RobotAutomationDevelopment-Dept/LGES-2170-ACW_CCW-Welder
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AxisX2 = 2 AxisZ =4 검증완료

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RnD_Welder 2026-04-13 18:44:57 +09:00
parent 3c1546f840
commit dbdc759c98
2 changed files with 15 additions and 14 deletions
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9
Machines/ILSOS_PrismaticScanner/EquipDef.cs
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@ -24,10 +24,11 @@ namespace ILSOS_PrismaticScanner
// TODO: 이정인 선임 ACS 변수 맵 수신 후 실제 번호 검증
public enum eMotorIdx
{
AxisX2 = 1,
AxisY1 = 3,
AxisY2 = 4,
AxisZ = 5,
AxisX1 = 0,
AxisY1 = 1,
AxisX2 = 2,
AxisY2 = 3,
AxisZ = 4,
}
}

20
Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs
View File

@ -172,22 +172,22 @@ namespace ILSOS_PrismaticScanner
registry.Register(DeviceIds.ACS, () => ACS, new ACSDeviceConfig());
// TODO: 축 번호는 이정인 선임 변수 맵 수신 후 검증
var motorX2 = new ACSMotor(MotorIds.AxisX2, ACS, 1, (int)MotorIds.eMotorIdx.AxisX2);
var motorX2 = new ACSMotor(MotorIds.AxisX2, ACS, 2, (int)MotorIds.eMotorIdx.AxisX2);
registry.Register(MotorIds.AxisX2, () => motorX2,
new ACSMotorConfig(MotorIds.AxisX2),
motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
var motorY1 = new ACSMotor(MotorIds.AxisY1, ACS, 3, (int)MotorIds.eMotorIdx.AxisY1);
registry.Register(MotorIds.AxisY1, () => motorY1,
new ACSMotorConfig(MotorIds.AxisY1),
motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
//var motorY1 = new ACSMotor(MotorIds.AxisY1, ACS, 3, (int)MotorIds.eMotorIdx.AxisY1);
//registry.Register(MotorIds.AxisY1, () => motorY1,
// new ACSMotorConfig(MotorIds.AxisY1),
// motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
var motorY2 = new ACSMotor(MotorIds.AxisY2, ACS, 4, (int)MotorIds.eMotorIdx.AxisY2);
registry.Register(MotorIds.AxisY2, () => motorY2,
new ACSMotorConfig(MotorIds.AxisY2),
motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
//var motorY2 = new ACSMotor(MotorIds.AxisY2, ACS, 4, (int)MotorIds.eMotorIdx.AxisY2);
//registry.Register(MotorIds.AxisY2, () => motorY2,
// new ACSMotorConfig(MotorIds.AxisY2),
// motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));
var motorZ = new ACSMotor(MotorIds.AxisZ, ACS, 5, (int)MotorIds.eMotorIdx.AxisZ);
var motorZ = new ACSMotor(MotorIds.AxisZ, ACS, 4, (int)MotorIds.eMotorIdx.AxisZ);
registry.Register(MotorIds.AxisZ, () => motorZ,
new ACSMotorConfig(MotorIds.AxisZ),
motor => new UCACSMotor(AuroraEnv.DeviceManager, motor.DeviceId));