using System;
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namespace SHARP_CLAS_UI
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{
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#region Enum
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public enum En_AGV_Load
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{
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S0000_WAIT,
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S0100_EQP_LOAD_ENABLE_ON,
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S0110_EQP_LOAD_ENABLE_ON_CHECK,
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S0200_AGV_LOAD_STATUS_ON_CHECK,
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S0300_EQP_LOAD_STATUS_ON,
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S0310_EQP_LOAD_STATUS_ON_CHECK,
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S0400_AGV_LOAD_ENABLE_ON_STOP_REQUEST_OFF_CHECK,
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S0500_EQP_CONVEYOR_RUN_ON,
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S0510_EQP_CONVEYOR_RUN_ON_CHECK,
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S0600_EQP_LOAD_ENABLE_OFF,
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S0610_EQP_LOAD_ENABLE_OFF_CHECK,
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S0700_AGV_CONVEYOR_RUN_ON_CHECK,
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S0800_CONVEYOR_RUN,
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S0900_CONVEYOR_COMPLETE_SENSOR_ON_CHECK,
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S0910_CONVEYOR_STOP,
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S0920_CONVEYOR_STOP_CHECK,
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S1000_EQP_CONVEYOR_RUN_OFF,
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S1000_EQP_CONVEYOR_RUN_OFF_CHECK,
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S1100_EQP_LOAD_STATUS_OFF,
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S1110_EQP_LOAD_STATUS_OFF_CHECK,
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S1200_AGV_CONVEYOR_OFF_LOAD_STATUS_OFF_LOAD_ENABLE_OFF_CEHCK,
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S1999_AGV_LOAD_END,
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/*
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//*==== AGV 일시 정지 시 동작 ====
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S1000_AGV_STOP_REQUEST_ON_CHECK,
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S1000_AGV_AUTO_MANUAL_OFF_CHECK <- 에러 Stop 인지 확인.
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S1000_AGV_LOAD_ENABLE_OFF_CONVEYOR_RUN_OFF_CHECK,
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EQP_LOAD_ENABLE_ON,
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EQP_LOAD_ENABLE_ON_CHECK,
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EQP_CONVEYOR_RUN_OFF,
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EQP_CONVEYOR_RUN_OFF_CHECK,
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-> S400 으로
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//==============================
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//==== 장치 일시 정지 시 동작 ====
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EQP_STOP_REQUEST_ON,
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EQP_STOP_REQUEST_ON_CHECK,
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EQP_AUTO_MANUAL_OFF, <- 에러 Stop 일 때 동작.
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EQP_AUTO_MANUAL_OFF_CHECK, <- 에러 Stop 일 때 동작.
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EQP_CONVEYOR_RUN_OFF,
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EQP_CONVEYOR_RUN_OFF_CHECK,
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AGV_LOAD_ENABLE_OFF_CONVEYOR_RUN_OFF_CHECK,
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//장비 정상화 확인.
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EQP_STOP_REQUEST_OFF,
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EQP_STOP_REQUEST_OFF_CHECK,
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EQP_LOAD_ENABLE_ON,
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EQP_LOAD_ENABLE_ON_CHECK,
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EQP_AUTO_MANUAL_ON, <- 에러 Stop 일 때 동작.
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EQP_AUTO_MANUAL_ON_CHECK, <- 에러 Stop 일 때 동작.
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-> S400으로
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//==============================
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*/
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}
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public enum En_AGV_Unload
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{
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S0000_WAIT,
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S2000_AGV_UNLOADING_START,
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S2100_EQP_UNLOAD_ENABLE_ON,
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S2110_EQP_UNLOAD_ENABLE_ON_CHECK,
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S2120_AGV_UNLOAD_STATUS_ON_CHECK,
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S2130_EQP_UNLOAD_STATUS_ON,
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S2140_EQP_UNLOAD_STATUS_ON_CHECK,
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S2150_AGV_UNLOAD_ENABLE_CONVEYOR_RUN_ON_CHECK,
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S2200_EQP_CONVEYOR_RUN_ON,
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S2210_EQP_CONVEYOR_RUN_ON_CHECK,
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S2220_EQP_UNLOAD_ENABLE_OFF,
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S2230_EQP_UNLOAD_ENABLE_OFF_CHECK,
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S2240_CONVEYOR_RUN,
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S2300_AGV_CONVEYOR_RUN_UNLOAD_STATUS_UNLOAD_ENABLE_OFF_CHECK,
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S2310_CONVEYOR_STOP_CHECK,
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S2320_EQP_CONVEYOR_RUN_OFF,
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S2330_EQP_CONVEYOR_RUN_OFF_CHECK,
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S2340_EQP_UNLOAD_STATUS_OFF,
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S2350_EQP_UNLOAD_STATUS_OFF_CHECK,
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S2999_AGV_UNLOADING_END,
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}
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public enum ConveyorInSteps
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{
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S0000_WAIT,
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//Tray Agv Loading.
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S0100_AGV_LOADING_START,
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S0110_EQP_LOAD_ENABLE_ON,
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S0120_EQP_LOAD_ENABLE_ON_CHECK,
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S0130_AGV_LOAD_STATUS_ON_CHECK,
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S0140_EQP_LOAD_STATUS_ON,
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S0150_EQP_LOAD_STATUS_ON_CHECK,
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S0160_AGV_LOAD_ENABLE_ON_STOP_REQUEST_OFF_CHECK,
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S0200_EQP_CONVEYOR_RUN_ON,
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S0210_EQP_CONVEYOR_RUN_ON_CHECK,
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S0220_EQP_LOAD_ENABLE_OFF,
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S0230_EQP_LOAD_ENABLE_OFF_CHECK,
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S0240_AGV_CONVEYOR_RUN_ON_CHECK,
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S0250_CONVEYOR_RUN,
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S0300_CONVEYOR_COMPLETE_SENSOR_ON_CHECK,
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S0310_CONVEYOR_STOP,
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S0320_CONVEYOR_STOP_CHECK,
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S0330_EQP_CONVEYOR_RUN_OFF,
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S0340_EQP_CONVEYOR_RUN_OFF_CHECK,
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S0350_EQP_LOAD_STATUS_OFF,
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S0360_EQP_LOAD_STATUS_OFF_CHECK,
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S0370_AGV_CONVEYOR_OFF_LOAD_STATUS_OFF_LOAD_ENABLE_OFF_CEHCK,
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S0999_AGV_LOADING_END,
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//Tray Loading
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S1000_TRAY_LOADING_START,
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S1100_LIFT_POSITION_STAY_CHECK,
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S1110_CONVEYOR_IN_SENSOR_CHECK,
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S1120_LIFT_IN_SENSOR_CHECK,
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S1130_ALIGN_X_BWD,
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S1140_ALIGN_Y_FWD,
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S1200_CONVEYOR_MOVE_IN,
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S1210_LIFT_IN_SENSOR_CHECK,
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S1220_LIFT_COMPLETE_SENSOR_CHECK,
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S1230_CONVEYOR_STOP,
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S1300_ALIGN_X_FWD,
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S1320_ALIGN_Y_BWD,
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S1340_WAIT_TIME,
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S1400_ALIGN_Y_FWD,
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S1420_ALIGN_X_BWD,
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S1999_TRAY_LOADING_END,
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//Tray Unloading
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S2000_TRAY_UNLOADING_START,
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S2100_LIFT_POSITION_STAY_CHECK,
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S2110_LIFT_SENSOR_CHECK,
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S2120_CONVEYOR_SENSOR_CHECK,
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S2200_ALIGN_X_FWD,
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S2220_ALIGN_Y_BWD,
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S2240_WAIT_TIME,
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S2250_ALIGN_Y_FWD,
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S2270_ALIGN_X_BWD,
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S2300_CONVEYOR_MOVE_OUT,
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S2310_CONVEYOR_IN_COMPLETE_SENSOR_CHECK,
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S2320_CONVEYOR_IN_SENSOR_CHECK,
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S2330_CONVEYOR_STOP,
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S2340_CONVEYOR_STOP_CHECK,
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S2999_TRAY_UNLOADING_END,
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}
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public enum ConveyorOutSteps
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{
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S0000_WAIT,
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S1000_TRAY_UNLOADING_START,
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S1100_LIFT_POSITION_STAY_CHECK,
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S1110_CONVEYOR_SENSOR_CHECK,
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S1120_LIFT_SENSOR_CHECK,
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S1200_ALIGN_X_FWD,
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S1220_ALIGN_Y_BWD,
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S1240_WAIT_TIME,
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S1250_ALIGN_Y_FWD,
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S1270_ALIGN_X_BWD,
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S1300_CONVEYOR_MOVE_OUT,
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S1310_CONVEYOR_COMPLETE_SENSOR_CHECK,
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S1320_CONVEYOR_IN_SENSOR_CHECK,
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S1400_CONVEYOR_STOP,
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S1410_CONVEYOR_STOP_CHECK,
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S1999_TRAY_UNLOADING_END,
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//Tray Agv Unloading.
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S2000_AGV_UNLOADING_START,
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S2100_EQP_UNLOAD_ENABLE_ON,
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S2110_EQP_UNLOAD_ENABLE_ON_CHECK,
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S2120_AGV_UNLOAD_STATUS_ON_CHECK,
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S2130_EQP_UNLOAD_STATUS_ON,
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S2140_EQP_UNLOAD_STATUS_ON_CHECK,
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S2150_AGV_UNLOAD_ENABLE_CONVEYOR_RUN_ON_CHECK,
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S2200_EQP_CONVEYOR_RUN_ON,
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S2210_EQP_CONVEYOR_RUN_ON_CHECK,
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S2220_EQP_UNLOAD_ENABLE_OFF,
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S2230_EQP_UNLOAD_ENABLE_OFF_CHECK,
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S2240_CONVEYOR_RUN,
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S2300_AGV_CONVEYOR_RUN_UNLOAD_STATUS_UNLOAD_ENABLE_OFF_CHECK,
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S2310_CONVEYOR_STOP_CHECK,
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S2320_EQP_CONVEYOR_RUN_OFF,
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S2330_EQP_CONVEYOR_RUN_OFF_CHECK,
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S2340_EQP_UNLOAD_STATUS_OFF,
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S2350_EQP_UNLOAD_STATUS_OFF_CHECK,
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S2999_AGV_UNLOADING_END,
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}
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public enum ConveyorHomeStep
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{
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S0000_WAIT,
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S1000_STATUS_CHECK,
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S1100_CONVEYOR_SENSOR_CHECK,
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S1200_LIFT_SENSOR_CHECK,
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S2000_POSITION_CLEAR,
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S9999_END,
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}
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#endregion
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public abstract class Conveyor : Unit
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{
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#region Property
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public bool IsConveyorInSensor
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{
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get
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{
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return equipment.Board_Control.IO_manager.Get_Input(_isConveyorInSensor);
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}
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}
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public bool IsConveyorInCompleteSensor
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{
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get
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{
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return equipment.Board_Control.IO_manager.Get_Input(_isConveyorInCompleteSensor);
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}
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}
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public bool IsLiftInSensor
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{
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get
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{
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return equipment.Board_Control.IO_manager.Get_Input(_isLiftInSensor);
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}
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}
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public bool IsLiftInCompleteSensor
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{
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get
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{
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return equipment.Board_Control.IO_manager.Get_Input(_isLiftInCompleteSensor);
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}
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}
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public Axis MotorX
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{
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get
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{
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return _motorX;
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}
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set
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{
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_motorX = value;
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}
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}
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public Aligner AlignerX
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{
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get
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{
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return _alignerX;
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}
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set
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{
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_alignerX = value;
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}
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}
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public AlignerY AlignerY
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{
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get
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{
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return _alignerY;
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}
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set
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{
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_alignerY = value;
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}
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}
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public override bool IsHomeComplete
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{
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get
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{
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return MotorX.PowerOn && MotorX.ErrorStop == false && isHomeComplete;
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}
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}
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public override bool IsExist
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{
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get
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{
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return IsConveyorInSensor || IsConveyorInCompleteSensor || IsLiftInSensor || IsLiftInCompleteSensor;
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}
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}
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#endregion
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#region Field
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private Axis _motorX;
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private Aligner _alignerX;
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private AlignerY _alignerY;
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private InputData _isConveyorInSensor;
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private InputData _isConveyorInCompleteSensor;
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private InputData _isLiftInSensor;
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private InputData _isLiftInCompleteSensor;
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#endregion
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#region Construct
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public Conveyor(Equipment equipment, MotorAxis motorX, string unitName) : base(equipment, unitName)
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{
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_motorX = equipment.Board_Control.Motors[motorX];
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AlignerX = new Aligner(equipment);
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AlignerY = new AlignerY(equipment);
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}
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#endregion
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#region Function
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public void Initialize(InputData isConveyorInSensor, InputData isConveyorInCompleteSensor, InputData isLiftInSensor, InputData isLiftInCompleteSensor)
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{
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_isConveyorInSensor = isConveyorInSensor;
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_isConveyorInCompleteSensor = isConveyorInCompleteSensor;
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_isLiftInSensor = isLiftInSensor;
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_isLiftInCompleteSensor = isLiftInCompleteSensor;
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}
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public bool JogPositive()
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{
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return MotorX.Positive_Zog(equipment.Setting.Conveyor_Speed);
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}
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public bool JogNegative()
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{
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return MotorX.Negative_Zog(equipment.Setting.Conveyor_Speed);
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}
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public bool Stop()
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{
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return MotorX.Move_Stop(equipment.Setting.Conveyor_Speed);
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}
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#endregion
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}
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}
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