RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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feat : Scanner 캘리브레이션 화면의 Run Mark Grid 버튼 클릭에 따른 시퀸스에 노드 2개 추가 테스트

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/RunScanner Calib은 비전이 개발환경pc에 없어서 확인 불가
-> MoveStageToOrigin -> StageX ->0 이동 완료
-> EncoderReset [스킵] -MOTF비활성화 상태라 스킵
-> UploadWeldingList - 라인 업로드 확인
-> 전체 시퀸스 -> 토스트메시지 성공 표시되는 것까지 확인
= UseMarkingOnTheFly = false 이면 EncoderRest은 스킵된다.
[변경사항] -SeqComponentTeachingRun.cs  - SeqTeachingRun.cs
This commit is contained in:
노도연 2026-04-08 17:09:44 +09:00
parent b476476833
commit 525339a262
2 changed files with 212 additions and 6 deletions
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121
Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs
View File

@ -1,7 +1,9 @@
using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Api.Services;
using Aurora.View;
using AuroraACS;
using AuroraIO;
using AuroraLaser;
using AuroraLaser.Ekspla;
@ -68,6 +70,12 @@ namespace ILSOS_PrismaticScanner.Sequences
const string SEQ_CHECK_END_LIST = "[SeqComponentTeachingRun] Check End List";
const string SEQ_END_WELDING = "[SeqComponentTeachingRun] End All Welding";
#region 260408 NDY 노드 추가
// Builder()에 노드 추가
const string SEQ_MOVE_STAGE_ORIGIN = "[SeqComponentTeachingRun] Move Stage To Origin";
const string SEQ_ENCODER_RESET = "[SeqComponentTeachingRun] Encoder Reset";
#endregion
const int timeoutSeconds = 10;
static class ContextKey
{
@ -83,9 +91,12 @@ namespace ILSOS_PrismaticScanner.Sequences
// 필드 선언 추가 (다른 필드들 옆에)
// 변경 전
//private ScannerACS _ACS;
// 변경 후
private IScannerACS _ACS; // 26.04.06 NDY - MOTF용 ACS Stage X 제어
private static ACSMotor _AxisX; // 26.04.08 NDY - MOTF용 Stage X 축
private Laser _Laser;
private ILaser _LaserDevice;
private LaserTruFiber _LaserTruFiber;
@ -127,6 +138,12 @@ namespace ILSOS_PrismaticScanner.Sequences
sb.AddAction(SEQ_ENTER, Sequence_Enter);
sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
sb.AddAction(SEQ_SET_BLOW_ON, SetBlowOn);
#region 26.04.08 추가된 노드 NDY
// 26.04.08 필드 좌표 0,0으로 스테이지 이동 시퀸스 + EncoderReset 호출
sb.AddAction(SEQ_MOVE_STAGE_ORIGIN, MoveStageToOrigin);
sb.AddAction(SEQ_ENCODER_RESET, EncoderReset);
#endregion
sb.AddAction(SEQ_START_WELDING, StartWelding);
sb.AddDecision(SEQ_CHECK_END_LIST, CheckEndList);
sb.AddAction(SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS, UpdateComponentWeldingParameters);
@ -140,10 +157,19 @@ namespace ILSOS_PrismaticScanner.Sequences
sb.AddAction(SEQ_COMPLETE, Complete);
// 기존 흐름에서 SET_BLOW_ON → START_WELDING 사이에 끼워넣기
#region 기존 흐름 26.04.08
//sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_SET_BLOW_ON]
// > sb[SEQ_START_WELDING] > sb[SEQ_CHECK_END_LIST]);
#endregion
#region 2개 노드 추가한 흐름 26.04.08
sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_SET_BLOW_ON]
> sb[SEQ_MOVE_STAGE_ORIGIN] // ← 추가
> sb[SEQ_ENCODER_RESET] // ← 추가
> sb[SEQ_START_WELDING] > sb[SEQ_CHECK_END_LIST]);
#endregion
// 아래 두 흐름은 기존 그대로 유지
sb.Flows(sb[SEQ_CHECK_END_LIST] > sb[SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS]
> sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
> sb[SEQ_DO_COMPONENT_WELDING] > sb[SEQ_CHECK_END_LIST]);
@ -158,9 +184,70 @@ namespace ILSOS_PrismaticScanner.Sequences
return sb;
}
#region 26.04.08 NDY
private SequenceActionResult EncoderReset(SequenceContext context, string id, SequenceActionResult param)
{
if (_ACS == null)
{
Log.W("[EncoderReset] ACS null - 스킵");
return SequenceAction.Ok();
}
if (!_Scanner.Config.UseMarkingOnTheFly)
{
Log.W("[EncoderReset] MOTF 비활성화 - 스킵");
return SequenceAction.Ok();
}
Log.I("[EncoderReset] 시작");
// SeqUploadWeldingList.MarkingOnTheFlyOn 패턴
_Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
Log.I($"[EncoderReset] SetFlyX: {_Scanner.Config.MarkingOnTheFlyEncoderResolutionX}");
_Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
Log.I($"[EncoderReset] WaitForEncoderX: {_Scanner.Config.MarkingStartEncoderPositionX}");
_Scanner.StoreEncoder(0);
_Scanner.SaveAndRestartTimer();
Log.I("[EncoderReset] 완료 - Stage(0) = Scanner(0) 동기화");
return SequenceAction.Ok();
}
//SeqTeachingPosMoveStageA패턴 참고 - 기존 GUN 프로젝트 시퀸스
private SequenceActionResult MoveStageToOrigin(SequenceContext context, string id, SequenceActionResult param)
{
if (_AxisX == null)
{
Log.W("[MoveStageToOrigin] AxisX2 null - 스킵");
return SequenceAction.Ok();
}
Log.I("[MoveStageToOrigin] Stage X → 0 이동 시작");
// SeqTeachingPosMoveStageA.MoveXYStage 패턴
_AxisX.SetTargetPos(0, TargetPosType.ABS);
_AxisX.SetMoveVelocityImm(AuroraACS.Speed.M);
_AxisX.AccelerationImm(AuroraACS.Speed.M);
_AxisX.DecelerationImm(AuroraACS.Speed.M);
_AxisX.JerkImm(AuroraACS.Speed.M);
_AxisX.Move();
var res = context.RetryUntilSuccess(
() => _AxisX.IsReachedTargetPosition(0),
30 * 1000, 20, true);
if (res == E2.TIMEOUT) { Log.E("[MoveStageToOrigin] TIMEOUT"); return null; }
if (res == E2.CANCELLED) { Log.E("[MoveStageToOrigin] CANCELLED"); return null; }
Log.I("[MoveStageToOrigin] Stage X = 0 도달 완료");
return SequenceAction.Ok();
}
#endregion
private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
{
Log.I("===== SeqTeachingRun Sequence_Enter 진입 ====="); // 임시 추가
Log.I("SeqTeachingRun Start");
_InitParam = param.Param as SeqTeachingRun_InitParam;
@ -209,6 +296,10 @@ namespace ILSOS_PrismaticScanner.Sequences
// 변경 후
try { _ACS = context.Devices[DeviceIds.ACS] as IScannerACS; }
catch { _ACS = null; Log.W("ACS 디바이스 취득 실패 (null 처리)"); }
//26.04.08 NDY 추가 _AxisX 가져오기
try { _AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor; }
catch { _AxisX = null; Log.W("AxisX2 취득 실패"); }
}
private bool CheckDeviceReady(SequenceContext context)
{
@ -401,12 +492,30 @@ namespace ILSOS_PrismaticScanner.Sequences
SlotNo = 1;
// 결과 Data 를 업데이트 함.
var power = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Power_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1 + ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
var velocity = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Velocity_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
// FDC 데이터 상신
_plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
#region 26.04.08 NDY 캘리브레이션 노드 추가 테스트를 위해서 잠시 예외처리 코드 추가
if (power != null)
power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1
+ ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
#endregion
// 26.04.08 NDY 주석처리 - power null 예외 방지 (위 null 체크로 대체)
//power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1 + ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
var velocity = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Velocity_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
#region 26.04.08 NDY velocity null에 대한 예외 처리
if (velocity != null)
velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
#endregion
// 26.04.08 NDY 주석처리 - velocity null 예외 방지 (위 null 체크로 대체)
//velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
// 26.04.08 NDY - FDC 데이터 상신 -기존 코드 주석처리
//_plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
// 26.04.08 NDY - FDC 상신도 데이터 있을 때만 - 테스트 목적 예외 처리 추가
if (Status.GetProcessingWeldingData().UploadProcessDatas.Count > 0)
_plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
_CenterBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1;
_RingBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;

97
WeldingComponents/WeldingCommon/Sequences/Manual/SeqTeachingRun.cs
View File

@ -1,9 +1,13 @@
using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Api.Services;
// 26.04.08 NDY 추가 - 비전 있는 오토 티칭 버튼은 MIL없어서 리스트만으로 테스트 시퀸스 확인하고자 추가 예정
using AuroraACS;
using AuroraIO;
using AuroraLaserScanner;
using AuroraLBAD;
using AuroraLBAD.Services;
using AuroraMotionBoard.Ajin;
using AuroraOCT;
using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
@ -52,6 +56,12 @@ namespace WeldingCommon.Sequences
const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqTeachingRun] Write Completion PLC Bit";
const string SEQ_COMPLETE = "[SeqTeachingRun] SEQ_COMPLETE"; // 완료
#region 26.04.08 NDY 상수 추가
const string SEQ_MOVE_STAGE_ORIGIN = "[SeqTeachingRun] Move Stage To Origin";
const string SEQ_ENCODER_RESET = "[SeqTeachingRun] Encoder Reset";
#endregion
static class ContextKey
{
public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqTeachingRun";
@ -64,6 +74,7 @@ namespace WeldingCommon.Sequences
private OCT _OCT;
private IODevice _IO;
private StreamLBADClient _StreamLBADClient;
private ACSMotor _AxisX; // ← 26.04.08 NDY 필드 추가
private SystemParameter _SystemParameter;
private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언
@ -73,6 +84,9 @@ namespace WeldingCommon.Sequences
private static TimeSpan _WeldingSpanTime; //TeacingRun 시퀀스에서 용접 소요시간
public SequenceBuilder Builder()
{
var sb = new SequenceBuilder(1000, true);
@ -81,6 +95,12 @@ namespace WeldingCommon.Sequences
sb.AddAction(SEQ_ENTER, Sequence_Enter);
sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
#region 26.04.08 NDY 노드 추가
sb.AddAction(SEQ_MOVE_STAGE_ORIGIN, MoveStageToOrigin);
sb.AddAction(SEQ_ENCODER_RESET, EncoderReset);
#endregion
sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, CommonSequenceManager.GetSeqBuilder_SeqUploadWeldingList());
sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
@ -95,12 +115,23 @@ namespace WeldingCommon.Sequences
sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit); // 정상적으로 종료 되면, complete bit write
sb.AddAction(SEQ_COMPLETE, Complete);
#region 기존 흐름 26.04.08 주석처리
//sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
// > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
// > sb[SEQ_SET_BLOW_ON] > sb[SEQ_STREAM_LBAD_BEFORE_WELDLINES] > sb[SEQ_EXECUTE_WELDLINES]
// > sb[SEQ_SET_BLOW_OFF] > sb[SEQ_STREAM_LBAD_AFTER_WELDLINES]
// > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);
#endregion
#region 2개 노드 추가 흐름 26.04.08 - Test 중
sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION]
> sb[SEQ_MOVE_STAGE_ORIGIN] // ← 추가
> sb[SEQ_ENCODER_RESET] // ← 추가
> sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
> sb[SEQ_SET_BLOW_ON] > sb[SEQ_STREAM_LBAD_BEFORE_WELDLINES] > sb[SEQ_EXECUTE_WELDLINES]
> sb[SEQ_SET_BLOW_OFF] > sb[SEQ_STREAM_LBAD_AFTER_WELDLINES]
> sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]);
#endregion
sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final);
@ -112,6 +143,64 @@ namespace WeldingCommon.Sequences
return sb;
}
#region 26.04.08 NDY 메서드 추가
private SequenceActionResult EncoderReset(SequenceContext context, string id, SequenceActionResult param)
{
if (_AxisX == null)
{
Log.W("[EncoderReset] AxisX2 null - 스킵");
return SequenceAction.Ok();
}
if (!_Scanner.Config.UseMarkingOnTheFly)
{
Log.W("[EncoderReset] MOTF 비활성화 - 스킵");
return SequenceAction.Ok();
}
Log.I("[EncoderReset] 시작");
_Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
Log.I($"[EncoderReset] SetFlyX: {_Scanner.Config.MarkingOnTheFlyEncoderResolutionX}");
_Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
Log.I($"[EncoderReset] WaitForEncoderX: {_Scanner.Config.MarkingStartEncoderPositionX}");
_Scanner.StoreEncoder(0);
_Scanner.SaveAndRestartTimer();
Log.I("[EncoderReset] 완료 - Stage(0) = Scanner(0) 동기화");
return SequenceAction.Ok();
}
private SequenceActionResult MoveStageToOrigin(SequenceContext context, string id, SequenceActionResult param)
{
if (_AxisX == null)
{
Log.W("[MoveStageToOrigin] AxisX2 null - 스킵");
return SequenceAction.Ok();
}
Log.I("[MoveStageToOrigin] Stage X → 0 이동 시작");
_AxisX.SetTargetPos(0, TargetPosType.ABS);
_AxisX.SetMoveVelocityImm(AuroraACS.Speed.M);
_AxisX.AccelerationImm(AuroraACS.Speed.M);
_AxisX.DecelerationImm(AuroraACS.Speed.M);
_AxisX.JerkImm(AuroraACS.Speed.M);
_AxisX.Move();
var res = context.RetryUntilSuccess(
() => _AxisX.IsReachedTargetPosition(0),
30 * 1000, 20, true);
if (res == E2.TIMEOUT) { Log.E("[MoveStageToOrigin] TIMEOUT"); return null; }
if (res == E2.CANCELLED) { Log.E("[MoveStageToOrigin] CANCELLED"); return null; }
Log.I("[MoveStageToOrigin] Stage X = 0 도달 완료");
return SequenceAction.Ok();
}
#endregion
private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
{
@ -180,6 +269,14 @@ namespace WeldingCommon.Sequences
// return SequenceAction.Error();
//}
#region 26.04.08 NDY 수정 예외처리를 위해서
// ↓ 추가
try { _AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor; }
catch { _AxisX = null; Log.W("[SeqTeachingRun] AxisX2 취득 실패"); }
#endregion
}
private bool CheckDeviceReady(SequenceContext context)