RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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최이근 2026-02-28 13:38:32 +09:00
commit 54b6b6ccdc
1 changed files with 27 additions and 13 deletions
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32
WeldingComponents/WeldingCommon/Sequences/Main/SeqUploadWeldingList.cs
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@ -294,6 +294,7 @@ namespace WeldingCommon.Sequences {
foreach (IDrawObject obj in objects) { foreach (IDrawObject obj in objects) {
drawObjectCount += FuncLoadDrawObjectScannerParamSelected(obj); drawObjectCount += FuncLoadDrawObjectScannerParamSelected(obj);
} }
Debug.WriteLine($"Scanner Space Check({_Scanner.GetListSpace()})");
return drawObjectCount; return drawObjectCount;
} }
@ -307,7 +308,6 @@ namespace WeldingCommon.Sequences {
count += FuncLoadDrawObjectScannerParamSelected(subObj); count += FuncLoadDrawObjectScannerParamSelected(subObj);
} }
} }
return count; return count;
} }
@ -635,6 +635,7 @@ namespace WeldingCommon.Sequences {
int risingCount = (int)(StartDistance / length); int risingCount = (int)(StartDistance / length);
int fallingCount = (int)(EndDistance / length); int fallingCount = (int)(EndDistance / length);
int totalCount = (int)(obj.Distance / length); int totalCount = (int)(obj.Distance / length);
Log.I($"Ramping count >> firstCount({firstCount}) / risingCount({risingCount}) / fallingCount({fallingCount}) / totalCount({totalCount})");
// Power1 A -> Start Power, B -> End Power // Power1 A -> Start Power, B -> End Power
float firstPower_A1 = percentLaser1 * (float)param.RampingStartAPower1 / 100; // Ramping First Power 1 float firstPower_A1 = percentLaser1 * (float)param.RampingStartAPower1 / 100; // Ramping First Power 1
@ -668,28 +669,41 @@ namespace WeldingCommon.Sequences {
float power1 = percentLaser1; float power1 = percentLaser1;
float power2 = percentLaser2; float power2 = percentLaser2;
// first Ramping은 Start 지점의 연속으로 Start Ramping과 이어서 한다.
if (iter <= (risingCount + firstCount)) { if (iter <= (risingCount + firstCount)) {
// power1은 startPower_A1 에서 startPower_B1 까지 변한다
// float IntervalPerPower = (B - A) / Cnt
// power1 = PowerA + (iter * IntervalPerPower);
if (iter <= firstCount) { if (iter <= firstCount) {
if (iter == 0) { if (iter == 0 || firstCount == 0) {
power1 = firstPower_A1; power1 = firstPower_A1;
power2 = firstPower_A2; power2 = firstPower_A2;
} else { } else {
power1 = firstPower_A1 + (firstPower_B1 - firstPower_A1) * (iter / (float)firstCount); power1 = firstPower_A1 + (firstPower_B1 - firstPower_A1) * (iter / (float)firstCount);
power2 = firstPower_A2 + (firstPower_B2 - firstPower_A2) * (iter / (float)firstCount); power2 = firstPower_A2 + (firstPower_B2 - firstPower_A2) * (iter / (float)firstCount);
} }
} else if ((iter - firstCount) <= risingCount) { }
else if ((iter - firstCount) <= risingCount) {
if (risingCount == 0) {
power1 = startPower_B1;
power2 = startPower_B2;
}
else {
power1 = startPower_A1 + (startPower_B1 - startPower_A1) * ((iter - firstCount) / (float)risingCount); power1 = startPower_A1 + (startPower_B1 - startPower_A1) * ((iter - firstCount) / (float)risingCount);
power2 = startPower_A2 + (startPower_B2 - startPower_A2) * ((iter - firstCount) / (float)risingCount); power2 = startPower_A2 + (startPower_B2 - startPower_A2) * ((iter - firstCount) / (float)risingCount);
} }
} else if (iter >= totalCount - fallingCount) { }
// power1은 endPower_A1 에서 endPower_B1 까지 변한다 }
else if (iter >= totalCount - fallingCount) {
if (fallingCount == 0) {
power1 = endPower_A1;
power2 = endPower_A2;
}
else {
power1 = endPower_B1 + (endPower_A1 - endPower_B1) * (totalCount - iter) / (float)fallingCount; power1 = endPower_B1 + (endPower_A1 - endPower_B1) * (totalCount - iter) / (float)fallingCount;
power2 = endPower_B2 + (endPower_A2 - endPower_B2) * (totalCount - iter) / (float)fallingCount; power2 = endPower_B2 + (endPower_A2 - endPower_B2) * (totalCount - iter) / (float)fallingCount;
} }
}
else {
power1 = startPower_B1;
power2 = startPower_B2;
}
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, power1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, power1, eFunctionType.LIST);
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, power2, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, power2, eFunctionType.LIST);