using System;
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namespace SHARP_CLAS_UI
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{
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public class UnloaderTrayTransfer : TrayTransfer
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{
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#region Enum
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#endregion
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#region Property
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public bool is_Tray_Pick_Enable
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{
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get
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{
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if (Step != TrayTransferSteps.S0000_WAIT) return false;
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if (!IsStayPosition) return false;
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if (Get_Vacuum_Check()) return false;
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return true;
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}
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}
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public bool is_Tray_Place_Enable
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{
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get
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{
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if (Step != TrayTransferSteps.S0000_WAIT) return false;
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if (!IsStayPosition) return false;
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if (!Get_Vacuum_Check()) return false;
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return true;
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}
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}
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public TrayTransferSteps 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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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 == TrayTransferSteps.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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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_Empty_Position, out value);
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var position = double.Parse($"{value}");
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return MotorX.Is_Inposition(position, equipment.Setting.Inposition_Offset);
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}
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}
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public bool isLiftNgPosition
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{
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get
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{
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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_NG_Position, out value);
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var position = double.Parse($"{value}");
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return MotorX.Is_Inposition(position, equipment.Setting.Inposition_Offset);
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}
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}
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public bool isLiftOkPosition
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{
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get
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{
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object value;
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equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_OK_Position, out value);
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var position = double.Parse($"{value}");
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return MotorX.Is_Inposition(position, equipment.Setting.Inposition_Offset);
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}
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}
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#endregion
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#region Field
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private TrayTransferSteps _step;
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private TrayTransferSteps _oldStep;
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private TrayTransferHomeSteps _homeStep;
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private SequenceTimer _tactTime = new SequenceTimer();
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#endregion
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#region Construct
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public UnloaderTrayTransfer(Equipment equipment) : base(equipment, MotorAxis.ULD_Tray_TR_X, "UnloaderTrayTransfer")
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{
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Step = TrayTransferSteps.S0000_WAIT;
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_oldStep = TrayTransferSteps.S0000_WAIT;
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Picker.Initialize(OutputData.ULD_Tray_TR_Down, InputData.ULD_Tray_Transfer_Up_Sensor, InputData.ULD_Tray_Transfer_Down_Sensor, En_Alarm_List.AL_0810_ULD_TRAY_TR_UP_SENSOR_CHECK, En_Alarm_List.AL_0811_ULD_TRAY_TR_DOWN_SENSOR_CHECK,
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OutputData.ULD_Tray_Transfer_Vaccum_On_Sol_Valve, OutputData.ULD_Tray_Transfer_Blow_On_Sol_Valve, InputData.ULD_Tray_Transfer_Vaccum_On_Check, En_Alarm_List.AL_0812_ULD_TRAY_TR_VACUUM_ON_CHECK);
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pauseDisableList.Add(TrayTransferSteps.S1205_MOVE_STAY_POSITION_CHECK);
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pauseDisableList.Add(TrayTransferSteps.S2205_MOVE_PICK_POSITION_CHECK);
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pauseDisableList.Add(TrayTransferSteps.S3205_MOVE_PLACE_POSITION_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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MotorX.Check_Home_Interlock = Home_Interlock;
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_tactTime.Reset();
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}
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#endregion
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#region Function
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private bool Home_Interlock()
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{
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if (Get_Picker_Down_Sensor_Check())
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Tray Tr", "Picker is Down, Can't Move.");
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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 Move_Interlock()
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{
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if (Picker.IsDownSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Tray Tr", "Picker is Down, Can't Move.");
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return true;
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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 (Picker.IsDownSensor)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Tray Tr", "Picker is Down, Can't Move.");
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return true;
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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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Step = TrayTransferSteps.S0000_WAIT;
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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}
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public void ExecuteAuto()
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{
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if (IsWorkEnd)
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{
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if(IsStayPosition == false)
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{
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Step = TrayTransferSteps.S1000_MOVE_STAY_POSITION_START;
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}
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else
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{
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if (Picker.IsVacuumSensor)
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{
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if (equipment.unloader.LiftOk.Step != LiftOutSteps.S1520_TRAY_ID_READ_WAIT && equipment.unloader.LiftNg.Step != LiftOutSteps.S1520_TRAY_ID_READ_WAIT)
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{
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if (equipment.unloader.LiftOk.Step == LiftOutSteps.S1400_TRAY_TRANSFER_PLACE_WAIT)
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{
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Step = TrayTransferSteps.S3000_PLACE_TRAY_START;
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}
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if (equipment.unloader.LiftNg.Step == LiftOutSteps.S1400_TRAY_TRANSFER_PLACE_WAIT)
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{
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Step = TrayTransferSteps.S4000_PLACE_TRAY_START;
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}
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}
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}
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else
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{
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if (equipment.unloader.LiftIn.is_Tray_Place_Enable)
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{
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Step = TrayTransferSteps.S2000_PICK_TRAY_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 (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
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{
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if (IsWorkEnd)
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{
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if (Get_Vacuum_On_Check() && !Get_Vacuum_Check())
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0812_ULD_TRAY_TR_VACUUM_ON_CHECK);
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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.Start();
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_oldStep = Step;
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WriteSequenceLog(Step.ToString());
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}
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Picker.ExecuteProcess();
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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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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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{
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ExecuteAuto();
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}
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MoveStay();
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PickTray();
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PlaceTrayOk();
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PlaceTrayNg();
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}
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}
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public void ExecuteHome()
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{
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switch(_homeStep)
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{
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case TrayTransferHomeSteps.S0000_WAIT:
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{
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_homeStep = TrayTransferHomeSteps.S1000_STATUS_CHECK;
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break;
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}
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case TrayTransferHomeSteps.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_0481_ULD_TRAY_TR_X_ERROR_STOP);
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}
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else if (MotorX.PowerOn == false)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0480_ULD_TRAY_TR_X_POWER_OFF);
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}
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else if (Picker.IsUp == false)
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Tray TR Home can't run.", "Picker is Down.");
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}
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else
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{
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_homeStep = TrayTransferHomeSteps.S1100_LIFT_LIMIT_SENSOR_CHECK;
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}
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break;
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}
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case TrayTransferHomeSteps.S1100_LIFT_LIMIT_SENSOR_CHECK:
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{
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if (equipment.unloader.LiftIn.IsLiftLimitSensor1 || equipment.unloader.LiftIn.IsLiftLimitSensor2 || equipment.unloader.LiftOk.IsLiftLimitSensor1 || equipment.unloader.LiftOk.IsLiftLimitSensor2
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|| equipment.unloader.LiftNg.IsLiftLimitSensor1 || equipment.unloader.LiftNg.IsLiftLimitSensor2)
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{
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if (equipment.unloader.LiftIn.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0713_ULD_TRAY_EMPTY_LIFT_UP_1_1_SENSOR_CHECK);
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}
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if (equipment.unloader.LiftIn.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0714_ULD_TRAY_EMPTY_LIFT_UP_1_2_SENSOR_CHECK);
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}
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if (equipment.unloader.LiftOk.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0753_ULD_TRAY_OK_LIFT_UP_1_1_SENSOR_CHECK);
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}
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if (equipment.unloader.LiftOk.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0754_ULD_TRAY_OK_LIFT_UP_1_2_SENSOR_CHECK);
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}
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if (equipment.unloader.LiftNg.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0780_ULD_TRAY_NG_LIFT_UP_1_1_SENSOR_CHECK);
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}
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if (equipment.unloader.LiftNg.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0781_ULD_TRAY_NG_LIFT_UP_1_2_SENSOR_CHECK);
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}
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}
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else
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{
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_homeStep = TrayTransferHomeSteps.S2000_X_HOME_START;
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}
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break;
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}
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case TrayTransferHomeSteps.S2000_X_HOME_START:
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{
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if (MotorX.Home())
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{
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homeCheckedTime.Restart();
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_homeStep = TrayTransferHomeSteps.S2100_X_HOME_CHECK;
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}
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break;
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}
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case TrayTransferHomeSteps.S2100_X_HOME_CHECK:
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{
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if (homeCheckedTime.Seconds < 1) return;
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if (!MotorX.IsHomed)
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{
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if (MotorX.Homing == false && MotorX.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0481_ULD_TRAY_TR_X_ERROR_STOP);
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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}
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}
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else
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{
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_homeStep = TrayTransferHomeSteps.S3000_MOVE_STAY_POSITION;
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}
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break;
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}
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case TrayTransferHomeSteps.S3000_MOVE_STAY_POSITION:
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{
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if (MoveLiftInPosition())
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{
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homeCheckedTime.Restart();
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_homeStep = TrayTransferHomeSteps.S3100_POSITION_CHECK;
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}
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break;
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}
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case TrayTransferHomeSteps.S3100_POSITION_CHECK:
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{
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if (homeCheckedTime.Seconds < 1) return;
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if (MotorX.ErrorStop)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0481_ULD_TRAY_TR_X_ERROR_STOP);
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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}
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else if (MotorX.MotionComplete)
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{
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if (IsStayPosition)
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{
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_homeStep = TrayTransferHomeSteps.S9999_END;
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}
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else
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{
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Interlock_Manager.Add_Interlock_Msg("ULD Tray TR Home can't run.", "Position is not empty.");
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
|
}
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}
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break;
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}
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case TrayTransferHomeSteps.S9999_END:
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{
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isHomeComplete = true;
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_homeStep = TrayTransferHomeSteps.S0000_WAIT;
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break;
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}
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}
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}
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public void MoveStay()
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{
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switch (Step)
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{
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case TrayTransferSteps.S1000_MOVE_STAY_POSITION_START:
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{
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_tactTime.Restart();
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Step = TrayTransferSteps.S1100_PICKER_UP;
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break;
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}
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case TrayTransferSteps.S1100_PICKER_UP:
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{
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if (Picker.IsWorkEnd)
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{
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if (Picker.IsUp)
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{
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Step = TrayTransferSteps.S1110_LIFT_LIMIT_SENSOR_CHECK;
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}
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else
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{
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Picker.Up();
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}
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}
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break;
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}
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case TrayTransferSteps.S1110_LIFT_LIMIT_SENSOR_CHECK:
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{
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if (equipment.unloader.LiftIn.IsLiftLimitSensor1 || equipment.unloader.LiftIn.IsLiftLimitSensor2 || equipment.unloader.LiftOk.IsLiftLimitSensor1 || equipment.unloader.LiftOk.IsLiftLimitSensor2
|
|| equipment.unloader.LiftNg.IsLiftLimitSensor1 || equipment.unloader.LiftNg.IsLiftLimitSensor2)
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{
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if (equipment.unloader.LiftIn.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0713_ULD_TRAY_EMPTY_LIFT_UP_1_1_SENSOR_CHECK);
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}
|
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if (equipment.unloader.LiftIn.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0714_ULD_TRAY_EMPTY_LIFT_UP_1_2_SENSOR_CHECK);
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}
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if (equipment.unloader.LiftOk.IsLiftLimitSensor1)
|
{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0753_ULD_TRAY_OK_LIFT_UP_1_1_SENSOR_CHECK);
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}
|
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if (equipment.unloader.LiftOk.IsLiftLimitSensor2)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0754_ULD_TRAY_OK_LIFT_UP_1_2_SENSOR_CHECK);
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}
|
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if (equipment.unloader.LiftNg.IsLiftLimitSensor1)
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{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0780_ULD_TRAY_NG_LIFT_UP_1_1_SENSOR_CHECK);
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}
|
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if (equipment.unloader.LiftNg.IsLiftLimitSensor2)
|
{
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Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0781_ULD_TRAY_NG_LIFT_UP_1_2_SENSOR_CHECK);
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}
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}
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else
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{
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Step = TrayTransferSteps.S1200_MOVE_STAY_POSITION;
|
}
|
break;
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}
|
case TrayTransferSteps.S1200_MOVE_STAY_POSITION:
|
{
|
if (MoveLiftInPosition())
|
{
|
Step = TrayTransferSteps.S1205_MOVE_STAY_POSITION_CHECK;
|
}
|
break;
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}
|
case TrayTransferSteps.S1205_MOVE_STAY_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (IsStayPosition)
|
{
|
Step = TrayTransferSteps.S1999_MOVE_STAY_POSITION_END;
|
}
|
else
|
{
|
Step = TrayTransferSteps.S1200_MOVE_STAY_POSITION;
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S1999_MOVE_STAY_POSITION_END:
|
{
|
_tactTime.Stop();
|
Step = TrayTransferSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void PickTray()
|
{
|
switch(Step)
|
{
|
case TrayTransferSteps.S2000_PICK_TRAY_START:
|
{
|
_tactTime.Restart();
|
Step = TrayTransferSteps.S2100_PICKER_UP;
|
break;
|
}
|
case TrayTransferSteps.S2100_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S2110_LIFT_LIMIT_SENSOR_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2110_LIFT_LIMIT_SENSOR_CHECK:
|
{
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor1 || equipment.unloader.LiftIn.IsLiftLimitSensor2)
|
{
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0713_ULD_TRAY_EMPTY_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0714_ULD_TRAY_EMPTY_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = TrayTransferSteps.S2120_HANDLER_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S2120_HANDLER_POSITION_CHECK:
|
{
|
double position = equipment.unloader.Handler1.Get_Position_Y_Stay();
|
|
if (position <= equipment.unloader.Handler1.MotorY.Position || equipment.unloader.Handler1.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
{
|
Step = TrayTransferSteps.S2130_LIFT_IN_SENSOR_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S2130_LIFT_IN_SENSOR_CHECK:
|
{
|
if (equipment.unloader.LiftIn.IsLiftInSensor1 && equipment.unloader.LiftIn.IsLiftInSensor2)
|
{
|
Step = TrayTransferSteps.S2200_MOVE_PICK_POSITION;
|
}
|
else
|
{
|
if (equipment.unloader.LiftIn.IsLiftInSensor1 == false)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0715_ULD_TRAY_EMPTY_LIFT_UP_2_1_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftIn.IsLiftInSensor2 == false)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0716_ULD_TRAY_EMPTY_LIFT_UP_2_2_SENSOR_CHECK);
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2200_MOVE_PICK_POSITION:
|
{
|
if (MoveLiftInPosition())
|
{
|
Step = TrayTransferSteps.S2205_MOVE_PICK_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S2205_MOVE_PICK_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (IsStayPosition)
|
{
|
Step = TrayTransferSteps.S2300_PICKER_DOWN;
|
}
|
else
|
{
|
Step = TrayTransferSteps.S2200_MOVE_PICK_POSITION;
|
}
|
}
|
|
break;
|
}
|
case TrayTransferSteps.S2300_PICKER_DOWN:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsDown)
|
{
|
Step = TrayTransferSteps.S2310_VACUUM_ON;
|
}
|
else
|
{
|
Picker.Down();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2310_VACUUM_ON:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsVacuumSensor)
|
{
|
Step = TrayTransferSteps.S2320_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Picker.VacuumOn();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2320_ALIGN_TOP_BACKWARD:
|
{
|
if (equipment.unloader.LiftIn.AlignerTop.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftIn.AlignerTop.IsBackward)
|
{
|
Step = TrayTransferSteps.S2330_STACKER_BACKWARD;
|
}
|
else
|
{
|
equipment.unloader.LiftIn.AlignerTop.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2330_STACKER_BACKWARD:
|
{
|
if (equipment.unloader.LiftIn.Stacker.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftIn.Stacker.IsBackward)
|
{
|
Step = TrayTransferSteps.S2340_UNCLAMP;
|
}
|
else
|
{
|
equipment.unloader.LiftIn.Stacker.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2340_UNCLAMP:
|
{
|
if (equipment.unloader.LiftIn.Clamper.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftIn.Clamper.IsUnclamp)
|
{
|
Step = TrayTransferSteps.S2350_PICKER_UP;
|
}
|
else
|
{
|
equipment.unloader.LiftIn.Clamper.Unclamp();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2350_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S2360_VACUUM_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S2360_VACUUM_CHECK:
|
{
|
if (Picker.IsVacuumSensor)
|
{
|
Step = TrayTransferSteps.S2370_TRAY_COUNT_SET;
|
}
|
else
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0812_ULD_TRAY_TR_VACUUM_ON_CHECK);
|
}
|
break;
|
}
|
case TrayTransferSteps.S2370_TRAY_COUNT_SET:
|
{
|
if (equipment.unloader.LiftIn.IsFirstTray)
|
{
|
equipment.unloader.LiftIn.IsFirstTray = false;
|
}
|
|
equipment.UnloaderInTrayCount = equipment.UnloaderInTrayCount - 1;
|
|
Step = TrayTransferSteps.S2999_PICK_TRAY_END;
|
break;
|
}
|
case TrayTransferSteps.S2999_PICK_TRAY_END:
|
{
|
_tactTime.Stop();
|
Step = TrayTransferSteps.S0000_WAIT;
|
break;
|
}
|
}
|
}
|
|
public void PlaceTrayOk()
|
{
|
switch (Step)
|
{
|
case TrayTransferSteps.S3000_PLACE_TRAY_START:
|
{
|
_tactTime.Start();
|
Step = TrayTransferSteps.S3100_PICKER_UP;
|
break;
|
}
|
case TrayTransferSteps.S3100_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S3110_LIFT_LIMIT_SENSOR_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3110_LIFT_LIMIT_SENSOR_CHECK:
|
{
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor1 || equipment.unloader.LiftIn.IsLiftLimitSensor2
|
|| equipment.unloader.LiftOk.IsLiftLimitSensor1 || equipment.unloader.LiftOk.IsLiftLimitSensor2)
|
{
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0713_ULD_TRAY_EMPTY_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0714_ULD_TRAY_EMPTY_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftOk.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0753_ULD_TRAY_OK_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftOk.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0754_ULD_TRAY_OK_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = TrayTransferSteps.S3120_HANDLER_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S3120_HANDLER_POSITION_CHECK:
|
{
|
double position = equipment.unloader.Handler1.Get_Position_Y_Stay();
|
|
if (position <= equipment.unloader.Handler1.MotorY.Position || equipment.unloader.Handler1.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
{
|
Step = TrayTransferSteps.S3200_MOVE_PLACE_POSITION;
|
}
|
break;
|
}
|
case TrayTransferSteps.S3200_MOVE_PLACE_POSITION:
|
{
|
if (MoveLiftOkPosition())
|
{
|
Step = TrayTransferSteps.S3205_MOVE_PLACE_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S3205_MOVE_PLACE_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (isLiftOkPosition)
|
{
|
Step = TrayTransferSteps.s3300_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Step = TrayTransferSteps.S3200_MOVE_PLACE_POSITION;
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.s3300_ALIGN_TOP_BACKWARD:
|
{
|
if (equipment.unloader.LiftOk.AlignerTop.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftOk.AlignerTop.IsBackward)
|
{
|
Step = TrayTransferSteps.s3310_STACKER_BACKWARD;
|
}
|
else
|
{
|
equipment.unloader.LiftOk.AlignerTop.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.s3310_STACKER_BACKWARD:
|
{
|
if (equipment.unloader.LiftOk.Stacker.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftOk.Stacker.IsBackward)
|
{
|
Step = TrayTransferSteps.s3320_UNCLAMP;
|
}
|
else
|
{
|
equipment.unloader.LiftOk.Stacker.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.s3320_UNCLAMP:
|
{
|
if (equipment.unloader.LiftOk.Clamper.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftOk.Clamper.IsUnclamp)
|
{
|
Step = TrayTransferSteps.S3330_PICKER_DOWN;
|
}
|
else
|
{
|
equipment.unloader.LiftOk.Clamper.Unclamp();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3330_PICKER_DOWN:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsDown)
|
{
|
Step = TrayTransferSteps.S3340_VACUUM_OFF;
|
}
|
else
|
{
|
Picker.Down();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3340_VACUUM_OFF:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.VacuumSolOn == false)
|
{
|
Step = TrayTransferSteps.S3350_PICKER_UP;
|
}
|
else
|
{
|
Picker.VacuumOff();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3350_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S3360_VACUUM_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S3360_VACUUM_CHECK:
|
{
|
if (Picker.IsVacuumSensor == false)
|
{
|
Step = TrayTransferSteps.S3370_TRAY_COUNT_SET;
|
}
|
else
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0812_ULD_TRAY_TR_VACUUM_ON_CHECK);
|
}
|
break;
|
}
|
case TrayTransferSteps.S3370_TRAY_COUNT_SET:
|
{
|
equipment.UnloaderOkTrayCount = equipment.UnloaderOkTrayCount + 1;
|
Step = TrayTransferSteps.S3999_PLACE_TRAY_END;
|
break;
|
}
|
case TrayTransferSteps.S3999_PLACE_TRAY_END:
|
{
|
_tactTime.Stop();
|
Step = TrayTransferSteps.S1000_MOVE_STAY_POSITION_START;
|
break;
|
}
|
}
|
}
|
|
public void PlaceTrayNg()
|
{
|
switch (Step)
|
{
|
case TrayTransferSteps.S4000_PLACE_TRAY_START:
|
{
|
_tactTime.Start();
|
Step = TrayTransferSteps.S4100_PICKER_UP;
|
break;
|
}
|
case TrayTransferSteps.S4100_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S4110_LIFT_LIMIT_SENSOR_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4110_LIFT_LIMIT_SENSOR_CHECK:
|
{
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor1 || equipment.unloader.LiftIn.IsLiftLimitSensor2
|
|| equipment.unloader.LiftNg.IsLiftLimitSensor1 || equipment.unloader.LiftNg.IsLiftLimitSensor2)
|
{
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0713_ULD_TRAY_EMPTY_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftIn.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0714_ULD_TRAY_EMPTY_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftNg.IsLiftLimitSensor1)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0780_ULD_TRAY_NG_LIFT_UP_1_1_SENSOR_CHECK);
|
}
|
|
if (equipment.unloader.LiftNg.IsLiftLimitSensor2)
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0781_ULD_TRAY_NG_LIFT_UP_1_2_SENSOR_CHECK);
|
}
|
}
|
else
|
{
|
Step = TrayTransferSteps.S4120_HANDLER_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S4120_HANDLER_POSITION_CHECK:
|
{
|
double position = equipment.unloader.Handler1.Get_Position_Y_Stay();
|
|
if (position <= equipment.unloader.Handler1.MotorY.Position || equipment.unloader.Handler1.MotorY.Is_Inposition(position, equipment.Setting.Inposition_Offset))
|
{
|
Step = TrayTransferSteps.S4200_MOVE_PLACE_POSITION;
|
}
|
break;
|
}
|
case TrayTransferSteps.S4200_MOVE_PLACE_POSITION:
|
{
|
if (MoveLiftNgPosition())
|
{
|
Step = TrayTransferSteps.S4205_MOVE_PLACE_POSITION_CHECK;
|
}
|
break;
|
}
|
case TrayTransferSteps.S4205_MOVE_PLACE_POSITION_CHECK:
|
{
|
if (MotorX.MotionComplete)
|
{
|
if (isLiftNgPosition)
|
{
|
Step = TrayTransferSteps.S4300_ALIGN_TOP_BACKWARD;
|
}
|
else
|
{
|
Step = TrayTransferSteps.S4200_MOVE_PLACE_POSITION;
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4300_ALIGN_TOP_BACKWARD:
|
{
|
if (equipment.unloader.LiftNg.AlignerTop.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftNg.AlignerTop.IsBackward)
|
{
|
Step = TrayTransferSteps.S4310_STACKER_BACKWARD;
|
}
|
else
|
{
|
equipment.unloader.LiftNg.AlignerTop.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4310_STACKER_BACKWARD:
|
{
|
if (equipment.unloader.LiftNg.Stacker.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftNg.Stacker.IsBackward)
|
{
|
Step = TrayTransferSteps.S4320_UNCLAMP;
|
}
|
else
|
{
|
equipment.unloader.LiftNg.Stacker.Backward();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4320_UNCLAMP:
|
{
|
if (equipment.unloader.LiftNg.Clamper.IsWorkEnd)
|
{
|
if (equipment.unloader.LiftNg.Clamper.IsUnclamp)
|
{
|
Step = TrayTransferSteps.S4330_PICKER_DOWN;
|
}
|
else
|
{
|
equipment.unloader.LiftNg.Clamper.Unclamp();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4330_PICKER_DOWN:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsDown)
|
{
|
Step = TrayTransferSteps.S4340_VACUUM_OFF;
|
}
|
else
|
{
|
Picker.Down();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4340_VACUUM_OFF:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.VacuumSolOn == false)
|
{
|
Step = TrayTransferSteps.S4350_PICKER_UP;
|
}
|
else
|
{
|
Picker.VacuumOff();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4350_PICKER_UP:
|
{
|
if (Picker.IsWorkEnd)
|
{
|
if (Picker.IsUp)
|
{
|
Step = TrayTransferSteps.S4360_VACUUM_CHECK;
|
}
|
else
|
{
|
Picker.Up();
|
}
|
}
|
break;
|
}
|
case TrayTransferSteps.S4360_VACUUM_CHECK:
|
{
|
if (Picker.IsVacuumSensor == false)
|
{
|
Step = TrayTransferSteps.S4370_TRAY_COUNT_SET;
|
}
|
else
|
{
|
Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0812_ULD_TRAY_TR_VACUUM_ON_CHECK);
|
}
|
break;
|
}
|
case TrayTransferSteps.S4370_TRAY_COUNT_SET:
|
{
|
equipment.UnloaderNgTrayCount = equipment.UnloaderNgTrayCount + 1;
|
Step = TrayTransferSteps.S4999_PLACE_TRAY_END;
|
break;
|
}
|
case TrayTransferSteps.S4999_PLACE_TRAY_END:
|
{
|
_tactTime.Stop();
|
Step = TrayTransferSteps.S1000_MOVE_STAY_POSITION_START;
|
break;
|
}
|
}
|
}
|
|
public double Get_Current_Position_X_1()
|
{
|
|
double position;
|
|
position = double.Parse(MotorX.Position.ToString("F3"));
|
|
return position;
|
}
|
|
public bool Get_Vacuum_On_Check()
|
{
|
return equipment.sm.Get_Bit(Output_Memory_Address.ULD_Tray_Transfer_Vaccum_On_Sol_Valve);
|
}
|
|
public bool Get_Blow_On_Check()
|
{
|
return equipment.sm.Get_Bit(Output_Memory_Address.ULD_Tray_Transfer_Blow_On_Sol_Valve);
|
}
|
|
public bool Get_Vacuum_Check()
|
{
|
return equipment.sm.Get_Bit(Input_Memory_Address.ULD_Tray_Transfer_Vaccum_On_Check);
|
}
|
|
public bool Get_Picker_Down_On_Check()
|
{
|
return equipment.sm.Get_Bit(Output_Memory_Address.ULD_Tray_TR_Down);
|
}
|
|
public bool Get_Picker_Down_Sensor_Check()
|
{
|
return equipment.sm.Get_Bit(Input_Memory_Address.ULD_Tray_Transfer_Down_Sensor);
|
}
|
|
public bool Get_Picker_Up_Sensor_Check()
|
{
|
return equipment.sm.Get_Bit(Input_Memory_Address.ULD_Tray_Transfer_Up_Sensor);
|
}
|
|
public bool MoveLiftOkPosition()
|
{
|
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_OK_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_OK_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool MoveLiftNgPosition()
|
{
|
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_NG_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_NG_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool MoveLiftInPosition()
|
{
|
object value;
|
double position;
|
double velocity;
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_Empty_Position, out value);
|
position = double.Parse($"{value}");
|
equipment.sm.Get_Value(Position_Parameter_Address.ULD_Tray_X_Empty_Velocity, out value);
|
velocity = double.Parse($"{value}");
|
|
return MotorX.Move_Absolute_Pos(position, velocity);
|
}
|
|
public bool Set_Vacuum_On(bool onoff)
|
{
|
return equipment.Board_Control.IO_manager.Set_Output(OutputData.ULD_Tray_Transfer_Vaccum_On_Sol_Valve, onoff);
|
}
|
|
public bool Set_Blow_On(bool onoff)
|
{
|
return equipment.Board_Control.IO_manager.Set_Output(OutputData.ULD_Tray_Transfer_Blow_On_Sol_Valve, onoff);
|
}
|
|
public bool Set_Picker_Down(bool onoff)
|
{
|
return equipment.Board_Control.IO_manager.Set_Output(OutputData.ULD_Tray_TR_Down, onoff);
|
}
|
#endregion
|
}
|
}
|
