RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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[BugFix] Ramping 미반영 케이스 제거

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- 실수 <-> 정수 컨버팅 과정에서 (1/180) 모수로 미반영된 데이터 존재, 기본값이 Max라 튀는 현상
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CCW 2026-02-28 10:56:12 +09:00
parent 632e9b0a5e
commit ad37cb326a
1 changed files with 45 additions and 32 deletions
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69
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($"Scanner Space Check({_Scanner.GetListSpace()})");
return drawObjectCount; return drawObjectCount;
} }
@ -307,7 +308,6 @@ namespace WeldingCommon.Sequences {
count += FuncLoadDrawObjectScannerParamSelected(subObj); count += FuncLoadDrawObjectScannerParamSelected(subObj);
} }
} }
return count; return count;
} }
@ -634,22 +634,23 @@ namespace WeldingCommon.Sequences {
int risingCount = (int)(StartDistance / length); int risingCount = (int)(StartDistance / length);
int fallingCount = (int)(EndDistance / length); int fallingCount = (int)(EndDistance / length);
int totalCount = (int)(obj.Distance / length); int totalCount = (int)(obj.Distance / length);
Log.I($"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
float firstPower_B1 = percentLaser1 * (float)param.RampingStartAPower2 / 100; // Ramping First Power 2 float firstPower_B1 = percentLaser1 * (float)param.RampingStartAPower2 / 100; // Ramping First Power 2
float startPower_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100; // Ramping Start Power 1 float startPower_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100; // Ramping Start Power 1
float startPower_B1 = percentLaser1 * (float)param.RampingStartPower3 / 100; // Ramping Start Power 3 float startPower_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100; // Ramping Start Power 3
float endPower_A1 = percentLaser1 * (float)param.RampingEndPower1 / 100; // Ramping End Power 1 float endPower_A1 = percentLaser1 * (float)param.RampingEndPower1 / 100; // Ramping End Power 1
float endPower_B1 = percentLaser1 * (float)param.RampingEndPower3 / 100; // Ramping End Power 3 float endPower_B1 = percentLaser1 * (float)param.RampingEndPower2 / 100; // Ramping End Power 3
// Power2 A -> Start Power, B -> End Power // Power2 A -> Start Power, B -> End Power
float firstPower_A2 = percentLaser2 * (float)param.RampingStartAPower1 / 100; // Ramping First Power 1 float firstPower_A2 = percentLaser2 * (float)param.RampingStartAPower1 / 100; // Ramping First Power 1
float firstPower_B2 = percentLaser2 * (float)param.RampingStartAPower2 / 100; // Ramping First Power 2 float firstPower_B2 = percentLaser2 * (float)param.RampingStartAPower2 / 100; // Ramping First Power 2
float startPower_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100; // Ramping Start Power 1 float startPower_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100; // Ramping Start Power 1
float startPower_B2 = percentLaser2 * (float)param.RampingStartPower3 / 100; // Ramping Start Power 3 float startPower_B2 = percentLaser2 * (float)param.RampingStartPower2 / 100; // Ramping Start Power 3
float endPower_A2 = percentLaser2 * (float)param.RampingEndPower1 / 100; // Ramping End Power 1 float endPower_A2 = percentLaser2 * (float)param.RampingEndPower1 / 100; // Ramping End Power 1
float endPower_B2 = percentLaser2 * (float)param.RampingEndPower3 / 100; // Ramping End Power 3 float endPower_B2 = percentLaser2 * (float)param.RampingEndPower2 / 100; // Ramping End Power 3
double dx = (obj.P2.X - obj.P1.X) / obj.Distance * length; double dx = (obj.P2.X - obj.P1.X) / obj.Distance * length;
double dy = (obj.P2.Y - obj.P1.Y) / obj.Distance * length; double dy = (obj.P2.Y - obj.P1.Y) / obj.Distance * length;
@ -659,7 +660,7 @@ namespace WeldingCommon.Sequences {
Log.I($"[Line Weld] Ramping Condition No({obj.No + 1}), Line Length : {obj.Distance}" + Log.I($"[Line Weld] Ramping Condition No({obj.No + 1}), Line Length : {obj.Distance}" +
$"(Start_A:{param.RampingStartADist}%, Dist {FirstDistance}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " + $"(Start_A:{param.RampingStartADist}%, Dist {FirstDistance}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " +
$"(Start_B:{param.RampingStartDist}%, Dist {StartDistance}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower3}%) " + $"(Start_B:{param.RampingStartDist}%, Dist {StartDistance}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower2}%) " +
$"(End:{param.RampingEndDist}%, Dist {EndDistance}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)"); $"(End:{param.RampingEndDist}%, Dist {EndDistance}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)");
@ -667,28 +668,41 @@ 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);
@ -839,8 +853,8 @@ namespace WeldingCommon.Sequences {
float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ?
percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; percentLaser1 * (float)param.RampingStartPower1 / 100 : 100;
float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower3 / 100 <= 100 ? float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100 <= 100 ?
percentLaser1 * (float)param.RampingStartPower3 / 100 : 100; percentLaser1 * (float)param.RampingStartPower2 / 100 : 100;
float risingEdgePercentLaser1 = 0; float risingEdgePercentLaser1 = 0;
float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ? float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ?
@ -1570,13 +1584,13 @@ namespace WeldingCommon.Sequences {
float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ?
percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; percentLaser1 * (float)param.RampingStartPower1 / 100 : 100;
float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower3 / 100 <= 100 ? float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100 <= 100 ?
percentLaser1 * (float)param.RampingStartPower3 / 100 : 100; percentLaser1 * (float)param.RampingStartPower2 / 100 : 100;
float startingPercentLaser_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100 <= 100 ? float startingPercentLaser_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100 <= 100 ?
percentLaser2 * (float)param.RampingStartPower1 / 100 : 100; percentLaser2 * (float)param.RampingStartPower1 / 100 : 100;
float startingPercentLaser_B2 = percentLaser2 * (float)param.RampingStartPower3 / 100 <= 100 ? float startingPercentLaser_B2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ?
percentLaser2 * (float)param.RampingStartPower3 / 100 : 100; percentLaser2 * (float)param.RampingStartPower2 / 100 : 100;
float risingEdgePercentLaser1 = 0; float risingEdgePercentLaser1 = 0;
@ -1585,7 +1599,7 @@ namespace WeldingCommon.Sequences {
Log.I($"[Arc Weld] Ramping Condition No({obj.No + 1}), Arc Length : {obj.Length}, Arc Angle : {obj.SweepAngle} " + Log.I($"[Arc Weld] Ramping Condition No({obj.No + 1}), Arc Length : {obj.Length}, Arc Angle : {obj.SweepAngle} " +
$"(Start_A:{param.RampingStartADist}%, Dist {FirstAngle}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " + $"(Start_A:{param.RampingStartADist}%, Dist {FirstAngle}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " +
$"(Start_B:{param.RampingStartDist}%, Dist {StartAngle}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower3}%) " + $"(Start_B:{param.RampingStartDist}%, Dist {StartAngle}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower2}%) " +
$"(End:{param.RampingEndDist}%, Dist {EndAngle}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)"); $"(End:{param.RampingEndDist}%, Dist {EndAngle}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)");
@ -1844,21 +1858,20 @@ namespace WeldingCommon.Sequences {
float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ?
percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; percentLaser1 * (float)param.RampingStartPower1 / 100 : 100;
float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower3 / 100 <= 100 ? float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100 <= 100 ?
percentLaser1 * (float)param.RampingStartPower3 / 100 : 100; percentLaser1 * (float)param.RampingStartPower2 / 100 : 100;
float startingPercentLaser_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100 <= 100 ? float startingPercentLaser_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100 <= 100 ?
percentLaser2 * (float)param.RampingStartPower1 / 100 : 100; percentLaser2 * (float)param.RampingStartPower1 / 100 : 100;
float startingPercentLaser_B2 = percentLaser2 * (float)param.RampingStartPower3 / 100 <= 100 ? float startingPercentLaser_B2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ?
percentLaser2 * (float)param.RampingStartPower3 / 100 : 100; percentLaser2 * (float)param.RampingStartPower2 / 100 : 100;
float risingEdgePercentLaser1 = 0; float risingEdgePercentLaser1 = 0;
float risingEdgePercentLaser2 = 0; float risingEdgePercentLaser2 = 0;
Log.I($"[Arc3P Weld] Ramping Condition No({obj.No + 1}), Arc Angle : {obj.SweepAngle} " + Log.I($"[Arc3P Weld] Ramping Condition No({obj.No + 1}), Arc Angle : {obj.SweepAngle} " +
$"(Start_A:{param.RampingStartADist}%, Dist {FirstAngle}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " + $"(Start_A:{param.RampingStartADist}%, Dist {FirstAngle}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " +
$"(Start_B:{param.RampingStartDist}%, Dist {StartAngle}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower3}%) " + $"(Start_B:{param.RampingStartDist}%, Dist {StartAngle}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower2}%) " +
$"(End:{param.RampingEndDist}%, Dist {EndAngle}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)"); $"(End:{param.RampingEndDist}%, Dist {EndAngle}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)");
@ -2105,7 +2118,7 @@ namespace WeldingCommon.Sequences {
// A -> Start Power, B -> End Power // A -> Start Power, B -> End Power
float startingPercentLaser_A1 = Math.Min(percentLaser1 * (float)param.RampingStartPower1 / 100, 100); float startingPercentLaser_A1 = Math.Min(percentLaser1 * (float)param.RampingStartPower1 / 100, 100);
float startingPercentLaser_B1 = Math.Min(percentLaser1 * (float)param.RampingStartPower3 / 100, 100); float startingPercentLaser_B1 = Math.Min(percentLaser1 * (float)param.RampingStartPower2 / 100, 100);
// 2170은 Power를 사용하지 않는다. // 2170은 Power를 사용하지 않는다.
float startingPercentLaser2 = 0; // Math.Min(percentLaser2 * (float)param.RampingStartPower2 / 100, 100); float startingPercentLaser2 = 0; // Math.Min(percentLaser2 * (float)param.RampingStartPower2 / 100, 100);