PICK_INIT_FINISH);
ff.ShowDialog();
}
}
if (sender.Equals(BT_PickOffsetZCal))
{
mc.log.debug.write(mc.log.CODE.CAL, "Pick Z Offset Calibration START");
double posX, posY, posZ, posT;
int moveCase;
double startZPos, sensor1Pos, sensor2Pos;
bool pos1Done;
bool pos2Done;
bool teachDone = false;
double[] tempval = new double[5];
int stackFeedNum = 8;
int sfTemp = 0;
if (mc.swcontrol.mechanicalRevision == 1)
{
stackFeedNum = 4;
}
for (int i = 0; i < stackFeedNum; i++)
{
if (mc.swcontrol.mechanicalRevision == 1 && i >= 2)
{
sfTemp = i + 2;
}
mc.log.debug.write(mc.log.CODE.CAL, String.Format("Stack Feeder Move to {0} position", sfTemp + 1));
for (int k = 0; k < 5; k++)
{
#region move stack feeder
mc.sf.req = true; mc.sf.reqMode = REQMODE.READY;
mc.sf.reqTubeNumber = (UnitCodeSF)sfTemp;
mc.main.Thread_Polling(); // make stack feeder to be ready for picking
if (mc.sf.ERROR)
{
mc.log.debug.write(mc.log.CODE.ERROR, "CANNOT run calibration process. Stack Feeder Error");
goto EXIT;
}
#endregion
#region move to pick position
posX = mc.hd.tool.tPos.x[(int)UnitCodeHead.HD1].PICK((UnitCodeSF)sfTemp);
posY = mc.hd.tool.tPos.y[(int)UnitCodeHead.HD1].PICK((UnitCodeSF)sfTemp);
posZ = mc.hd.tool.tPos.z[(int)UnitCodeHead.HD1].RAWPICK;
posT = mc.hd.tool.tPos.t[(int)UnitCodeHead.HD1].ZERO;
mc.hd.tool.jogMove((int)UnitCodeHead.HD1, posX, posY, posZ, posT, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
mc.idle(100);
#endregion
#region sensor check
//mc.IN.HD.LOAD_CHK(out ret.b1, out ret.message);
//mc.IN.HD.LOAD_CHK2(out ret.b2, out ret.message);
if (ret.b1 == false && ret.b2 == true)
{
moveCase = 0; // touch가 안되어 있거나 살짝 눌린 상태
}
else if (ret.b1 == true && ret.b2 == true)
{
moveCase = 1; // 200~350um 눌린 상태
}
else if (ret.b1 == true && ret.b2 == false)
{
moveCase = 2; // 350um이상 눌린 상태
}
else
{
moveCase = 3; // 몰라...이런 상태는 없어...
mc.message.alarm("Load Sensor Error : Sensor ALL OFF"); goto EXIT;
}
#endregion
if (moveCase > 0)
{
FormMain.UserMessageBox(DIAG_SEL_MODE.OK, DIAG_ICON_MODE.FAILURE, "Pick Position이 너무 낮습니다.\nPick Position값을 먼저 설정해 주세요.");
//mc.message.alarm("Pick Position is too LOW. Please change pick position."); goto EXIT;
}
mc.hd.tool.Z[(int)UnitCodeHead.HD1].actualPosition(out startZPos, out ret.message);
teachDone = false;
for (int j = 0; j < 3; j++)
{
if (teachDone)
{
break;
}
mc.hd.tool.Z[(int)UnitCodeHead.HD1].move(posZ - 600 * (j + 1), mc.speed.checkSpeed, out ret.message);
dwell.Reset();
sensor1Pos = 0;
sensor2Pos = 0;
pos1Done = false;
pos2Done = false;
while (true)
{
// mc.IN.HD.LOAD_CHK(out ret.b1, out ret.message);
// mc.IN.HD.LOAD_CHK2(out ret.b2, out ret.message);
if (ret.b1 && !pos1Done)
{
mc.hd.tool.Z[(int)UnitCodeHead.HD1].actualPosition(out sensor1Pos, out ret.message);
pos1Done = true;
}
if (ret.b1 && !ret.b2 && !pos2Done)
{
mc.hd.tool.Z[(int)UnitCodeHead.HD1].actualPosition(out sensor2Pos, out ret.message);
pos2Done = true;
}
mc.hd.tool.Z[(int)UnitCodeHead.HD1].AT_TARGET(out ret.b, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
if (ret.b)
{
break;
}
if (dwell.Elapsed > 20000)
{
ret.message = RetMessage.TIMEOUT; mc.message.alarmMotion(ret.message); goto EXIT;
}
}
if (sensor1Pos == 0)
{
mc.log.debug.write(mc.log.CODE.TRACE, "Cannot find in search " + (j + 1).ToString());
}
else
{
mc.log.debug.write(mc.log.CODE.TRACE, "1st Pos : " + Math.Round((startZPos - sensor1Pos), 3).ToString("f3") + ", 2nd Pos : " + Math.Round((startZPos - sensor2Pos), 3).ToString("f3"));
}
dwell.Reset();
while (true)
{
if (dwell.Elapsed > 500)
{
ret.message = RetMessage.TIMEOUT; mc.message.alarmMotion(ret.message); goto EXIT;
}
mc.hd.tool.Z[(int)UnitCodeHead.HD1].AT_DONE(out ret.b, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
if (ret.b)
{
break;
}
}
if (sensor1Pos != 0)
{
double offset = Math.Round(sensor1Pos - startZPos) - mc.para.CAL.z.sensor1.value;
mc.log.debug.write(mc.log.CODE.CAL, "SF" + (sfTemp + 1).ToString() + " Offset: " + offset.ToString() + "[um]");
tempval[k] = offset;
teachDone = true;
break;
}
else
{
mc.idle(100);
}
}
posZ = mc.hd.tool.tPos.z[(int)UnitCodeHead.HD1].XY_MOVING;
mc.hd.tool.jogMove((int)UnitCodeHead.HD1, posZ, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
double curSFZPos;
mc.sf.Z.actualPosition(out curSFZPos, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
mc.sf.jogMoveZ(curSFZPos - 300, out ret.message); if (ret.message != RetMessage.OK)
{
mc.message.alarmMotion(ret.message); goto EXIT;
}
}
mc.log.debug.write(mc.log.CODE.TRACE, "1st[" + tempval[0].ToString() + "], 2nd[" + tempval[1].ToString() + "], 3rd[" + tempval[2].ToString() + "], 4th[" + tempval[3].ToString() + "], 5th[" + tempval[4].ToString() + "]");
double sum = tempval[0] + tempval[1] + tempval[2] + tempval[3] + tempval[4];
mc.log.debug.write(mc.log.CODE.CAL, "SF" + (sfTemp + 1).ToString() + " Offset RESULT : " + Math.Round(sum / 5).ToString());
mc.para.setting(ref mc.para.HD.pick.offset[sfTemp].z, Math.Round(sum / 5));
}
mc.sf.req = true; mc.sf.reqMode = REQMODE.DOWN;
mc.sf.reqTubeNumber = UnitCodeSF.SF1;
mc.main.Thread_Polling();
mc.log.debug.write(mc.log.CODE.CAL, "Pick Z Offset Calibration END");
}
if (sender.Equals(TB_PickOffsetZ1))
{
mc.para.setting(mc.para.HD.pick.offset[0].z, out mc.para.HD.pick.offset[0].z);
}
if (sender.Equals(TB_PickOffsetZ2))
{
mc.para.setting(mc.para.HD.pick.offset[1].z, out mc.para.HD.pick.offset[1].z);
}
if (sender.Equals(TB_PickOffsetZ3))
{
mc.para.setting(mc.para.HD.pick.offset[2].z, out mc.para.HD.pick.offset[2].z);
}
if (sender.Equals(TB_PickOffsetZ4))
{
mc.para.setting(mc.para.HD.pick.offset[3].z, out mc.para.HD.pick.offset[3].z);
}
if (sender.Equals(TB_PickOffsetZ5))
{
mc.para.setting(mc.para.HD.pick.offset[4].z, out mc.para.HD.pick.offset[4].z);
}
if (sender.Equals(TB_PickOffsetZ6))
{
mc.para.setting(mc.para.HD.pick.offset[5].z, out mc.para.HD.pick.offset[5].z);
}
if (sender.Equals(TB_PickOffsetZ7))
{
mc.para.setting(mc.para.HD.pick.offset[6].z, out mc.para.HD.pick.offset[6].z);
}
if (sender.Equals(TB_PickOffsetZ8))
{
mc.para.setting(mc.para.HD.pick.offset[7].z, out mc.para.HD.pick.offset[7].z);
}
#endregion
#region suction
if (sender.Equals(BT_SuctionMode_Select_MovingLevelOn))
{
mc.para.setting(ref mc.para.HD.pick.suction.mode, (int)PICK_SUCTION_MODE.MOVING_LEVEL_ON);
}
if (sender.Equals(BT_SuctionMode_Select_SearchLevelOn))
{
mc.para.setting(ref mc.para.HD.pick.suction.mode, (int)PICK_SUCTION_MODE.SEARCH_LEVEL_ON);
}
if (sender.Equals(BT_SuctionMode_Select_PickLevelOn))
{
mc.para.setting(ref mc.para.HD.pick.suction.mode, (int)PICK_SUCTION_MODE.PICK_LEVEL_ON);
}
if (sender.Equals(TB_SuctionMode_Level))
{
mc.para.setting(mc.para.HD.pick.suction.level, out mc.para.HD.pick.suction.level);
}
if (sender.Equals(BT_SuctionCheck_SelectOnOff_On))
{
mc.para.setting(ref mc.para.HD.pick.suction.check, (int)ON_OFF.ON);
}
if (sender.Equals(BT_SuctionCheck_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.HD.pick.suction.check, (int)ON_OFF.OFF);
}
if (sender.Equals(TB_SuctionCheckLimit_HD1))
{
mc.para.setting(mc.para.HD.pick.pickupVacLimit[(int)UnitCodeHead.HD1], out mc.para.HD.pick.pickupVacLimit[(int)UnitCodeHead.HD1]);
}
if (sender.Equals(TB_SuctionCheckLimit_HD2))
{
mc.para.setting(mc.para.HD.pick.pickupVacLimit[(int)UnitCodeHead.HD2], out mc.para.HD.pick.pickupVacLimit[(int)UnitCodeHead.HD2]);
}
if (sender.Equals(TB_SuctionCheck_Time))
{
mc.para.setting(mc.para.HD.pick.suction.checkLimitTime, out mc.para.HD.pick.suction.checkLimitTime);
}
#endregion
#region missCheck
if (sender.Equals(BT_MissCheck_SelectOnOff_On))
{
mc.para.setting(ref mc.para.HD.pick.missCheck.enable, (int)ON_OFF.ON);
}
if (sender.Equals(BT_MissCheck_SelectOnOff_Off))
{
mc.para.setting(ref mc.para.HD.pick.missCheck.enable, (int)ON_OFF.OFF);
}
if (sender.Equals(TB_MissCheck_Retry))
{
mc.para.setting(mc.para.HD.pick.missCheck.retry, out mc.para.HD.pick.missCheck.retry);
}
#endregion
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);
}
