diff --git a/AuroraDevices/AuroraLaserScanner/AuroraLaserScanner.csproj b/AuroraDevices/AuroraLaserScanner/AuroraLaserScanner.csproj
index 13173c6..ac1e87d 100644
--- a/AuroraDevices/AuroraLaserScanner/AuroraLaserScanner.csproj
+++ b/AuroraDevices/AuroraLaserScanner/AuroraLaserScanner.csproj
@@ -143,6 +143,10 @@
{E7E68E54-43D2-4413-9510-43D25F13CD80}
AuroraLaser
+
+ {1A47B1F3-5BDE-41DF-8F4D-25298AD4F6DE}
+ AuroraPLC
+
\ No newline at end of file
diff --git a/AuroraDevices/AuroraLaserScanner/Scanner.cs b/AuroraDevices/AuroraLaserScanner/Scanner.cs
index 85a052e..0b8e0e2 100644
--- a/AuroraDevices/AuroraLaserScanner/Scanner.cs
+++ b/AuroraDevices/AuroraLaserScanner/Scanner.cs
@@ -22,7 +22,7 @@ namespace AuroraLaserScanner
public ScannerConfig Config { get; set; }
//public ScannerObj _scannerObj { get; set; }
- private ScannerObj _scannerObj { get; set; }
+ protected ScannerObj _scannerObj { get; set; }
public Scanner(string deviceId)
{
@@ -37,9 +37,9 @@ namespace AuroraLaserScanner
Config = config as ScannerConfig;
if (IsSimul) {
_scannerObj = new ScannerSimul();
- return E1.OK;
+ //return E1.OK;
}
- if (Config.Type == eRTCType.RTC5) {
+ else if (Config.Type == eRTCType.RTC5) {
_scannerObj = new ScannerRTC5();
} else if (Config.Type == eRTCType.RTC6) {
_scannerObj = new ScannerRTC6();
diff --git a/AuroraDevices/AuroraLaserScanner/ScannerObj.cs b/AuroraDevices/AuroraLaserScanner/ScannerObj.cs
index 412c149..da7e0cd 100644
--- a/AuroraDevices/AuroraLaserScanner/ScannerObj.cs
+++ b/AuroraDevices/AuroraLaserScanner/ScannerObj.cs
@@ -91,7 +91,7 @@ namespace AuroraLaserScanner
RealImage = 0,
VirtualImage = 1
}
- public enum eListNo { LIST1 = 1, LIST2 = 2 };
+ public enum eListNo { NONE = 0, LIST1 = 1, LIST2 = 2 };
public enum eAutoControlParameter
{
diff --git a/AuroraDevices/AuroraLaserScanner/ScannerSimul.cs b/AuroraDevices/AuroraLaserScanner/ScannerSimul.cs
index 3c9e1c2..4ee48df 100644
--- a/AuroraDevices/AuroraLaserScanner/ScannerSimul.cs
+++ b/AuroraDevices/AuroraLaserScanner/ScannerSimul.cs
@@ -1,10 +1,14 @@
using Aurora.Api;
using Hermes;
+using System;
+using System.Diagnostics;
using System.Runtime.InteropServices;
+using System.Threading;
+using static AuroraPLC.PLCBase;
namespace AuroraLaserScanner
{
- internal class ScannerSimul : ScannerObj
+ public class ScannerSimul : ScannerObj
{
static new readonly Logger Log = new Logger("Scanner");
@@ -14,7 +18,154 @@ namespace AuroraLaserScanner
//set_trigger 관련 추가, get_waveform 에서 얻어올 포인터 추가, 최대 크기로 설정 (2^20 = 1,048,576)
[MarshalAs(UnmanagedType.LPArray, SizeConst = 1048576)] int[] m_getWaveformPtr = new int[1048576];
private bool _ModulationMode;
+ private ScannerConfig _config;
+ // -----------------------------
+ // MOTF Simulation state
+ // -----------------------------
+ public Func PLCReadBit;
+ public Func PLCReadWord;
+ public Func PLCReadDWord;
+ public Func PLCGetAbsDeg;
+
+ private const int PLC_CURRENT_POS_1_ADDR = 4;
+
+ public Stopwatch sw = Stopwatch.StartNew();
+
+ // encoder가 반환할 값
+ public volatile int _simEncXCount = 0; //랩핑 각도(0~360
+ public volatile int _simEncYCount = 0; //누적 각도
+
+ public volatile bool LastWaitMissedRange = false;
+
+ private const int RotaryJigCount = 16;
+ private const double JigPerMsec = 300;
+ private const double DegreePerRev = 360.0;
+ private const double OneCycleMsec = JigPerMsec * RotaryJigCount;
+
+ // 누적각을 scanner 내부에서 유지
+ public double _angleAbsDeg = 0.0;
+ private bool _listClosed = false;
+ private bool _list1Busy = false;
+ private bool _list2Busy = false;
+ private eListNo _currentExecutingList = eListNo.NONE;
+ private bool _autoChangeRequested = false;
+
+ private long _listStartMs = 0; // ← 이게 executionStartTime 역할
+
+ private const int MinListTimeMs = 30; // 너무 빠른 완료 방지
+ private const int MaxListTimeMs = 800; // 너무 느린 완료 방지
+ private int SimulatedListTimeMs = 250; // 리스트 실행 시간
+
+ private const double RecommendWindowDeg = 45.0;
+ private const double RecommendUseRatio = 0.35; // 45도 중 실제 마킹이 차지하는 비율(가볍게)
+
+ public void EquipmentSimulator()
+ {
+ PullEncoderFromPlcOnce();
+ UpdateListExecution();
+ }
+
+ private int DegToCount(double deg)
+ {
+ double c = deg * _config.MarkingOnTheFlyEncoderResolutionRotate / DegreePerRev;
+ return (int)System.Math.Round(c);
+ }
+
+ private int DegToCountAbs(double absDeg)
+ {
+ double c = absDeg * _config.MarkingOnTheFlyEncoderResolutionRotate / DegreePerRev;
+ long lc = (long)System.Math.Round(c);
+ return unchecked((int)lc);
+ }
+
+ private void UpdateListExecution()
+ {
+ if (_currentExecutingList == eListNo.NONE)
+ return;
+
+ long now = sw.ElapsedMilliseconds;
+ long elapsed = now - _listStartMs;
+
+ int doneTime = GetEffectiveListTimeMs();
+
+ // 최소 현실 가드: elapsed가 음수인 경우 방지
+ if (elapsed < 0) {
+ _listStartMs = now;
+ return;
+ }
+
+ if (elapsed >= doneTime) {
+ // 현재 리스트 실행 완료
+ if (_currentExecutingList == eListNo.LIST1)
+ _list1Busy = false;
+ else
+ _list2Busy = false;
+
+ if (_autoChangeRequested) {
+ // 반대 리스트 자동 실행
+ _currentExecutingList =
+ (_currentExecutingList == eListNo.LIST1) ? eListNo.LIST2 : eListNo.LIST1;
+
+ if (_currentExecutingList == eListNo.LIST1) {
+ _list1Busy = true;
+ _list2Busy = false;
+ } else {
+ _list2Busy = true;
+ _list1Busy = false;
+ }
+
+ _listStartMs = now;
+ _autoChangeRequested = false;
+ } else {
+ _currentExecutingList = eListNo.NONE;
+ }
+ }
+ }
+ private int GetEffectiveListTimeMs()
+ {
+ int t = SimulatedListTimeMs;
+
+ // 4800msec / 360 * 45 * ratio
+ int recommendedListRunTime = (int)Math.Round((OneCycleMsec / DegreePerRev) * RecommendWindowDeg * RecommendUseRatio);
+
+ // recommended가 너무 작거나 0이 되는 경우 방지
+ if (recommendedListRunTime < MinListTimeMs)
+ recommendedListRunTime = MinListTimeMs;
+
+ if (t < MinListTimeMs)
+ t = MinListTimeMs;
+
+ if (t > MaxListTimeMs)
+ t = MaxListTimeMs;
+
+ if (recommendedListRunTime > MaxListTimeMs)
+ recommendedListRunTime = MaxListTimeMs;
+
+ return t;
+ }
+ public void TrySyncAbsAngleToPlcNow()
+ {
+ _angleAbsDeg = PLCGetAbsDeg();
+
+ // mod 동기화도 같이
+ int modRaw = PLCReadDWord(PLC_CURRENT_POS_1_ADDR, ePLCDevice.W, false).data;
+ double modDeg = (modRaw / 100_000.0) % DegreePerRev;
+ if (modDeg < 0)
+ modDeg += DegreePerRev;
+
+ LastWaitMissedRange = false;
+ }
+ public void ResetSim()
+ {
+ _angleAbsDeg = 0.0;
+
+ _simEncXCount = 0;
+ _simEncYCount = 0;
+
+ StopExecution(); // 리스트 상태 리셋
+ LastWaitMissedRange = false;
+ }
public override uint Open()
{
IsOpenUnit = true;
@@ -33,6 +184,7 @@ namespace AuroraLaserScanner
CommandPosZ = 0;
_ModulationMode = config.Modulation;
+ _config = config;
return E1.OK;
}
@@ -107,12 +259,17 @@ namespace AuroraLaserScanner
}
-
public override void GetEncoder(out double encoderX, out double encoderY, bool rotateMode = false)
{
- // simulation 할때 값 반영 검토 필요
- encoderX = 0;
- encoderY = 0;
+ int valueX = _simEncXCount;
+ int valueY = _simEncYCount;
+
+ // 너가 쓰는 변환식 그대로
+ encoderX = (valueX * DegreePerRev) / _config.MarkingOnTheFlyEncoderResolutionRotate;
+ encoderY = _angleAbsDeg;
+ if (encoderY > -0.5 && encoderY < 0)
+ encoderY = 0; // 시뮬 안정화
+ return;
}
public override uint GetMarkingInfo()
@@ -187,9 +344,62 @@ namespace AuroraLaserScanner
public override void WaitForEncoderRotateRange(double minX, double maxX, double minY, double maxY)
{
- // simulation 할때 값 반영 검토 필요
- }
+ LastWaitMissedRange = false;
+ long t0 = sw.ElapsedMilliseconds;
+
+ while (true) {
+ // 블로킹 대기 중에도 PLC에서 최신값을 직접 당겨온다
+ PullEncoderFromPlcOnce();
+
+ // GetEncoder는 _simEncYCount를 deg로 바꿔줄 것
+ GetEncoder(out _, out double curY, true);
+
+ // 정상 진입
+ if (curY >= minY && curY <= maxY)
+ return;
+
+ // 최소 현실 가드: 구간을 지나쳤으면 TIMEOUT까지 끌지 말고 즉시 종료
+ // (실장에서도 "놓치면" 의미 없고 다음 로직이 꼬임)
+ if (curY > maxY) {
+ LastWaitMissedRange = true;
+ Log.W($"[SIM] WaitForEncoderRotateRange MISSED. curY={curY:F3}, range=[{minY:F3}..{maxY:F3}]");
+ return;
+ }
+
+ // 최후 안전장치
+ if (sw.ElapsedMilliseconds - t0 > 5000) {
+ LastWaitMissedRange = true;
+ Log.W($"[SIM] WaitForEncoderRotateRange TIMEOUT. curY={curY:F3}, range=[{minY:F3}..{maxY:F3}]");
+ return;
+ }
+
+ Thread.Sleep(1);
+ }
+ }
+ private void PullEncoderFromPlcOnce()
+ {
+ // 방어: delegate 미설정이면 아무 것도 못함
+ if (PLCReadDWord == null || _config == null || _config.MarkingOnTheFlyEncoderResolutionRotate == 0)
+ return;
+
+ // 1) 랩핑각 (0~360)
+ int modRaw = PLCReadDWord(PLC_CURRENT_POS_1_ADDR, ePLCDevice.W, true).data;
+ double angleModDeg = (modRaw / 100_000.0) % 360.0;
+ if (angleModDeg < 0)
+ angleModDeg += 360.0;
+
+ // 2) 누적각 (계속 증가)
+ //int absRaw = PLCReadDWord(PLC_CURRENT_POS_ABS_ADDR, ePLCDevice.W, true).data;
+ //double angleAbsDeg = absRaw / 100_000.0;
+ if (PLCGetAbsDeg != null) {
+ _angleAbsDeg = PLCGetAbsDeg();
+ }
+
+ // 3) count로 변환 (n_get_encoder가 반환한다고 가정하는 값)
+ _simEncXCount = DegToCount(angleModDeg);
+ _simEncYCount = DegToCountAbs(_angleAbsDeg);
+ }
public override void SetFlyX(double encoderResolution)
{
// simulation 할때 값 반영 검토 필요
@@ -283,16 +493,34 @@ namespace AuroraLaserScanner
}
public override uint LoadList(eListNo no)
{
- // simulation 할때 값 반영 검토 필요
- return 0;
+ bool busy = (no == eListNo.LIST1) ? _list1Busy : _list2Busy;
+
+ if (busy)
+ return 0; // 실행 중 → Load 불가
+
+ return (uint)no; // Load 가능
}
public override void SetEndList()
{
- // simulation 할때 값 반영 검토 필요
+ _listClosed = true;
}
public override void ExecuteList(eListNo no)
{
- // simulation 할때 값 반영 검토 필요
+ if (!_listClosed)
+ Log.W("ExecuteList called without SetEndList");
+ _listClosed = false; // 실행 시작하면서 다시 열림 상태로
+
+ _currentExecutingList = no;
+
+ if (no == eListNo.LIST1) {
+ _list1Busy = true;
+ _list2Busy = false;
+ } else {
+ _list2Busy = true;
+ _list1Busy = false;
+ }
+
+ _listStartMs = sw.ElapsedMilliseconds;
}
public override void StartLoop()
{
@@ -304,16 +532,28 @@ namespace AuroraLaserScanner
}
public override void AutoChange()
{
- // simulation 할때 값 반영 검토 필요
+ if (_currentExecutingList == eListNo.NONE)
+ return;
+
+ _autoChangeRequested = true;
}
public override bool GetBusyStatus()
{
- // simulation 할때 값 반영 검토 필요
- return false;
+ return _list1Busy || _list2Busy || _currentExecutingList != eListNo.NONE;
}
public override void StopExecution()
{
- // simulation 할때 값 반영 검토 필요
+ _list1Busy = false;
+ _list2Busy = false;
+ _currentExecutingList = eListNo.NONE;
+ _autoChangeRequested = false;
+ _listStartMs = 0;
+ _listClosed = false;
+
+ _angleAbsDeg = 0.0;
+
+ _simEncXCount = 0;
+ _simEncYCount = 0;
}
public override uint GetRTCVersion()
{
diff --git a/Machines/ILSOS_CCW_H52A/Device/PLC/PLCContoller.Config.cs b/Machines/ILSOS_CCW_H52A/Device/PLC/PLCContoller.Config.cs
index 9044b2e..a964cb0 100644
--- a/Machines/ILSOS_CCW_H52A/Device/PLC/PLCContoller.Config.cs
+++ b/Machines/ILSOS_CCW_H52A/Device/PLC/PLCContoller.Config.cs
@@ -1,11 +1,15 @@
using Aurora;
+using Aurora.Api;
using AuroraPLC;
+using Hermes;
using System;
using System.Collections.Generic;
+using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WeldingCommon.Devices;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement.Rebar;
namespace ILSOS_CCW_H52A.Device
{
@@ -13,7 +17,183 @@ namespace ILSOS_CCW_H52A.Device
{
public PLCControllerCCWH52A(string deviceId, ePLCNetType plcNetType, PLCMMapFileType fileType, IAuroraEnvironment aurora) : base(deviceId, plcNetType, fileType, aurora)
{
+ }
+ protected override int DoActivate(IDeviceConfig config)
+ {
+ var ret = base.DoActivate(config);
+ if (ret == E1.OK && IsSimul) {
+ //WriteBit((int)eBitInput.PLC_AUTO_STATUS, true, ePLCDevice.B, false);
+ //WriteBit((int)eBitInput.PLC_AUTO_REQ, true, ePLCDevice.B, false);
+ SetMonitoringService(EquipmentSimulator, 1);
+ }
+ return ret;
+ }
+
+ protected override int DoDeactivate()
+ {
+ StopMonitoringService();
+
+ var res = base.DoDeactivate();
+
+ if (res != E1.OK) {
+ Log.E("Deactivate is failed");
+ return res;
+ }
+
+ return res;
+ }
+
+ // -----------------------------
+ // Simulation state
+ // -----------------------------
+ private const int PLC_CURRENT_POS_1_ADDR = 4; // 기존 (mod 0~360)
+
+ private readonly Random _rand = new Random();
+
+ private readonly Stopwatch _sw = Stopwatch.StartNew();
+ private long _lastMs = -1;
+
+ private const int RotaryJigCount = 16;
+ private const double JigPerMsec = 300;
+ private const double DegreePerRev = 360.0;
+ private const double OneCycleMsec = JigPerMsec * RotaryJigCount;
+ private const double DegreePerMsec = DegreePerRev / OneCycleMsec;
+ private const double DegreePerJig = DegreePerRev / RotaryJigCount; // 22.5
+ private const double HalfDegreePerJig = DegreePerJig / 2.0; // 11.25
+
+ // PLC_CURRENT_POS_1 = degree * 100000
+ private const double PlcAngleScale = 100_000.0;
+
+ // 시퀀스가 "다음 지그"를 미리 읽으므로 안전하게 2칸 선행(권장)
+ private const int LeadSectors = 2;
+
+ // Motor position
+ private readonly object _absLock = new object();
+ public double GetSimAbsDeg()
+ {
+ long value = System.Threading.Interlocked.Read(ref _angleAbsDeg);
+ return value / 100000.0;
+ }
+ private long _angleAbsDeg = 0; // 누적 각도(계속 증가)
+
+ private double _angleModDeg = 0.0; // 0~360 랩핑 각도
+
+ // PLC USE_WELD_JIG bits
+ private readonly bool[] _canExist = new bool[RotaryJigCount];
+ private readonly bool[] _decided = new bool[RotaryJigCount]; // 이번 회전에서 해당 섹터가 결정됐는지
+ private int _prevSector = -1;
+
+ private static void FillBool(bool[] arr, bool value)
+ {
+ if (arr == null)
+ return;
+ for (int i = 0; i < arr.Length; i++)
+ arr[i] = value;
+ }
+
+ private static int Mod(int x, int m)
+ {
+ int r = x % m;
+ return (r < 0) ? (r + m) : r;
+ }
+
+ private int GetSectorFromAngle(double angleDeg)
+ {
+ // 시퀀스의 (angle + half)/per와 동일한 기준으로 섹터 결정
+ return (int)((angleDeg + HalfDegreePerJig) / DegreePerJig) % RotaryJigCount;
+ }
+
+ private void OnSectorChanged(int prev, int curr)
+ {
+ // 첫 진입
+ if (prev < 0) {
+ // 처음 시작 시에는 전부 OFF 상태에서 시작
+ FillBool(_canExist, false);
+ FillBool(_decided, false);
+ } else {
+ // 랩(15 -> 0) 감지: 새 바퀴 시작으로 보고 "지나간 영역 OFF"를 강하게 반영
+ if (prev == RotaryJigCount - 1 && curr == 0) {
+ FillBool(_canExist, false);
+ FillBool(_decided, false);
+ } else {
+ // 지나간 섹터(prev)는 OFF 처리
+ _canExist[prev] = false;
+ _decided[prev] = false; // 다음 회전에서 다시 결정되도록
+ }
+ }
+
+ // 시퀀스는 "다음 지그"를 읽으므로 curr+1부터 선행 결정
+ for (int k = 1; k <= LeadSectors; k++) {
+ int s = Mod(curr + k, RotaryJigCount);
+
+ if (!_decided[s]) {
+ // 7/8 확률 ON (0~7 중 0만 OFF로 만들려면 >0)
+ bool isCanExist = true;// (_rand.Next(0, 8) > 0);
+ _canExist[s] = isCanExist;
+ _decided[s] = true;
+ }
+ }
+
+ // 현재 섹터(curr)도 켜고 싶다면 여기서 결정 가능
+ }
+
+ private void EquipmentSimulator()
+ {
+ if (!ReadBit((int)eBitOutput.PC_AUTO_STATUS, ePLCDevice.B, false).data)
+ return;
+
+ long now = _sw.ElapsedMilliseconds;
+ if (_lastMs < 0)
+ _lastMs = now;
+
+ long dtMs = now - _lastMs;
+ if (dtMs < 0)
+ dtMs = 0;
+
+ if (dtMs > 100)
+ dtMs = 100;
+
+ _lastMs = now;
+
+ // abs 누적각 (시뮬 전용)
+ long deltaScaled = (long)Math.Round(DegreePerMsec * dtMs * 100000.0);
+ System.Threading.Interlocked.Add(ref _angleAbsDeg, deltaScaled);
+
+ double absDeg = GetSimAbsDeg();
+ _angleModDeg = absDeg % DegreePerRev;
+ if (_angleModDeg < 0)
+ _angleModDeg += DegreePerRev;
+
+ // mod 각도
+ int plcAngleMod = (int)Math.Round(_angleModDeg * PlcAngleScale);
+ WriteDWord(PLC_CURRENT_POS_1_ADDR, plcAngleMod, ePLCDevice.W, false);
+
+ // 섹터 변경/비트 처리 로직은 기존 그대로
+ int sectorNow = GetSectorFromAngle(_angleModDeg);
+ if (sectorNow != _prevSector) {
+ OnSectorChanged(_prevSector, sectorNow);
+ _prevSector = sectorNow;
+ }
+
+ WriteBitBlock((int)eBitInput.PLC_USE_WELD_JIG_1, RotaryJigCount, _canExist, ePLCDevice.B, false);
+ }
+
+ public void ResetSimulator()
+ {
+ _lastMs = -1;
+ System.Threading.Interlocked.Exchange(ref _angleAbsDeg, 0);
+ _angleModDeg = 0.0;
+
+ FillBool(_canExist, false);
+ FillBool(_decided, false);
+ _prevSector = -1;
+
+ // 각도 초기화 반영
+ WriteDWord(PLC_CURRENT_POS_1_ADDR, 0, ePLCDevice.W, false);
+
+ // 지그 비트 초기화 반영
+ WriteBitBlock((int)eBitInput.PLC_USE_WELD_JIG_1, RotaryJigCount, _canExist, ePLCDevice.B, false);
}
}
}
diff --git a/Machines/ILSOS_CCW_H52A/Device/Scanner/ScannerCCWH52A.cs b/Machines/ILSOS_CCW_H52A/Device/Scanner/ScannerCCWH52A.cs
new file mode 100644
index 0000000..acfeda4
--- /dev/null
+++ b/Machines/ILSOS_CCW_H52A/Device/Scanner/ScannerCCWH52A.cs
@@ -0,0 +1,66 @@
+using Aurora;
+using Aurora.Api;
+using AuroraLaserScanner;
+using Hermes;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using WeldingCommon;
+using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;
+
+namespace ILSOS_CCW_H52A.Device
+{
+ public class ScannerCCWH52A : Scanner
+ {
+ // -----------------------------
+ // Simulation state
+ // -----------------------------
+ private PLCControllerCCWH52A _plc;
+
+ public ScannerCCWH52A(string deviceId) : base(deviceId)
+ {
+ }
+
+ protected override int DoActivate(IDeviceConfig config)
+ {
+ var ret = base.DoActivate(config);
+ if (ret == E1.OK && IsSimul) {
+ if (_plc == null) {
+ _plc = Application.Current.AuroraEnv().DeviceManager[CommonDeviceIds.PLCDevice] as PLCControllerCCWH52A;
+ return E2.ABORTED;
+ }
+
+ // 값의 동기화가 필요해서 추가 함
+ if (!_plc.IsConnected && !_plc.IsSimul)
+ return E2.ABORTED;
+
+ var core = _scannerObj as ScannerSimul;
+ core.PLCReadBit = _plc.ReadBit;
+ core.PLCReadWord = _plc.ReadWord;
+ core.PLCReadDWord = _plc.ReadDWord;
+ core.PLCGetAbsDeg = _plc.GetSimAbsDeg;
+ //_plc.ResetSimulator();
+ core.ResetSim();
+ core.TrySyncAbsAngleToPlcNow();
+
+ SetMonitoringService((_scannerObj as ScannerSimul).EquipmentSimulator, 1);
+ }
+ return ret;
+ }
+
+ protected override int DoDeactivate()
+ {
+ var ret = base.DoDeactivate();
+ if (ret == E1.OK && IsSimul){
+ var core = _scannerObj as ScannerSimul;
+ StopMonitoringService();
+ }
+
+ return ret;
+ }
+ }
+}
diff --git a/Machines/ILSOS_CCW_H52A/EquipmentSetup.cs b/Machines/ILSOS_CCW_H52A/EquipmentSetup.cs
index 9f4c817..37694af 100644
--- a/Machines/ILSOS_CCW_H52A/EquipmentSetup.cs
+++ b/Machines/ILSOS_CCW_H52A/EquipmentSetup.cs
@@ -11,6 +11,7 @@ using AuroraCellTracker.Views;
using AuroraIO;
using AuroraIO.View;
using AuroraLaser;
+using AuroraLaserScanner;
using AuroraLBAD;
using AuroraLBAD.Services;
using AuroraOCT;
@@ -153,6 +154,8 @@ namespace ILSOS_CCW_H52A
() => _plc, PLCMelsecNetConfig.GetDefaultConfig(),
device => new UCPLCDevice() { DataContext = new UCPLCDeviceViewModel(AuroraEnv, _plc) });
+ registry.Register(CommonDeviceIds.Scanner, () => new ScannerCCWH52A(CommonDeviceIds.Scanner), new ScannerConfig());
+
var ioController = new IOController_CCW_H52A(AuroraEnv, CommonDeviceIds.IODevice);
registry.Register(CommonDeviceIds.IODevice, () => ioController, new IOUnitConfig());
diff --git a/Machines/ILSOS_CCW_H52A/ILSOS_CCW_H52A.csproj b/Machines/ILSOS_CCW_H52A/ILSOS_CCW_H52A.csproj
index f58c19c..7e803d2 100644
--- a/Machines/ILSOS_CCW_H52A/ILSOS_CCW_H52A.csproj
+++ b/Machines/ILSOS_CCW_H52A/ILSOS_CCW_H52A.csproj
@@ -98,6 +98,7 @@
+
@@ -105,6 +106,7 @@
+
diff --git a/Machines/ILSOS_CCW_H52A/Sequences/ProcessManager.cs b/Machines/ILSOS_CCW_H52A/Sequences/ProcessManager.cs
new file mode 100644
index 0000000..57ba05c
--- /dev/null
+++ b/Machines/ILSOS_CCW_H52A/Sequences/ProcessManager.cs
@@ -0,0 +1,115 @@
+using Aurora;
+using Aurora.Api;
+using Aurora.Util.HislogPlus;
+using AuroraLaserScanner;
+using AuroraPLC;
+using ILSOS_CCW_H52A.Device;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static ILSOS_CCW_H52A.Device.PLCControllerCCWH52A;
+
+namespace ILSOS_CCW_H52A.Sequences
+{
+ public class ProcessManager
+ {
+ private bool usedAnalyzerLog = false;
+ private readonly Logger _log = new Logger("ProcessManager");
+
+ public const double compensateEncoderReset = 0.015; // 엔코더 리셋 보상 각도 설정(70도/sec 기준 약 0.015도)
+ public const int RotaryJigCount = 16;
+ public const int RotaryMaxAngle = 360;
+ public double DegreePerJig { get => RotaryMaxAngle / RotaryJigCount; }
+ public double HalfDegreePerJig { get => DegreePerJig / 2; }
+
+
+ private readonly IAuroraEnvironment _env;
+ private readonly PLCControllerCCWH52A _plc;
+ private readonly Scanner _scanner;
+
+ public ProcessManager()
+ {
+ _plc = _env.DeviceManager[DeviceIds.PLCDevice] as PLCControllerCCWH52A;
+ _scanner = _env.DeviceManager[DeviceIds.Scanner] as Scanner;
+ }
+
+ public IEnumerable CheckRotaryState()
+ {
+ List rotaryStates = new List();
+ for (int i = 0; i < RotaryJigCount; i++) {
+ var rotaryProcessState = _plc.ReadBit(eBitInput.PLC_USE_WELD_JIG_1 + i).data;
+ rotaryStates.Add(rotaryProcessState);
+
+ if (rotaryProcessState == false)
+ _plc.ToggleBit(eBitInput.PLC_USE_WELD_JIG_1 + i, eBitOutput.PC_WELD_COMPLETE_1 + i);
+ }
+
+ if (usedAnalyzerLog) {
+ StringBuilder sb = new StringBuilder();
+ rotaryStates.ForEach(x => sb.Append($"{x} "));
+ _log.D($"Check Rotary State : {sb.ToString()}");
+ }
+
+ return rotaryStates;
+ }
+
+ public bool GetRotaryCanExist(int jigNo)
+ {
+ //var RotaryStates = CheckRotaryState();
+
+ if (jigNo == 0)
+ jigNo = 1;
+
+ if (jigNo <= RotaryJigCount)
+ return _plc.ReadBit(eBitInput.PLC_USE_WELD_JIG_1 + (jigNo - 1)).data;
+ else
+ return false;
+ }
+
+ ///
+ /// Rotary의 현재 위치정보를 0~360로 전달함
+ ///
+ public double GetRotaryCurrentPosition(bool isView360 = true)
+ {
+ try {
+ double finalValue = Convert.ToDouble(_plc.ReadDWord(eWordInput.PLC_CURRENT_POS_1).data / 100_000f);
+ finalValue += _scanner.Config.RotaryEncoderOffset;
+
+ if (isView360) {
+ if (RotaryMaxAngle <= finalValue) {
+ while (RotaryMaxAngle <= finalValue) {
+ finalValue -= RotaryMaxAngle;
+ }
+ }
+ else if (finalValue < 0) {
+ while (finalValue < 0) {
+ finalValue += RotaryMaxAngle;
+ }
+ }
+ }
+
+ return finalValue;
+ }
+ catch {
+ return -9999.9999;
+ }
+ }
+
+ ///
+ /// 중심 기준 가장 가까운 지그 번호(내림 연산)
+ /// 내림 카운팅을 중심 기준 값
+ ///
+ ///
+ public int getCurrentJigNo() => (int)((GetRotaryCurrentPosition(isView360:true) + HalfDegreePerJig) / DegreePerJig) + 1;
+
+ ///
+ /// 360도 이상으로 준다고하면 Welding Count를 가져올 수 있음 2word = 2147483.647 / 3600 = 596 >> 596*16 = 9_536까지 카운팅 가능함
+ /// 내림 카운팅을 중심 기준 값
+ ///
+ ///
+ public int getWeldingCount() => (int)((GetRotaryCurrentPosition(isView360:false) + HalfDegreePerJig) / DegreePerJig);
+
+ }
+}
diff --git a/Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs b/Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs
index f8283c3..8aa9fa4 100644
--- a/Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs
+++ b/Machines/ILSOS_CCW_H52A/Sequences/SeqAutoRunCCWH52A.cs
@@ -12,6 +12,7 @@ using CoreUnit.Control.UserControl.Canvas;
using CoreUnit.Scanner.UserControl.ScannerCanvas;
using DB;
using Hermes;
+using ILSOS_CCW_H52A.Device;
using ILSOS_CCW_H52A.Models;
using ILSOS_CCW_H52A.RMS;
using System;
@@ -49,14 +50,13 @@ namespace ILSOS_CCW_H52A.Sequences
// TODO: [장비구현필요] 실제 공정 추가
const string SEQ_CHECK_LOAD_COMPLETE = "[SeqAutoRunCCWH52A] Check Load Complete";
- public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunCCWH52A] Check Scanner List Complete";
-
- const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunCCWH52A] Ready ScannerList";
-
const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Set Sequence Param (UploadWeldingList Seq)";
const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Process (UploadWeldingList Seq)";
const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqAutoRunCCWH52A] Get Sequence Result (UploadWeldingList Seq)";
+ public const string SEQ_CHECK_SCANNER_LIST_COMPLETE = "[SeqAutoRunCCWH52A] Check Scanner List Complete";
+ const string SEQ_READY_SCANNER_LIST = "[SeqAutoRunCCWH52A] Ready ScannerList";
+
const string SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ = "[SeqAutoRunCCWH52A] Set Sequence Param (ReceiveCellInfo Seq)";
const string SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ = "[SeqAutoRunCCWH52A] Process (ReceiveCellInfo Seq)";
const string SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ = "[SeqAutoRunCCWH52A] Get Sequence Result (ReceiveCellInfo Seq)";
@@ -91,7 +91,7 @@ namespace ILSOS_CCW_H52A.Sequences
private Scanner _Scanner;
private LaserDevice _Laser;
- private PLCController _PLC;
+ private PLCControllerCCWH52A _PLC;
private IODevice _IO;
private StreamLightLBAD _StreamLightLBAD;
private static CellTracker _CellTracker;
@@ -173,6 +173,11 @@ namespace ILSOS_CCW_H52A.Sequences
sb.AddJoin(SEQ_JOIN_ENCODER_MONITOR);
sb.AddAction(SEQ_CHECK_LOAD_COMPLETE, CheckLoadComplete);
+
+ sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams); // Cell 정보를 받아와 입력한다.
+ sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo()); // cell 정보를 받아오는 Sub Seq 실행
+ sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult); // Cell 정보를 가져온다
+
sb.AddAction(SEQ_CHECK_SCANNER_LIST_COMPLETE, CheckScannerListComplete);
sb.AddDecision(SEQ_READY_SCANNER_LIST, ReadyScannerList);
@@ -180,10 +185,6 @@ namespace ILSOS_CCW_H52A.Sequences
sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, SequenceManager.GetSeqBuilder_SeqUploadWeldingList());
sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
- sb.AddAction(SEQ_SET_PARAMS_RECEIVE_CELL_INFO_SEQ, SetReceiveCellInfo_SeqParams); // Cell 정보를 받아와 입력한다.
- sb.AddSubsequence(SEQ_DO_ID_RECEIVE_CELL_INFO_SEQ, SequenceManager.GetSeqBuilder_SeqReceiveCellInfo()); // cell 정보를 받아오는 Sub Seq 실행
- sb.AddAction(SEQ_GET_PARAMS_RECEIVE_CELL_INFO_SEQ, GetReceiveCellInfo_SeqResult); // Cell 정보를 가져온다
-
sb.AddAction(SEQ_EXECUTE_WELDING, ExecuteWelding);
sb.AddAction(SEQ_REQUEST_UNLOAD_CELL, RequestUnloadCell);
@@ -216,7 +217,7 @@ namespace ILSOS_CCW_H52A.Sequences
sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_INIT_CONDITION_ERROR] > sb.Final);
sb.Flows(sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_ENCODER_MONITOR] > sb[SEQ_JOIN_ENCODER_MONITOR] > sb[SEQ_COMPLETE]);
- #region
+ #region
//sb.Flows(sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_ENCODER_MONITOR]);
////sb.Flows(sb[SEQ_FORK_ENCODER_MONITOR] > sb[SEQ_CHECK_LOAD_COMPLETE]);
//sb.Flows(sb[SEQ_JOIN_ENCODER_MONITOR] > sb[SEQ_COMPLETE]);
@@ -270,19 +271,13 @@ namespace ILSOS_CCW_H52A.Sequences
_SystemParameter = context.GetSetting(CommonSettingIds.SystemParameter);
InitDev(context);
- if (!CheckDeviceReady(context))
- { //Check Device
- //AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
+ if (!CheckDeviceReady(context)) {
+ //Check Device
Log.E("The devices are not active.");
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_AutoRun_DeviceNotReady);
-
- //return null;
}
- if (InitSequenceVariable(context) == false)
- {
- //AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
+ if (InitSequenceVariable(context) == false) {
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_AutoRun_InitVariableError);
- //return null;
}
Thread.Sleep(1); // 부하 방지
return SequenceAction.Ok();
@@ -317,14 +312,13 @@ namespace ILSOS_CCW_H52A.Sequences
//Device Init
_Scanner = context.GetLaserScanner();
_Laser = context.GetLaser();
- if (_InitParam.UseStream)
- {
+ if (_InitParam.UseStream) {
_StreamLightLBAD = new StreamLightLBAD();
_StreamLightLBAD._Client = context.GetStreamLightClient();
_StreamLightLBAD._Sub = context.GetStreamLightSub();
}
_CellTracker = context.GetCellTracker();
- _PLC = context.GetPLC();
+ _PLC = context.Devices[DeviceIds.PLCDevice] as PLCControllerCCWH52A;
_IO = context.GetIOUnit();
}
@@ -332,17 +326,14 @@ namespace ILSOS_CCW_H52A.Sequences
{
List deviceListToCheck = new List() { CommonDeviceIds.Scanner, CommonDeviceIds.Laser, CommonDeviceIds.PLCDevice, CommonDeviceIds.IODevice };
- if (_InitParam.UseStream)
- {
+ if (_InitParam.UseStream) {
deviceListToCheck.Add(CommonServiceIds.StreamLightLBADClient);
deviceListToCheck.Add(CommonServiceIds.StreamLightLBADSub);
}
bool isAllDeviceActivated = true;
- foreach (string item in deviceListToCheck)
- {
- if (!context.Devices[item].IsActivated)
- {
+ foreach (string item in deviceListToCheck) {
+ if (!context.Devices[item].IsActivated) {
isAllDeviceActivated = isAllDeviceActivated && false;
}
}
@@ -352,29 +343,14 @@ namespace ILSOS_CCW_H52A.Sequences
private bool CheckCondition(SequenceContext context)
{
- if (CheckCondition_Interlock())
- {
- int InitializeCode = InitializeDeviceStatus(context);
- if (InitializeCode == (int)InitErrorList.SUCCESS)
- return true;
- else
- context.PutValue(ContextKey.KEY_SEQUENCE_ERROR_CODE, InitializeCode);
- }
+ int InitializeCode = InitializeDeviceStatus(context);
+ if (InitializeCode == (int)InitErrorList.SUCCESS)
+ return true;
+ else
+ context.PutValue(ContextKey.KEY_SEQUENCE_ERROR_CODE, InitializeCode);
return false;
}
- private bool CheckCondition_Interlock()
- {
- // PLC, Data, IO 등 Interlock checking
- // Config checking
- //if (_Scanner.Config.UseMarkingOnTheFly == false)
- //{
- // Log.E("ERROR Config Setting : Scanner Marking on the fly (OFF)");
- // return false;
- //}
- return true;
- }
-
private int InitializeDeviceStatus(SequenceContext context)
{
// PLC Interface AutoStatus Start
@@ -384,32 +360,26 @@ namespace ILSOS_CCW_H52A.Sequences
//InitAutoRunBit();
// LBAD Initialize
// LBAD 는 server 이기 때문에, 만약 끊어졌으면 다시 접속이 필요함
- if (_SystemParameter.BypassModeLBAD == false)
- {
- if (!_StreamLightLBAD._Client.IsActivated)
- {
+ if (_SystemParameter.BypassModeLBAD == false) {
+ if (!_StreamLightLBAD._Client.IsActivated) {
int ret = _StreamLightLBAD._Client.Activate();
Thread.Sleep(500);
- if (ret != E1.OK)
- {
+ if (ret != E1.OK) {
Log.E($"StreamLightClient activate failed");
return (int)InitErrorList.LBAD_CLIENT_ACTIVATE_FAILED;
}
}
- if (_StreamLightLBAD._Sub.IsActivated == false)
- {
+ if (_StreamLightLBAD._Sub.IsActivated == false) {
int ret = _StreamLightLBAD._Sub.Activate();
Thread.Sleep(500);
- if (ret != E1.OK)
- {
+ if (ret != E1.OK) {
Log.E($"StreamLightSub activate failed");
return (int)InitErrorList.LBAD_SUB_ACTIVATE_FAILED;
}
}
_StreamLightLBAD.Initialize();
- if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_On) == false)
- {
+ if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_On) == false) {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
//return false;
}
@@ -419,18 +389,15 @@ namespace ILSOS_CCW_H52A.Sequences
_Laser.PilotLaserOff();
_Laser.LaserOn();
Thread.Sleep(500);
- if (!_Laser.GetLaserReady())
- {
+ if (!_Laser.GetLaserReady()) {
Log.E("ERROR Initialize Laser");
return (int)InitErrorList.LASER_INIT_ERROR;
}
// Scanner Initialize
- if (_Scanner.GetModulationMode())
- {
+ if (_Scanner.GetModulationMode()) {
_ModulationMode = true;
}
- else
- {
+ else {
_ModulationMode = false;
}
@@ -442,16 +409,14 @@ namespace ILSOS_CCW_H52A.Sequences
Log.E(string.Format("ERROR Initialize PLC, PLC Alarm ON")); // AutoRun Request와 AutoRun Bit 모두 OFF인 경우, PLC 측에서 Alarm 발생함.
return (int)InitErrorList.PLC_ALARM;
}
- else
- {
+ else {
Log.E(string.Format("ERROR Initialize PLC, Bit Off PLC_AUTO_STATUS")); // AutoRun Request가 ON인데 AutoRun Bit 모두 OFF인 경우, PLC에서 AutoRun Bit를 켜지 않음.
return (int)InitErrorList.PLC_AUTORUN_BIT_OFF;
}
}
// Marking On The Flying Off
- if (_Scanner.Config.UseMarkingOnTheFly == false)
- {
+ if (_Scanner.Config.UseMarkingOnTheFly == false) {
Log.E("ERROR Config Setting : Scanner Marking on the fly (OFF)");
return (int)InitErrorList.MOTF_OFF;
}
@@ -497,46 +462,36 @@ namespace ILSOS_CCW_H52A.Sequences
isTheSecondListWrite = false;
isTheFirstListExecute = true; // 제일 첫 List는 ExecuteList 필요. 이후는 AutoChange
- InitAutoRunBit(); // GetRotaryCurrentPosition() 호출 이후 AutoStatus True 변경
+ _PLC.WriteBit(eBitOutput.PC_AUTO_STATUS, true);
+ Log.I(string.Format($"[PLCInterface]SET PC_AUTO_STATUS True"));
#endregion
return (int)InitErrorList.SUCCESS;
}
- private void InitAutoRunBit()
- {
- _PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, true);
- Log.I(string.Format($"[PLCInterface]SET PC_AUTO_STATUS True"));
- }
private double GetRotaryCurrentPosition()
{
- try
- {
+ try {
//double finalValue = Convert.ToDouble(_plc.GetLongAIValue("PLC_CURRENT_POS_1") / 100000f);
double finalValue = Convert.ToDouble(_PLC.ReadDWord((int)eWordInput.PLC_CURRENT_POS_1).data / 100000f);
finalValue += _Scanner.Config.RotaryEncoderOffset;
- if (360.0 <= finalValue)
- {
- while (360.0 <= finalValue)
- {
+ if (360.0 <= finalValue) {
+ while (360.0 <= finalValue) {
finalValue -= 360.0;
}
}
- else if (finalValue < 0)
- {
- while (finalValue < 0)
- {
+ else if (finalValue < 0) {
+ while (finalValue < 0) {
finalValue += 360.0;
}
}
return finalValue;
}
- catch
- {
+ catch {
return -9999.9999;
}
}
@@ -560,8 +515,7 @@ namespace ILSOS_CCW_H52A.Sequences
private string CheckInitCondition(SequenceContext context, string id, ICollection branches, SequenceActionResult param)
{
- if (!CheckCondition(context))
- {
+ if (!CheckCondition(context)) {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_CheckInitCondition);
Log.E("Condition is not in state to start sequence.");
context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
@@ -586,29 +540,18 @@ namespace ILSOS_CCW_H52A.Sequences
{
Status.SetWorkingPosition(eWorkingPosition.LOADING_CELL);
- // MOTF WaitScannerLoadListEnable
- // List가 실행 중이라면(ex : 엔코더 대기 상태 등), 반환값은 0, LoadList 할 수 없는 상태(List 실행 중이거나, 엔코더 대기 상태)
- // LoadList가 0보다 크면 다음 시퀀스 진행해야 함
- _InterfaceStartTime = DateTime.Now;
- while (!context.Stopped)
- {
- if (_Scanner.LoadList(_WeldingScannerListNo) > 0)
- {
- // List가 실행 상태가 아니라면(ex : 시작을 안 했거나, 완료되었으면) 반환값은 1 또는 2(리스트 번호)
- Log.I(string.Format($"LoadList function success : List {_WeldingScannerListNo}"));
- break;
- }
-
- _InterfaceSpanTime = DateTime.Now.Subtract(_InterfaceStartTime);
- if (_InterfaceSpanTime.TotalMilliseconds > (PLC_TIMEOUT * 1000))
- {
- Log.E("TIMEOUT_Scanner_LoadList");
- _InterfaceStartTime = DateTime.Now;
- }
- Thread.Sleep(10);
+ // MOTF WaitScannerLoadListEnable
+ // List가 실행 중이라면(ex : 엔코더 대기 상태 등), 반환값은 0, LoadList 할 수 없는 상태(List 실행 중이거나, 엔코더 대기 상태)
+ // LoadList가 0보다 크면 다음 시퀀스 진행해야 함
+ WaitContinue:
+ var ret = context.RetryUntilSuccess(() => _Scanner.LoadList(_WeldingScannerListNo) > 0, int.MaxValue, 10, true);
+ if (ret == E2.TIMEOUT) {
+ Log.E("TIMEOUT_Scanner_LoadList : 600시간 Run");
+ goto WaitContinue;
}
- Thread.Sleep(1); // 부하 방지
+ Log.I($"LoadList function success : List {_WeldingScannerListNo}");
+ Thread.Sleep(1); // 부하 방지
return SequenceAction.Ok();
}
@@ -620,22 +563,19 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I("Write the 1st scanner list");
}
- else
- {
+ else {
if (isTheSecondListWrite) // 두번째 리스트는 바로 쓰지만, 첫번째 리스트 실행이 완료되면 자동으로 이어서 실행된다(AutoChange)
{
isTheSecondListWrite = false;
Log.I("Write the 2nd scanner list");
}
- else
- {
+ else {
isWeled = false;
// 첫번째나 두번째가 아니라면, 실제 리스트 실행이 끝난 것이기 때문에 완료 처리가 필요
CompleteScannerList = InputScannerList[(int)_WeldingScannerListNo - 1];
- if (!CheckCurrentEncoderAngle(CompleteScannerList.StartAngle))
- {
+ if (!CheckCurrentEncoderAngle(CompleteScannerList.StartAngle)) {
// 에러 상황(현재 Rotary Encoder 값이 정상적인 스캐너 리스트 각도 범위를 벗어남)
Log.I("ERR_SCANNER_LIST_PROCESSING_TIMEOVER");
@@ -651,10 +591,8 @@ namespace ILSOS_CCW_H52A.Sequences
// }
// return SequenceAction.Ok();
}
- else
- {
- if (CompleteScannerList.CanExist)
- {
+ else {
+ if (CompleteScannerList.CanExist) {
isWeled = true;
#region 용접 시간, 엔코더 측정/기록
//_WeldInterval = DateTime.Now - _WeldEndTime;
@@ -665,8 +603,7 @@ namespace ILSOS_CCW_H52A.Sequences
double elaspedTime = _Scanner.GetTime();
- if (CompleteScannerList.WeldComplete)
- {
+ if (CompleteScannerList.WeldComplete) {
_WeldInterval = DateTime.Now - _WeldEndTime;
_WeldEndTime = DateTime.Now;
_WeldingStartTime = CompleteScannerList.WeldStartTime;
@@ -677,8 +614,7 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I(string.Format("JigNo : {0}, Weld start : {1}, Weld End : {2}, WeldTime : {3}, interval : {4:F3}",
CompleteScannerList.JigNo, _WeldingStartTime.ToString("HH:mm:ss.fff"), _WeldEndTime.ToString("HH:mm:ss.fff"), _WeldingSpanTime.TotalMilliseconds, _WeldInterval.TotalSeconds));
- if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + CompleteScannerList.JigNo - 1).data)
- {
+ if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + CompleteScannerList.JigNo - 1).data) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + CompleteScannerList.JigNo - 1, true);
Log.I(string.Format($"PC_WELD_COMPLETE_{CompleteScannerList.JigNo} -> true)"));
}
@@ -707,8 +643,7 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I(string.Format("Encoder start : {0:F4}, end : {1:F4}, vel : {2:F2}", startEncoderCount, endEncoderCount, angularVelocity));
#endregion
#region 스캐너 리스트 Record 파일 기록
- if (_Scanner.Config.UseRecordSignal)
- {
+ if (_Scanner.Config.UseRecordSignal) {
String RecordFileName = _RecipeManager.ActivatedRecipe().Name + "_Jig#" + CompleteScannerList.JigNo.ToString();
string DataFilePath = ProjectUtil.GetDataLogSetting().GetFilePath_ScannerRecordLog(RecordFileName, true);
_Scanner.SaveRecord(DataFilePath);
@@ -727,20 +662,18 @@ namespace ILSOS_CCW_H52A.Sequences
_Scanner.GetEncoder(out encoderX, out currentAngle, true);
- if (0 < startAngle && currentAngle < 0)
- {
+ if (0 < startAngle && currentAngle < 0) {
// Encoder 반전되는 순간이며, 이 때만 인터락 무시
}
- else if (startAngle <= currentAngle)
- {
+ else if (startAngle <= currentAngle) {
if (currentAngle < startAngle + 45)// 다음 리스트 구간이 끝나기 전까지는 완료가 되어야 한다
{
Log.I(string.Format("Current encoder check OK, startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
return true;
}
- else Log.I(string.Format("Current encoder check NG(Too late), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
+ else Log.W(string.Format("Current encoder check NG(Too late), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
}
- else Log.I(string.Format("Current encoder check NG(Too early), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
+ else Log.W(string.Format("Current encoder check NG(Too early), startAngle : {0}, currentAngle : {1})", startAngle, currentAngle));
return false;
}
@@ -783,8 +716,7 @@ namespace ILSOS_CCW_H52A.Sequences
bool canExist; // 지그 용접 수행 여부 확인
- if (UsePlcShotThemAll)
- {
+ if (UsePlcShotThemAll) {
canExist = true;
Log.I("Settings - PLC : Shot Them All Mode");
}
@@ -793,40 +725,13 @@ namespace ILSOS_CCW_H52A.Sequences
Log.I("Can Exist : " + canExist.ToString() + ", JigNo " + _WeldingJigNo + " ,CountNo " + _WeldingCount + ", StartAngle(Y) : " + _WeldingStartAngle);
- // 입력한 Scanner List를 완료대기열에 추가
- //SetInputScannerList(_WeldingScannerListNo, DateTime.Now, _WeldingCount, _WeldingStartAngle, _WeldingJigNo, _RotaryJigCount, canExist);
-
- //if (canExist) // Can이 존재할 경우만 리스트 안에 내용이 들어가며, 그렇지 않은 경우는 빈 리스트가 된다
- //{
- // #region 용접할 Objects 선택
- // if (UsePlcPositionCompensation && _WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length) {
- // _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[_WeldingJigNo - 1].Objects;
- // Log.I(string.Format("Page 불러오기 : [{0}])", _WeldingJigNo - 1));
- // } else {
- // _SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
- // Log.I(string.Format("Page 불러오기 : [0])"));
- // }
- // #endregion
-
- // // 여기서 어디로 가는지 설정 필요함
- // return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
- //}
-
- //// 기존 소스는 UploadWeldingList 건너 뛰고 SEQ_EXECUTE_WELDING 으로 바로 감
- //// SEQ_WAIT_WELDING_START 의 기능이 어떻게 되는 지 확인 후
- //// 건너뛰어도 되면 SEQ_EXECUTE_WELDING 으로 변경 해도 됨
- //return SEQ_WAIT_WELDING_START;
-
- if (canExist)
- {
+ if (canExist) {
#region 용접할 Objects 선택
- if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length)
- {
+ if (_WeldingJigNo - 1 < _ScannerCanvasUserCtrl.Model.Layers.Length) {
_SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[_WeldingJigNo - 1].Objects;
Log.I(string.Format("Page 불러오기 : [{0}])", _WeldingJigNo - 1));
}
- else
- {
+ else {
_SelectedDrawObjectList = _ScannerCanvasUserCtrl.Model.Layers[0].Objects;
Log.I(string.Format("Page 불러오기 : [0])"));
}
@@ -840,12 +745,11 @@ namespace ILSOS_CCW_H52A.Sequences
_RecipeNo = _RecipeManager.ActivatedRecipe().Id;
SetWeldingData();
+ return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
}
- else
- {
+ else {
return SEQ_EXECUTE_WELDING;
}
- return SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ;
#endregion
}
@@ -865,8 +769,7 @@ namespace ILSOS_CCW_H52A.Sequences
ScannerParam laserParam = null;
laserParam = GetSelectedDrawObjectData(_SelectedDrawObjectList[0]);
- if (laserParam != null)
- {
+ if (laserParam != null) {
// EDC 보내는 용도
Status.GetProcessingWeldingData().LaserPowerCore = laserParam.LaserPower1.ToString();
Status.GetProcessingWeldingData().MarkSpeed = laserParam.MarkSpeed.ToString();
@@ -895,8 +798,7 @@ namespace ILSOS_CCW_H52A.Sequences
// 1.2. 계산된 시작각도가 이미 지나버렸으면 알람 발생 필요
// 1.3. Overflow가 나는 숫자라면, 보상할 것.
- if (sectionStartAngle > encoderAllowedMaxDegree)
- {
+ if (sectionStartAngle > encoderAllowedMaxDegree) {
sectionStartAngle -= encoderAllowedMaxDegree - encoderAllowedMinDegree;
_EncoderOverflowCount++;
}
@@ -911,18 +813,15 @@ namespace ILSOS_CCW_H52A.Sequences
#region 지그 16개 요청기록 로그 남기기, 빠져나간 캔에 대한 Complete Bit 초기화
string result = "";
- for (int i = 1; i <= _RotaryJigCount; i++)
- {
+ for (int i = 1; i <= _RotaryJigCount; i++) {
if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data)
result += "1, ";
- else
- {
+ else {
result += "0, ";
string outId = string.Format("PC_WELD_COMPLETE_{0}", i);
- if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data)
- {
+ if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
Log.I(string.Format($"PC_WELD_COMPLETE_{1 + i} -> FALSE)"));
}
@@ -941,8 +840,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
{
//현재 시퀀스에서 LoadList를 해주기 때문에 Sub 시퀀스에 IncludeListStartEnd를 false로 넘겨줘야 함
- SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
- {
+ SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam() {
NeedSetLaserTiming = _ModulationMode,
IncludeListStartEnd = false,
CellMeasureCenterOffsetX = _CellMeasureCenterOffsetX,
@@ -958,8 +856,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult GetUploadWeldingList_SeqResult(SequenceContext context, string id, SequenceActionResult param)
{
var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
- if (resultOutParam.Success == false)
- {
+ if (resultOutParam.Success == false) {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed);
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed);
//return null;
@@ -970,8 +867,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult SetReceiveCellInfo_SeqParams(SequenceContext context, string id, SequenceActionResult param)
{
- SeqReceiveCellInfo_InitParam seqParams = new SeqReceiveCellInfo_InitParam()
- {
+ SeqReceiveCellInfo_InitParam seqParams = new SeqReceiveCellInfo_InitParam() {
};
return SequenceAction.Ok(seqParams);
@@ -980,8 +876,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult GetReceiveCellInfo_SeqResult(SequenceContext context, string id, SequenceActionResult param)
{
var resultOutParam = param.Param as SeqReceiveCellInfo_OutParam;
- if (resultOutParam.Success == false)
- {
+ if (resultOutParam.Success == false) {
return null;
}
return SequenceAction.Ok();
@@ -996,15 +891,13 @@ namespace ILSOS_CCW_H52A.Sequences
_Scanner.SetEndList();
#region List 실행(처음엔 ExecuteList, 다음부터 AutoChangeList, 이후 대상 리스트 교체 (1 <-> 2))
- if (isTheFirstListExecute)
- {
+ if (isTheFirstListExecute) {
isTheFirstListExecute = false;
_Scanner.ExecuteList(_WeldingScannerListNo);
Log.I(string.Format($"START Welding : ExecuteList_{_WeldingScannerListNo}"));
}
- else
- {
+ else {
_Scanner.AutoChange();
Log.I(string.Format($"Next upload list : uploadList_{_WeldingScannerListNo}"));
}
@@ -1027,26 +920,20 @@ namespace ILSOS_CCW_H52A.Sequences
double send_time_offset = 0.1;
string LotID = "", CellID = "";
- while (!context.Stopped)
- {
+ while (!context.Stopped) {
double encoderX, currentAngle;
_Scanner.GetEncoder(out encoderX, out currentAngle, true);
double CurrentPosPLC = GetRotaryCurrentPosition();
bool WeldingInPosition = encoderX > _Scanner.Config.MarkingRangeMinRotate + 11.25 - send_time_offset - 0.1 && encoderX < _Scanner.Config.MarkingRangeMinRotate + 11.25 - send_time_offset + 0.1;
- if (WeldingInPosition)
- {
- if (InputScannerList[(int)_WeldingScannerListNo - 1].CanExist)
- {
+ if (WeldingInPosition) {
+ if (InputScannerList[(int)_WeldingScannerListNo - 1].CanExist) {
Log.I($"Fork Before Min Rotate Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo}, JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
- if (!_SystemParameter.BypassModeLBAD)
- {
- if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false)
- {
+ if (!_SystemParameter.BypassModeLBAD) {
+ if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false) {
LotID = InputScannerList[(int)_WeldingScannerListNo - 1].LotId;
CellID = InputScannerList[(int)_WeldingScannerListNo - 1].CellId;
- if (currentAngle > InputScannerList[(int)_WeldingScannerListNo - 1].StartAngle)
- {
+ if (currentAngle > InputScannerList[(int)_WeldingScannerListNo - 1].StartAngle) {
InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo = _StreamLightLBAD.SendCellInfo(LotID, CellID, _RecipeNo, _ModelNo, InputScannerList[(int)_WeldingScannerListNo - 1].JigNo);
if (InputScannerList[(int)_WeldingScannerListNo - 1].CheckSendCellinfo == false)
@@ -1059,32 +946,27 @@ namespace ILSOS_CCW_H52A.Sequences
}
}
- if (_IO._iOUnit.ReadDiBit(Convert.ToInt32(eADIAddress.LaserOn)))
- {
- if (InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime == DateTime.MinValue && InputScannerList[(int)_WeldingScannerListNo - 1].CanExist)
- {
+ if (_IO._iOUnit.ReadDiBit(Convert.ToInt32(eADIAddress.LaserOn))) {
+ if (InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime == DateTime.MinValue && InputScannerList[(int)_WeldingScannerListNo - 1].CanExist) {
InputScannerList[(int)_WeldingScannerListNo - 1].WeldStartTime = DateTime.Now;
InputScannerList[(int)_WeldingScannerListNo - 1].WeldComplete = true;
EncoderLogCount = 0;
Log.I($"Laser On, Welding Complete. JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
}
- if (EncoderLogCount == 0)
- {
+ if (EncoderLogCount == 0) {
Log.I($"Fork Laser On Encoder X : ({encoderX}), Encoder Y : ({currentAngle}), PLC Rotary : ({CurrentPosPLC}), List {_WeldingScannerListNo}, JigNo : ({InputScannerList[(int)_WeldingScannerListNo - 1].JigNo})");
}
EncoderLogCount = (EncoderLogCount + 1) % 7;
}
- for (int i = 0; i < _RotaryJigCount; i++)
- {
- if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data == false)
- {
+ for (int i = 0; i < _RotaryJigCount; i++) {
+ if (_PLC.ReadBit((int)eBitInput.PLC_USE_WELD_JIG_1 + i).data == false) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
}
}
- _PLC.WriteDWord((int)eWordOutput.PC_CURRENT_POS, (int)((currentAngle + _RotaryEncoderOffset) % 360 * 100000f));
+ _PLC.WriteDWord((int)eWordOutput.PC_CURRENT_POS, (int)((currentAngle + _RotaryEncoderOffset) % 360 * 100_000f));
Thread.Sleep(1); // 부하 방지
}
return SequenceAction.Ok();
@@ -1092,8 +974,7 @@ namespace ILSOS_CCW_H52A.Sequences
private void UpdateProductCount(SequenceContext context)
{
- if (_SystemParameter.LastResetTime < DateTime.Now.Date)
- {
+ if (_SystemParameter.LastResetTime < DateTime.Now.Date) {
_SystemParameter.LastResetTime = DateTime.Now.Date;
Log.I($"Today Count Reset. {_SystemParameter.TodayProductCount} -> 0");
_SystemParameter.TodayProductCount = 0;
@@ -1101,12 +982,10 @@ namespace ILSOS_CCW_H52A.Sequences
_TodayProduct = _SystemParameter.TodayProductCount;
_TotalProduct = _SystemParameter.TotalProductCount;
- if (_TodayProduct < uint.MaxValue)
- {
+ if (_TodayProduct < uint.MaxValue) {
_TodayProduct++;
}
- if (_TotalProduct < uint.MaxValue)
- {
+ if (_TotalProduct < uint.MaxValue) {
_TotalProduct++;
}
_SystemParameter.TodayProductCount = _TodayProduct;
@@ -1138,8 +1017,7 @@ namespace ILSOS_CCW_H52A.Sequences
{
Status.SetWorkingPosition(eWorkingPosition.REPORTING_RESULT);
- SeqReportCellResult_InitParam seqParams = new SeqReportCellResult_InitParam()
- {
+ SeqReportCellResult_InitParam seqParams = new SeqReportCellResult_InitParam() {
EDC_Interface = new EDC(),
};
@@ -1149,8 +1027,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult GetReportCellResult_SeqResult(SequenceContext context, string id, SequenceActionResult param)
{
var resultOutParam = param.Param as SeqReportCellResult_OutParam;
- if (resultOutParam.Success == false)
- {
+ if (resultOutParam.Success == false) {
return null;
}
@@ -1168,12 +1045,10 @@ namespace ILSOS_CCW_H52A.Sequences
//Jin : cycleStop 명령을 용접 프로그램에서 할 경우가 현재는 없음..
// CheckCycleStop 노드와 Complete 노드 사이 다른 노드가 필요하다면 해당 노드를 CheckCycleStop 노드 위로 올리자
bool cycleStop = false;
- if (cycleStop)
- {
+ if (cycleStop) {
return SEQ_SAVE_RESULT_DATA;
}
- else
- {
+ else {
return SEQ_CHECK_LOAD_COMPLETE;
}
}
@@ -1189,8 +1064,7 @@ namespace ILSOS_CCW_H52A.Sequences
private void SaveCellAPD()
{
- if (Status.GetProcessingWeldingData().APD.Count > 0)
- {
+ if (Status.GetProcessingWeldingData().APD.Count > 0) {
string directoryPath = "D:\\ILSOSConfig\\APD_History";
string fileName = DateTime.Now.ToString("HH") + "_CellAPD";
string fullPath = Path.Combine(directoryPath, Status.GetProcessingWeldingData().APD.First().Date.ToString("yyyy-MM-dd"), fileName);
@@ -1215,8 +1089,7 @@ namespace ILSOS_CCW_H52A.Sequences
private SequenceActionResult InitConditionError(SequenceContext context, string id, SequenceActionResult param)
{
context.TryGetValue(ContextKey.KEY_SEQUENCE_ERROR_CODE, out int InitializeCode);
- switch (InitializeCode)
- {
+ switch (InitializeCode) {
case (int)InitErrorList.PLC_AUTORUN_BIT_OFF:
Log.D("AutoRun Sequence InitConditionError : PLC_AUTORUN_OFF");
return SequenceAction.ForceStopByAlarm(AlarmCode.ALARM_SEQUENCE_AutoRun_CheckInitCondition_PLC_AUTORUN_OFF);
@@ -1250,8 +1123,7 @@ namespace ILSOS_CCW_H52A.Sequences
context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
SeqAutoRunCCWH52A_OutParam result = new SeqAutoRunCCWH52A_OutParam() { Success = seqResult };
- if (seqResult == false)
- {
+ if (seqResult == false) {
//AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_AutoRun_ResultFailed);
}
Log.D("AutoRun Sequence Complete");
@@ -1263,8 +1135,7 @@ namespace ILSOS_CCW_H52A.Sequences
private bool RestoreDeviceStatus()
{
//PLC All BIT OFF
- for (int i = 0; i < _RotaryJigCount; i++)
- {
+ for (int i = 0; i < _RotaryJigCount; i++) {
_PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
}
_PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, false);
@@ -1273,10 +1144,8 @@ namespace ILSOS_CCW_H52A.Sequences
//LBAD Ready Off
//_LBAD.SetReadybyAuto(false);
- if (_SystemParameter.BypassModeLBAD == false)
- {
- if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false)
- {
+ if (_SystemParameter.BypassModeLBAD == false) {
+ if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false) {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
}
}
@@ -1327,19 +1196,14 @@ namespace ILSOS_CCW_H52A.Sequences
//PLC All BIT OFF
for (int i = 0; i < _RotaryJigCount; i++)
- {
- _PLC.WriteBit((int)eBitOutput.PC_WELD_COMPLETE_1 + i, false);
- }
- _PLC.WriteBit((int)eBitOutput.PC_AUTO_STATUS, false);
- //_PLC.WriteBit((int)eBitOutput.PC_RECIPE_PARAM_UPLOAD_COMPLETE, false);
- Log.I(string.Format("[PLCInterface]PC All Bit Off"));
+ _PLC.WriteBit(eBitOutput.PC_WELD_COMPLETE_1 + i, false);
+ _PLC.WriteBit(eBitOutput.PC_AUTO_STATUS, false);
+ Log.I("[PLCInterface]PC All Bit Off");
//LBAD Ready Off
//_LBAD.SetReadybyAuto(false);
- if (_SystemParameter.BypassModeLBAD == false)
- {
- if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false)
- {
+ if (_SystemParameter.BypassModeLBAD == false) {
+ if (_StreamLightLBAD.SendReadyStatus(eRequestData.Ready_Off) == false) {
Log.I(string.Format($"[LBAD Interface]CheckReadyStatus null"));
}
}
diff --git a/WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs b/WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs
index 9b574a5..0a307a0 100644
--- a/WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs
+++ b/WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs
@@ -236,7 +236,7 @@ namespace WeldingCommon
//registry.Register(CommonDeviceIds.Laser, () => new Laser(CommonDeviceIds.Laser, isSimul), new LaserConfig(),
// device => new UCLaserDevice() { DataContext = new UCLaserDeviceViewModel(AuroraEnv, CommonDeviceIds.Laser) });
- registry.Register(CommonDeviceIds.Scanner, () => new Scanner(CommonDeviceIds.Scanner), new ScannerConfig());
+ //registry.Register(CommonDeviceIds.Scanner, () => new Scanner(CommonDeviceIds.Scanner), new ScannerConfig());
//registry.Register(CommonDeviceIds.SmcChiller, () => new SmcChiller(CommonDeviceIds.SmcChiller, 0, isSimul), new SmcChiller.Config(),
// device => new UCSMCChillerDevice() { DataContext = new UCSMCChillerDeviceViewModel(AuroraEnv, CommonDeviceIds.SmcChiller) });
registry.Register(CommonDeviceIds.SmcChiller, () => new SmcChiller(CommonDeviceIds.SmcChiller), new SmcChillerConfig(),
diff --git a/WeldingComponents/WeldingCommon/EquipDefCommon.cs b/WeldingComponents/WeldingCommon/EquipDefCommon.cs
index 6d0fd20..d8eea03 100644
--- a/WeldingComponents/WeldingCommon/EquipDefCommon.cs
+++ b/WeldingComponents/WeldingCommon/EquipDefCommon.cs
@@ -108,11 +108,11 @@
public const string Laser = "Laser";
public const string LaserIO = "LaserIO";
- public const string Scanner = "Scanner";
public const string SmcChiller = "SmcChiller";
public const string PowerMeter = "PowerMeter";
public const string Light = "Light"; // Camera Light Controller
public const string PLCDevice = "PLC";
+ public const string Scanner = "Scanner";
public const string IODevice = "IO_Board";
public const string CellTracker = "CellTracker";