using System;
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namespace SHARP_CLAS_UI
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{
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public class UnloaderConveyorIn : Conveyor
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{
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#region Property
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public ConveyorInSteps Step
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{
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get
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{
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return _step;
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}
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private set
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{
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_step = value;
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}
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}
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public override bool IsWorkEnd
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{
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get
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{
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if(Step == ConveyorInSteps.S0000_WAIT)
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{
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return true;
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}
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else
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{
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return false;
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}
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}
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}
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public override bool IsStayPosition
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{
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get
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{
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return true;
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}
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}
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#endregion
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#region Field
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private ConveyorInSteps _step;
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private ConveyorInSteps _oldStep;
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private ConveyorHomeStep _homeStep;
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#endregion
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#region Construct
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public UnloaderConveyorIn(Equipment equipment) : base(equipment, MotorAxis.ULD_Tray_IN_Port, "UnloaderConveyorIn")
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{
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Initialize(InputData.ULD_Empty_In_Conveyor_In_Sensor, InputData.ULD_Empty_In_Conveyor_In_Complete_Sensor, InputData.ULD_Empty_In_Conveyor_Lift_In_Sensor, InputData.ULD_Empty_In_Conveyor_Lift_In_Complete_Sensor);
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pauseDisableList.Add(ConveyorInSteps.S1210_LIFT_IN_SENSOR_CHECK);
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pauseDisableList.Add(ConveyorInSteps.S1220_LIFT_COMPLETE_SENSOR_CHECK);
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pauseDisableList.Add(ConveyorInSteps.S1230_CONVEYOR_STOP);
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pauseDisableList.Add(ConveyorInSteps.S2310_CONVEYOR_IN_COMPLETE_SENSOR_CHECK);
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pauseDisableList.Add(ConveyorInSteps.S2320_CONVEYOR_IN_SENSOR_CHECK);
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pauseDisableList.Add(ConveyorInSteps.S2330_CONVEYOR_STOP);
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AlignerX.Initialize(OutputData.ULD_Empty_In_Align_X_Sol_Valve, InputData.ULD_Empty_In_Align_X_1_Fwd_Sensor, InputData.ULD_Empty_In_Align_X_2_Fwd_Sensor, InputData.ULD_Empty_In_Align_X_1_Bwd_Sensor, InputData.ULD_Empty_In_Align_X_2_Bwd_Sensor,
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En_Alarm_List.AL_0704_ULD_TRAY_EMPTY_ALIGN_X_1_FWD_SENSOR_CHECK, En_Alarm_List.AL_0705_ULD_TRAY_EMPTY_ALIGN_X_2_FWD_SENSOR_CHECK, En_Alarm_List.AL_0706_ULD_TRAY_EMPTY_ALIGN_X_1_BWD_SENSOR_CHECK, En_Alarm_List.AL_0707_ULD_TRAY_EMPTY_ALIGN_X_2_BWD_SENSOR_CHECK);
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AlignerY.Initialize(OutputData.ULD_Empty_In_Align_Y_Sol_Valve, InputData.ULD_Empty_In_Align_Y_1_Fwd_Sensor, InputData.ULD_Empty_In_Align_Y_2_Fwd_Sensor, InputData.ULD_Empty_In_Align_Y_1_Bwd_Sensor, InputData.ULD_Empty_In_Align_Y_2_Bwd_Sensor,
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En_Alarm_List.AL_0708_ULD_TRAY_EMPTY_ALIGN_Y_1_FWD_SENSOR_CHECK, En_Alarm_List.AL_0709_ULD_TRAY_EMPTY_ALIGN_Y_2_FWD_SENSOR_CHECK, En_Alarm_List.AL_0710_ULD_TRAY_EMPTY_ALIGN_Y_1_BWD_SENSOR_CHECK, En_Alarm_List.AL_0711_ULD_TRAY_EMPTY_ALIGN_Y_2_BWD_SENSOR_CHECK);
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MotorX.Check_Jog_Interlock = Jog_Interlock;
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MotorX.Check_Move_Interlock = Move_Interlock;
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}
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#endregion
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#region Function
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private bool Move_Interlock()
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{
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if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
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{
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return true;
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}
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return false;
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}
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private bool Jog_Interlock(bool positive)
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{
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if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
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{
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return true;
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}
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return false;
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}
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public void Init_Seq()
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{
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if(Step < ConveyorInSteps.S2000_TRAY_UNLOADING_START || ConveyorInSteps.S2999_TRAY_UNLOADING_END < Step)
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Step = ConveyorInSteps.S0000_WAIT;
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_homeStep = ConveyorHomeStep.S0000_WAIT;
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}
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public void ExecuteStepAuto()
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{
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if(Step == ConveyorInSteps.S0000_WAIT)
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{
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if (equipment.UnloaderInTrayCount <= 0 && equipment.unloader.LiftIn.IsStayPosition
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&& IsLiftInSensor == false && IsLiftInCompleteSensor == false)
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{
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if(equipment.Mode.Agv_Skip)
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{
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Step = ConveyorInSteps.S1000_TRAY_LOADING_START;
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}
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else
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{
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//AGV Load 추가.
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if (IsConveyorInCompleteSensor || IsConveyorInSensor)
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{
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Step = ConveyorInSteps.S1000_TRAY_LOADING_START;
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}
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else
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{
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Step = ConveyorInSteps.S0100_AGV_LOADING_START;
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}
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}
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}
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}
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}
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public override void MonitoringStatus()
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{
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if (((ConveyorInSteps.S1000_TRAY_LOADING_START <= Step && Step < ConveyorInSteps.S1200_CONVEYOR_MOVE_IN)
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&& (ConveyorInSteps.S1230_CONVEYOR_STOP <= Step && Step <= ConveyorInSteps.S1999_TRAY_LOADING_END)) || Step == ConveyorInSteps.S0000_WAIT)
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{
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if (!MotorX.MotionComplete)
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MotorX.Move_Stop();
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}
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else
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{
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if (Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0053_ULD_LIGHT_CURTAIN_ALARM))
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{
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sequenceChangedTime.Start();
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if (!MotorX.MotionComplete)
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{
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if (Alarm_Manager.Instance.Occured_List.Exists(x => x.Code == En_Alarm_List.AL_0053_ULD_LIGHT_CURTAIN_ALARM))
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{
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equipment.Write_Exception_Log($"ULD Conveyor Empty Light Curtain!, conveyor sensor : {IsConveyorInSensor}, conveyor in sensor : {IsConveyorInCompleteSensor}");
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}
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MotorX.Move_Stop();
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}
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}
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}
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if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
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{
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if (MotorX.MotionComplete == false)
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{
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MotorX.Move_Stop();
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}
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}
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}
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public override void ExecuteStep()
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{
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if (_oldStep != Step)
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{
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sequenceChangedTime.Restart();
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_oldStep = Step;
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WriteSequenceLog(Step.ToString());
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}
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AlignerX.ExecuteProcess();
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AlignerY.ExecuteProcess();
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//상시 Run.
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if (UnitMode != En_Equipment_Mode.Home)
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{
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UnloadingTray();
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AgvLoading();
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}
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if (UnitMode == En_Equipment_Mode.Stop)
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{
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Init_Seq();
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isHomeComplete = false;
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return;
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}
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else if (UnitMode == En_Equipment_Mode.Pause)
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{
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sequenceChangedTime.Stop();
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return;
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}
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else if (UnitMode == En_Equipment_Mode.Home)
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{
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if(IsHomeComplete == false)
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{
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ExecuteHome();
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}
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return;
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}
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else if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
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{
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sequenceChangedTime.Start();
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if (equipment.equip_mode == En_Equipment_Mode.Pause)
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{
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if (pauseDisableList.Contains(Step) == false)
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{
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UnitMode = En_Equipment_Mode.Pause;
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return;
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}
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}
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if (UnitMode == En_Equipment_Mode.Auto)
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ExecuteStepAuto();
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LoadingTray();
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}
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}
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private void ExecuteHome()
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{
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switch(_homeStep)
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{
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case ConveyorHomeStep.S0000_WAIT:
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{
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_homeStep = ConveyorHomeStep.S1000_STATUS_CHECK;
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break;
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}
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case ConveyorHomeStep.S1000_STATUS_CHECK:
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{
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if (MotorX.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0501_ULD_TRAY_EMPTY_ERROR_STOP);
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}
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else if (!MotorX.PowerOn)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0500_ULD_TRAY_EMPTY_POWER_OFF);
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}
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else
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{
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_homeStep = ConveyorHomeStep.S1200_LIFT_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorHomeStep.S1100_CONVEYOR_SENSOR_CHECK:
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{
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if (IsConveyorInSensor || IsConveyorInCompleteSensor)
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{
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if (IsConveyorInSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Conveyor Empty Home can't run.", "Conveyor in sensor is detected.");
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}
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if (IsConveyorInCompleteSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Conveyor Empty Home can't run.", "Conveyor in complete sensor is detected.");
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}
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}
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else
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{
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_homeStep = ConveyorHomeStep.S1200_LIFT_SENSOR_CHECK;
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}
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break;
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}
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case ConveyorHomeStep.S1200_LIFT_SENSOR_CHECK:
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{
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if (IsLiftInSensor || IsLiftInCompleteSensor)
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{
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if (IsLiftInSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Conveyor Empty Home can't run.", "Lift in sensor is detected.");
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}
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if (IsLiftInCompleteSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Conveyor Empty Home can't run.", "Lift in complete sensor is detected.");
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}
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}
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else
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{
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_homeStep = ConveyorHomeStep.S2000_POSITION_CLEAR;
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}
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break;
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}
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case ConveyorHomeStep.S2000_POSITION_CLEAR:
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{
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if (MotorX.Position_Clear())
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{
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_homeStep = ConveyorHomeStep.S9999_END;
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}
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break;
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}
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case ConveyorHomeStep.S9999_END:
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{
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isHomeComplete = true;
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_homeStep = ConveyorHomeStep.S0000_WAIT;
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break;
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}
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}
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}
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private void AgvLoading()
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{
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switch (Step)
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{
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case ConveyorInSteps.S0100_AGV_LOADING_START:
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{
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Step = ConveyorInSteps.S0110_EQP_LOAD_ENABLE_ON;
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break;
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}
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case ConveyorInSteps.S0110_EQP_LOAD_ENABLE_ON:
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{
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equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD, true);
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Step = ConveyorInSteps.S0120_EQP_LOAD_ENABLE_ON_CHECK;
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break;
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}
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case ConveyorInSteps.S0120_EQP_LOAD_ENABLE_ON_CHECK:
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{
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if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD))
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{
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Step = ConveyorInSteps.S0130_AGV_LOAD_STATUS_ON_CHECK;
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}
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else
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{
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Step = ConveyorInSteps.S0110_EQP_LOAD_ENABLE_ON;
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}
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break;
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}
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case ConveyorInSteps.S0130_AGV_LOAD_STATUS_ON_CHECK:
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{
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if (equipment.Mode.Agv_Skip)
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{
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equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD, false);
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Step = ConveyorInSteps.S0000_WAIT;
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}
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else
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{
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if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_ULD_Empty_Moving_Load_Status))
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{
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Step = ConveyorInSteps.S0140_EQP_LOAD_STATUS_ON;
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}
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}
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break;
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}
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case ConveyorInSteps.S0140_EQP_LOAD_STATUS_ON:
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{
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equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Moving_Load_Status, true);
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Step = ConveyorInSteps.S0150_EQP_LOAD_STATUS_ON_CHECK;
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break;
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}
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case ConveyorInSteps.S0150_EQP_LOAD_STATUS_ON_CHECK:
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{
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if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_ULD_Empty_Moving_Load_Status))
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{
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Step = ConveyorInSteps.S0160_AGV_LOAD_ENABLE_ON_STOP_REQUEST_OFF_CHECK;
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}
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else
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{
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Step = ConveyorInSteps.S0140_EQP_LOAD_STATUS_ON;
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}
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break;
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}
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case ConveyorInSteps.S0160_AGV_LOAD_ENABLE_ON_STOP_REQUEST_OFF_CHECK:
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{
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if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD))
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{
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Step = ConveyorInSteps.S0200_EQP_CONVEYOR_RUN_ON;
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}
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break;
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}
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case ConveyorInSteps.S0200_EQP_CONVEYOR_RUN_ON:
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{
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equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Conveyor_In_Operation, true);
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Step = ConveyorInSteps.S0210_EQP_CONVEYOR_RUN_ON_CHECK;
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break;
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}
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case ConveyorInSteps.S0210_EQP_CONVEYOR_RUN_ON_CHECK:
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{
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if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_ULD_Empty_Conveyor_In_Operation))
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{
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JogNegative();
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Step = ConveyorInSteps.S0220_EQP_LOAD_ENABLE_OFF;
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}
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else
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{
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Step = ConveyorInSteps.S0200_EQP_CONVEYOR_RUN_ON;
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}
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break;
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}
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case ConveyorInSteps.S0220_EQP_LOAD_ENABLE_OFF:
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{
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equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD, false);
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Step = ConveyorInSteps.S0230_EQP_LOAD_ENABLE_OFF_CHECK;
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break;
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}
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case ConveyorInSteps.S0230_EQP_LOAD_ENABLE_OFF_CHECK:
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{
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if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_ULD_Empty_Conveyor_In_Operation))
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{
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Step = ConveyorInSteps.S0240_AGV_CONVEYOR_RUN_ON_CHECK;
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}
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else
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{
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Step = ConveyorInSteps.S0220_EQP_LOAD_ENABLE_OFF;
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}
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break;
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}
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case ConveyorInSteps.S0240_AGV_CONVEYOR_RUN_ON_CHECK:
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{
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if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_ULD_Empty_Conveyor_In_Operation))
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{
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Step = ConveyorInSteps.S0250_CONVEYOR_RUN;
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}
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break;
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}
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case ConveyorInSteps.S0250_CONVEYOR_RUN:
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{
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Step = ConveyorInSteps.S0300_CONVEYOR_COMPLETE_SENSOR_ON_CHECK;
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break;
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}
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case ConveyorInSteps.S0300_CONVEYOR_COMPLETE_SENSOR_ON_CHECK:
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{
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if (IsConveyorInCompleteSensor)
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{
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Step = ConveyorInSteps.S0310_CONVEYOR_STOP;
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}
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break;
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}
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case ConveyorInSteps.S0310_CONVEYOR_STOP:
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{
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if (Stop())
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{
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Step = ConveyorInSteps.S0320_CONVEYOR_STOP_CHECK;
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}
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break;
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}
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case ConveyorInSteps.S0320_CONVEYOR_STOP_CHECK:
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{
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if (MotorX.MotionComplete)
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{
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Step = ConveyorInSteps.S0330_EQP_CONVEYOR_RUN_OFF;
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}
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else
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{
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Step = ConveyorInSteps.S0310_CONVEYOR_STOP;
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}
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break;
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}
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case ConveyorInSteps.S0330_EQP_CONVEYOR_RUN_OFF:
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{
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equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Conveyor_In_Operation, false);
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Step = ConveyorInSteps.S0340_EQP_CONVEYOR_RUN_OFF_CHECK;
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break;
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}
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case ConveyorInSteps.S0340_EQP_CONVEYOR_RUN_OFF_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_ULD_Empty_Conveyor_In_Operation) == false)
|
{
|
Step = ConveyorInSteps.S0350_EQP_LOAD_STATUS_OFF;
|
}
|
else
|
{
|
Step = ConveyorInSteps.S0330_EQP_CONVEYOR_RUN_OFF;
|
}
|
break;
|
}
|
case ConveyorInSteps.S0350_EQP_LOAD_STATUS_OFF:
|
{
|
equipment.Board_Control.IO_manager.Set_Output(OutputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD, false);
|
Step = ConveyorInSteps.S0360_EQP_LOAD_STATUS_OFF_CHECK;
|
break;
|
}
|
case ConveyorInSteps.S0360_EQP_LOAD_STATUS_OFF_CHECK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Output(OutputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD) == false)
|
{
|
Step = ConveyorInSteps.S0370_AGV_CONVEYOR_OFF_LOAD_STATUS_OFF_LOAD_ENABLE_OFF_CEHCK;
|
}
|
else
|
{
|
Step = ConveyorInSteps.S0350_EQP_LOAD_STATUS_OFF;
|
}
|
break;
|
}
|
case ConveyorInSteps.S0370_AGV_CONVEYOR_OFF_LOAD_STATUS_OFF_LOAD_ENABLE_OFF_CEHCK:
|
{
|
if (equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_ULD_Empty_Conveyor_In_Operation) == false
|
&& equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_ULD_Empty_Request_For_Transfer_LD_ULD) == false
|
&& equipment.Board_Control.IO_manager.Get_Input(InputData.AGV_ULD_Empty_Moving_Load_Status) == false)
|
{
|
Step = ConveyorInSteps.S0999_AGV_LOADING_END;
|
}
|
break;
|
}
|
case ConveyorInSteps.S0999_AGV_LOADING_END:
|
{
|
Step = ConveyorInSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void LoadingTray()
|
{
|
switch (Step)
|
{
|
case ConveyorInSteps.S1000_TRAY_LOADING_START:
|
{
|
Step = ConveyorInSteps.S1100_LIFT_POSITION_STAY_CHECK;
|
break;
|
}
|
case ConveyorInSteps.S1100_LIFT_POSITION_STAY_CHECK:
|
{
|
if (equipment.unloader.LiftIn.IsStayPosition)
|
{
|
Step = ConveyorInSteps.S1110_CONVEYOR_IN_SENSOR_CHECK;
|
}
|
break;
|
}
|
case ConveyorInSteps.S1110_CONVEYOR_IN_SENSOR_CHECK:
|
{
|
if (IsConveyorInSensor || IsConveyorInCompleteSensor)
|
{
|
Step = ConveyorInSteps.S1120_LIFT_IN_SENSOR_CHECK;
|
}
|
else
|
{
|
if(sequenceChangedTime.Seconds > 10)
|
{
|
sequenceChangedTime.Start();
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0912_ULD_TRAY_EMPTY_IS_EMPTY);
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1120_LIFT_IN_SENSOR_CHECK:
|
{
|
if (IsLiftInSensor || IsLiftInCompleteSensor)
|
{
|
if (IsLiftInSensor)
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0702_ULD_TRAY_EMPTY_CONVEYOR_LIFT_IN_SENSOR_CHECK);
|
|
if (IsLiftInCompleteSensor)
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0703_ULD_TRAY_EMPTY_CONVEYOR_LIFT_IN_COMPLETE_SENSOR_CHECK);
|
}
|
else
|
{
|
Step = ConveyorInSteps.S1130_ALIGN_X_BWD;
|
}
|
break;
|
}
|
case ConveyorInSteps.S1130_ALIGN_X_BWD:
|
{
|
if (AlignerX.IsWorkEnd)
|
{
|
if (AlignerX.IsBackward)
|
{
|
Step = ConveyorInSteps.S1140_ALIGN_Y_FWD;
|
}
|
else
|
{
|
AlignerX.Backward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1140_ALIGN_Y_FWD:
|
{
|
if (AlignerY.IsWorkEnd)
|
{
|
if (AlignerY.IsForward)
|
{
|
Step = ConveyorInSteps.S1200_CONVEYOR_MOVE_IN;
|
}
|
else
|
{
|
AlignerY.Forward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1200_CONVEYOR_MOVE_IN:
|
{
|
if (equipment.sm.Get_Bit(Input_Memory_Address.UnLoading_Light_Curtain_Det))
|
{
|
if (JogPositive())
|
{
|
Step = ConveyorInSteps.S1210_LIFT_IN_SENSOR_CHECK;
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1210_LIFT_IN_SENSOR_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (!(Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0053_ULD_LIGHT_CURTAIN_ALARM)))
|
{
|
JogPositive();
|
}
|
}
|
else
|
{
|
if (IsLiftInSensor)
|
{
|
Step = ConveyorInSteps.S1220_LIFT_COMPLETE_SENSOR_CHECK;
|
}
|
if (sequenceChangedTime.Seconds > equipment.Setting.Conveyor_Timeout)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0872_ULD_TRAY_EMPTY_CONVEYOR_TIMEOUT);
|
Step = ConveyorInSteps.S1230_CONVEYOR_STOP;
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1220_LIFT_COMPLETE_SENSOR_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (!(Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0053_ULD_LIGHT_CURTAIN_ALARM)))
|
{
|
JogPositive();
|
}
|
}
|
else
|
{
|
if (IsLiftInCompleteSensor)
|
{
|
Step = ConveyorInSteps.S1230_CONVEYOR_STOP;
|
}
|
else if (sequenceChangedTime.Seconds > equipment.Setting.Conveyor_Timeout)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0872_ULD_TRAY_EMPTY_CONVEYOR_TIMEOUT);
|
Step = ConveyorInSteps.S1230_CONVEYOR_STOP;
|
}
|
}
|
|
break;
|
}
|
case ConveyorInSteps.S1230_CONVEYOR_STOP:
|
{
|
if (Stop())
|
{
|
Step = ConveyorInSteps.S1300_ALIGN_X_FWD;
|
}
|
break;
|
}
|
case ConveyorInSteps.S1300_ALIGN_X_FWD:
|
{
|
if (AlignerX.IsWorkEnd)
|
{
|
if (AlignerX.IsForward)
|
{
|
Step = ConveyorInSteps.S1320_ALIGN_Y_BWD;
|
}
|
else
|
{
|
AlignerX.Forward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1320_ALIGN_Y_BWD:
|
{
|
if (AlignerY.IsWorkEnd)
|
{
|
if (AlignerY.IsBackward)
|
{
|
Step = ConveyorInSteps.S1340_WAIT_TIME;
|
}
|
else
|
{
|
AlignerY.Backward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1340_WAIT_TIME:
|
{
|
if (sequenceChangedTime.Seconds > 2)
|
{
|
Step = ConveyorInSteps.S1400_ALIGN_Y_FWD;
|
}
|
break;
|
}
|
case ConveyorInSteps.S1400_ALIGN_Y_FWD:
|
{
|
if (AlignerY.IsWorkEnd)
|
{
|
if (AlignerY.IsForward)
|
{
|
Step = ConveyorInSteps.S1420_ALIGN_X_BWD;
|
}
|
else
|
{
|
AlignerY.Forward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1420_ALIGN_X_BWD:
|
{
|
if (AlignerX.IsWorkEnd)
|
{
|
if (AlignerX.IsBackward)
|
{
|
Step = ConveyorInSteps.S1999_TRAY_LOADING_END;
|
}
|
else
|
{
|
AlignerX.Backward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S1999_TRAY_LOADING_END:
|
{
|
if (IsLiftInSensor || IsLiftInCompleteSensor)
|
{
|
equipment.unloader.LiftIn.IsFirstTray = true;
|
equipment.sm.Set_Value(Process_Memory_Address.ULD_Tray_Empty_Count, equipment.Cur_Main_Recipe.tray_info.ULD_Tray_Empty_Tray_Count);
|
}
|
|
Step = ConveyorInSteps.S0000_WAIT;
|
|
break;
|
}
|
}
|
}
|
|
public void UnloadingTray()
|
{
|
switch (Step)
|
{
|
case ConveyorInSteps.S2000_TRAY_UNLOADING_START:
|
{
|
Step = ConveyorInSteps.S2100_LIFT_POSITION_STAY_CHECK;
|
break;
|
}
|
case ConveyorInSteps.S2100_LIFT_POSITION_STAY_CHECK:
|
{
|
if (equipment.unloader.LiftIn.IsStayPosition)
|
{
|
Step = ConveyorInSteps.S2110_LIFT_SENSOR_CHECK;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2110_LIFT_SENSOR_CHECK:
|
{
|
if (IsLiftInSensor || IsLiftInCompleteSensor)
|
{
|
Step = ConveyorInSteps.S2120_CONVEYOR_SENSOR_CHECK;
|
}
|
else
|
{
|
Step = ConveyorInSteps.S2330_CONVEYOR_STOP;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2120_CONVEYOR_SENSOR_CHECK:
|
{
|
if (IsConveyorInSensor || IsConveyorInCompleteSensor)
|
{
|
if (IsConveyorInSensor)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0700_ULD_TRAY_EMPTY_CONVEYOR_IN_SENSOR_CHECK);
|
}
|
|
if (IsConveyorInCompleteSensor)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0701_ULD_TRAY_EMPTY_CONVEYOR_IN_COMPLETE_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = ConveyorInSteps.S2200_ALIGN_X_FWD;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2200_ALIGN_X_FWD:
|
{
|
if (AlignerX.IsWorkEnd)
|
{
|
if (AlignerX.IsForward)
|
{
|
Step = ConveyorInSteps.S2220_ALIGN_Y_BWD;
|
}
|
else
|
{
|
AlignerX.Forward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S2220_ALIGN_Y_BWD:
|
{
|
if (AlignerY.IsWorkEnd)
|
{
|
if (AlignerY.IsBackward)
|
{
|
Step = ConveyorInSteps.S2240_WAIT_TIME;
|
}
|
else
|
{
|
AlignerY.Backward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S2240_WAIT_TIME:
|
{
|
if (sequenceChangedTime.Seconds > 2)
|
{
|
Step = ConveyorInSteps.S2250_ALIGN_Y_FWD;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2250_ALIGN_Y_FWD:
|
{
|
if (AlignerY.IsWorkEnd)
|
{
|
if (AlignerY.IsForward)
|
{
|
Step = ConveyorInSteps.S2270_ALIGN_X_BWD;
|
}
|
else
|
{
|
AlignerY.Forward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S2270_ALIGN_X_BWD:
|
{
|
if (AlignerX.IsWorkEnd)
|
{
|
if (AlignerX.IsBackward)
|
{
|
Step = ConveyorInSteps.S2300_CONVEYOR_MOVE_OUT;
|
}
|
else
|
{
|
AlignerX.Backward();
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S2300_CONVEYOR_MOVE_OUT:
|
{
|
if (JogNegative())
|
{
|
Step = ConveyorInSteps.S2310_CONVEYOR_IN_COMPLETE_SENSOR_CHECK;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2310_CONVEYOR_IN_COMPLETE_SENSOR_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (!(Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0053_ULD_LIGHT_CURTAIN_ALARM)))
|
{
|
JogNegative();
|
}
|
}
|
else
|
{
|
if (IsConveyorInCompleteSensor || IsConveyorInSensor)
|
{
|
Step = ConveyorInSteps.S2320_CONVEYOR_IN_SENSOR_CHECK;
|
}
|
else if (sequenceChangedTime.Seconds > equipment.Setting.Conveyor_Timeout)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0872_ULD_TRAY_EMPTY_CONVEYOR_TIMEOUT);
|
Step = ConveyorInSteps.S2330_CONVEYOR_STOP;
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S2320_CONVEYOR_IN_SENSOR_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (!(Alarm_Manager.Instance.Occured_List.Exists(X => X.Heavy == true) || Alarm_Manager.Instance.Occured_List.Exists(X => X.Code == En_Alarm_List.AL_0053_ULD_LIGHT_CURTAIN_ALARM)))
|
{
|
JogNegative();
|
}
|
}
|
else
|
{
|
if (IsConveyorInSensor || (IsConveyorInCompleteSensor == false && IsConveyorInSensor == false && IsLiftInSensor == false && IsLiftInCompleteSensor == false))
|
{
|
Step = ConveyorInSteps.S2330_CONVEYOR_STOP;
|
}
|
else if (sequenceChangedTime.Seconds > equipment.Setting.Conveyor_Timeout)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0872_ULD_TRAY_EMPTY_CONVEYOR_TIMEOUT);
|
Step = ConveyorInSteps.S2330_CONVEYOR_STOP;
|
}
|
}
|
break;
|
}
|
case ConveyorInSteps.S2330_CONVEYOR_STOP:
|
{
|
if (Stop())
|
{
|
Step = ConveyorInSteps.S2340_CONVEYOR_STOP_CHECK;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2340_CONVEYOR_STOP_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
Step = ConveyorInSteps.S2999_TRAY_UNLOADING_END;
|
}
|
else
|
{
|
Step = ConveyorInSteps.S2330_CONVEYOR_STOP;
|
}
|
break;
|
}
|
case ConveyorInSteps.S2999_TRAY_UNLOADING_END:
|
{
|
Step = ConveyorInSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void Load()
|
{
|
Step = ConveyorInSteps.S1000_TRAY_LOADING_START;
|
}
|
|
public void Unload()
|
{
|
Step = ConveyorInSteps.S2000_TRAY_UNLOADING_START;
|
}
|
#endregion
|
}
|
}
|
