feat: MOTF(Mark On The Fly) 구현 준비 - ACS Stage X 연동

- WeldingCommon/Devices/ACS/ ScannerACS 독립 구현 (Gun 참조 제거)
- Scanner EquipmentSetup.RegisterDevices()에 ScannerACS + 모터 등록
- EquipDef.cs MotorIds 추가
- UCScannerMotionViewModel Stage X 조그 필드/커맨드/모니터링 추가
- UCScannerMotion.xaml Stage X Motion 섹션 추가
- SeqComponentTeachingRun MOTF 자리 확보
  (_ACS 필드 선언, InitDev() 취득, MOTFStart/CheckMOTFComp 주석 준비)
- AuroraEx Device 네임스페이스 충돌 수정

TODO: 이정인 선임 ACS 변수 맵 수신 후
  - ScannerACS.Parameter.cs 변수명/버퍼 번호 교체
  - MOTFStart() / CheckMOTFComp() 주석 해제
  - 축 번호 검증

Doc/ToNDH/.~lock.개발사항 전달.pptx#

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+,DESKTOP-CN4O63O/User,DESKTOP-CN4O63O,06.04.2026 14:05,file:///C:/Users/User/AppData/Roaming/LibreOffice/4;

Doc/ToNDH/MOTF_구현가이드_26.04.06.md

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+# ILSOS PrismaticScanner - MOTF 구현 가이드
+> 작성일: 2026-04-06 | 작성자: NDY
+
+---
+
+## 목차
+1. [MOTF 개념](#1-motf-개념)
+2. [변경된 파일 목록](#2-변경된-파일-목록)
+3. [흐름 정리](#3-흐름-정리)
+4. [변수 맵 수신 후 작업](#4-변수-맵-수신-후-작업)
+5. [TODO 체크리스트](#5-todo-체크리스트)
+
+---
+
+## 1. MOTF 개념
+
+```
+MOTF (Mark On The Fly)
+= Stage X(ACS)가 이동하는 동안 갈바노 스캐너가 레이저 마킹
+
+트리거: Stage X 엔코더 위치 기반
+        → WaitForEncoderX 조건 도달 시 갈바노 마킹 시작
+```
+
+### 기존 방식 vs MOTF 방식
+
+| 항목 | 기존 (갈바노 단독) | MOTF |
+|---|---|---|
+| Stage X | 정지 상태 | 이동 중 |
+| 마킹 트리거 | 즉시 실행 | 엔코더 위치 트리거 |
+| 처리량 | 낮음 | 높음 |
+
+---
+
+## 2. 변경된 파일 목록
+
+### WeldingCommon/Devices/ACS/
+- `ScannerACS.cs` - Scanner 전용 ACS 디바이스 (Gun과 독립)
+- `ScannerACS.Parameter.cs` - ACS 변수명 상수 **(TODO: 변수 맵 교체 필요)**
+- `MotionVariable.cs` - 모터 상태값
+
+### WeldingCommon/Views/
+- `UCScannerMotionViewModel.cs` - Stage X 조그 UI 연동
+- `UCScannerMotion.xaml` - Stage X Motion 섹션 추가
+
+### ILSOS_PrismaticScanner/
+- `EquipmentSetup.cs` - ScannerACS + 모터 등록
+- `EquipDef.cs` - MotorIds 추가
+- `Sequences/SeqComponentTeachingRun.cs` - MOTF 자리 확보 (주석)
+
+---
+
+## 3. 흐름 정리
+
+### SeqComponentTeachingRun 흐름
+
+```
+CheckEndList
+    ↓
+UpdateComponentWeldingParameters  (레이저 파라미터 설정)
+    ↓
+SetUploadWeldingList_SeqParams
+    ↓
+SeqUploadWeldingList              (Scanner List 채우기 + MOTF ON/OFF)
+    ↓                              Scanner.Config.UseMarkingOnTheFly = true 이면
+    ↓                              SetFlyX() + WaitForEncoderX() 자동 실행
+GetUploadWeldingList_SeqResult
+    ↓
+DoComponentWelding
+    ├── _Scanner.ExecuteList()    (Scanner List 실행)
+    ├── _ACS?.MOTFStart()         ← TODO: 변수 맵 수신 후 주석 해제
+    ├── _Scanner.WaitForListTaskCompleted()
+    └── CheckMOTFComp()           ← TODO: 변수 맵 수신 후 주석 해제
+    ↓
+CheckEndList (반복)
+```
+
+---
+
+## 4. 변수 맵 수신 후 작업
+
+### 4-1. ScannerACS.Parameter.cs - 변수명 교체
+
+```csharp
+// 현재 placeholder → 실제 변수명으로 교체
+const string iMOTFStart    = "iPCset_SCANNER_MOTF_START";   // TODO
+const string iMOTFComplete = "iPCget_SCANNER_MOTF_COMP";    // TODO
+const string rMOTFVelocity = "rPCset_SCANNER_MOTF_VEL";     // TODO
+const string rMOTFAcc      = "rPCset_SCANNER_MOTF_ACC";     // TODO
+const string iAllAxisHomeComplete = "iPCget_ALLAXIS_HOMECOMP"; // TODO
+const string AlarmReset    = "iAlarmreset";                  // TODO
+const string HeavyAlarm    = "iAlarm";                       // TODO
+const string LightAlarm    = "iLightAlarm";                  // TODO
+
+private enum eBuffer
+{
+    All_Axis_Home = 0,   // TODO: 실제 버퍼 번호로 교체
+    MOTF_Start    = 11,  // TODO: 실제 버퍼 번호로 교체
+}
+```
+
+### 4-2. EquipDef.cs - MotorIds 축 번호 검증
+
+```csharp
+public enum eMotorIdx
+{
+    AxisX2 = 1,  // TODO: 실제 ACS 채널 번호 확인
+    AxisY1 = 3,  // TODO: 실제 ACS 채널 번호 확인
+    AxisY2 = 4,  // TODO: 실제 ACS 채널 번호 확인
+    AxisZ  = 5,  // TODO: 실제 ACS 채널 번호 확인
+}
+```
+
+### 4-3. SeqComponentTeachingRun.cs - 주석 해제 3곳
+
+```csharp
+// [1] CheckDeviceReady() - ACS 활성화 확인 추가
+// DeviceIds.ACS  ← 주석 해제
+
+// [2] DoComponentWelding() - Stage X 이동 시작
+// _ACS?.MOTFStart();  ← 주석 해제
+
+// [3] DoComponentWelding() - MOTF 완료 대기
+// while (!_ACS.CheckMOTFComp()) { Thread.Sleep(10); }  ← 주석 해제
+```
+
+### 4-4. Scanner Config 설정 확인
+
+```
+Scanner.Config.UseMarkingOnTheFly = true  ← 반드시 확인
+Scanner.Config.OnTheFlyCoordinate = eOntheFlyCoordinate.XY  ← Linear Track 방식
+Scanner.Config.MarkingOnTheFlyEncoderResolutionX  ← 엔코더 분해능
+Scanner.Config.MarkingStartEncoderPositionX       ← 마킹 시작 엔코더 위치
+```
+
+---
+
+## 5. TODO 체크리스트
+
+### 이정인 선임 변수 맵 수신 전 (완료)
+- [x] WeldingCommon에 ScannerACS 독립 구현
+- [x] Scanner RegisterDevices()에 ACS + 모터 등록
+- [x] UCScannerMotion Stage X 조그 UI 추가
+- [x] SeqComponentTeachingRun MOTF 자리 확보 (주석)
+- [x] _ACS 필드 선언 및 InitDev()에서 null-safe 취득
+- [x] CheckDeviceReady()에 ACS 주석으로 준비
+
+### 이정인 선임 변수 맵 수신 후
+- [ ] ScannerACS.Parameter.cs 변수명 교체
+- [ ] eBuffer 번호 교체
+- [ ] MotorIds.eMotorIdx 축 번호 검증
+- [ ] CheckDeviceReady() DeviceIds.ACS 주석 해제
+- [ ] DoComponentWelding() MOTFStart() 주석 해제
+- [ ] DoComponentWelding() CheckMOTFComp() 주석 해제
+- [ ] Scanner Config UseMarkingOnTheFly 설정 확인
+- [ ] 실제 장비에서 동작 확인

Doc/ToNDH/ScannerACS_작업가이드_26.04.06.md

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+# ILSOS PrismaticScanner - ACS 작업 가이드
+> 작성일: 2026-04-06 | 작성자: NDY
+
+---
+
+## 목차
+1. [현재까지 완료된 작업](#1-현재까지-완료된-작업)
+2. [변수 맵 수신 후 교체할 곳](#2-변수-맵-수신-후-교체할-곳)
+3. [홈/서보/알람 버튼 추가 작업](#3-홈서보알람-버튼-추가-작업)
+4. [MOTF 시퀀스 흐름](#4-motf-시퀀스-흐름)
+5. [캘리브레이션](#5-캘리브레이션)
+6. [TODO 체크리스트](#6-todo-체크리스트)
+
+---
+
+## 1. 현재까지 완료된 작업
+
+### 1-1. 프로젝트 구조
+```
+WeldingCommon
+    └── Devices/ACS/
+            ├── ScannerACS.cs           ← Gun과 독립된 Scanner 전용 ACS
+            ├── ScannerACS.Parameter.cs ← ACS 변수명 상수 (TODO: 변수 맵 교체 필요)
+            └── MotionVariable.cs       ← 모터 상태값
+
+ILSOS_PrismaticScanner
+    └── EquipmentSetup.RegisterDevices()
+            ├── ScannerACS 등록
+            ├── MotorX2 등록 (Stage X)
+            ├── MotorY1, Y2, Z 등록 (TODO: 축 번호 검증 필요)
+            └── EquipDef.cs에 MotorIds 추가
+```
+
+### 1-2. WeldingCommon - UCScannerMotionViewModel.cs 수정 완료
+- `_MotorX` (ACSMotor) 필드 추가 및 연결
+- `StageXPos`, `IsStageXActivated` 프로퍼티 추가
+- `CMD_JogMove`에 `Stage_X_Left`, `Stage_X_Right` 케이스 추가
+- `MoveStageX()` 메서드 추가 (현재: 직접 모터 명령 방식)
+- `OnMonitoring()`에 Stage X 위치 갱신 추가
+
+### 1-3. WeldingCommon - UCScannerMotion.xaml 수정 완료
+- `Stage X Motion (ACS)` GroupBox 추가 (Grid.Row="2")
+- Stage X[mm] 위치 표시
+- ◀ − / + ▶ 조그 버튼
+
+---
+
+## 2. 변수 맵 수신 후 교체할 곳
+
+### 2-1. ScannerACS.Parameter.cs
+```csharp
+// 현재 placeholder → 실제 변수명으로 교체
+const string iMOTFStart    = "iPCset_SCANNER_MOTF_START";   // TODO
+const string iMOTFComplete = "iPCget_SCANNER_MOTF_COMP";    // TODO
+const string rMOTFVelocity = "rPCset_SCANNER_MOTF_VEL";     // TODO
+const string rMOTFAcc      = "rPCset_SCANNER_MOTF_ACC";     // TODO
+const string iAllAxisHomeComplete = "iPCget_ALLAXIS_HOMECOMP"; // TODO
+const string AlarmReset    = "iAlarmreset";                  // TODO
+const string HeavyAlarm    = "iAlarm";                       // TODO
+const string LightAlarm    = "iLightAlarm";                  // TODO
+
+private enum eBuffer
+{
+    All_Axis_Home = 0,   // TODO: 실제 버퍼 번호로 교체
+    MOTF_Start    = 11,  // TODO: 실제 버퍼 번호로 교체
+}
+```
+
+### 2-2. EquipDef.cs - MotorIds 축 번호 검증
+```csharp
+public enum eMotorIdx
+{
+    AxisX2 = 1,  // TODO: 실제 ACS 채널 번호 확인
+    AxisY1 = 3,  // TODO: 실제 ACS 채널 번호 확인
+    AxisY2 = 4,  // TODO: 실제 ACS 채널 번호 확인
+    AxisZ  = 5,  // TODO: 실제 ACS 채널 번호 확인
+}
+```
+
+### 2-3. UCScannerMotionViewModel.cs - MoveStageX() 교체
+```csharp
+// 현재 (직접 모터 명령)
+private void MoveStageX(eJogDirection direction)
+{
+    if (_MotorX == null || !_MotorX.IsActivated) return;
+    double step = direction == eJogDirection.PLUS ? -StepValue : +StepValue;
+    _MotorX.SetTargetPos(step, TargetPosType.REL);
+    _MotorX.Move();
+}
+
+// TODO: 변수 맵 수신 후 ACS 버퍼 방식으로 교체
+// private void MoveStageX(eJogDirection direction)
+// {
+//     double velocity = GetStageXVelocity(); // Setting에서 가져오기
+//     double acc      = GetStageXAcc();
+//     _acs?.StageXJogStart(velocity, acc);
+// }
+```
+
+---
+
+## 3. 홈/서보/알람 버튼 추가 작업
+
+### 3-1. IScannerACS 인터페이스 추가 항목
+```csharp
+// WeldingCommon/Devices/ACS/ScannerACS.cs
+public interface IScannerACS
+{
+    bool IsActivated();
+
+    // 홈
+    bool AllAxisHomeStart();
+    bool AllAxisHomeStop();
+    bool CheckAllAxisHome();
+
+    // Stage X 조그 (ACS 버퍼 방식) - TODO: 변수 맵 수신 후 구현
+    bool StageXJogStart(double velocity, double acc);
+    bool StageXJogStop();
+
+    // MOTF
+    bool MOTFStart();
+    bool MOTFStop();
+    bool CheckMOTFComp();
+
+    // 레이저
+    bool SetLaserIOUse(bool on);
+    bool IsLaserOn();
+
+    // 알람
+    bool ResetAlarm();
+    void AllAxisServoOff();
+}
+```
+
+### 3-2. UCScannerMotionViewModel.cs - 추가할 코드
+```csharp
+// 필드 추가
+private ScannerACS _acs;
+
+// 커맨드 추가
+public ICommand CMD_HomeStart  { get; }
+public ICommand CMD_HomeStop   { get; }
+public ICommand CMD_AlarmReset { get; }
+public ICommand CMD_ServoOff   { get; }
+
+// 생성자에서 추가
+try { _acs = _Aurora.DeviceManager["ACS"] as ScannerACS; }
+catch { _acs = null; }
+
+CMD_HomeStart  = new DelegateCommand(_ => _acs?.AllAxisHomeStart());
+CMD_HomeStop   = new DelegateCommand(_ => _acs?.AllAxisHomeStop());
+CMD_AlarmReset = new DelegateCommand(_ => _acs?.ResetAlarm());
+CMD_ServoOff   = new DelegateCommand(_ => _acs?.AllAxisServoOff());
+```
+
+### 3-3. UCScannerMotion.xaml - Stage X GroupBox 교체
+```xml
+<!-- 26.04.06 NDY Stage X Motion 섹션 -->
+<GroupBox Grid.Row="2" Header="Stage X Motion (ACS)" Margin="0 3 3 0"
+          IsEnabled="{Binding IsStageXActivated}">
+    <Grid Margin="5">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="auto"/>
+            <RowDefinition Height="auto"/>
+        </Grid.RowDefinitions>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="auto"/>
+            <ColumnDefinition Width="1*"/>
+            <ColumnDefinition Width="1*"/>
+            <ColumnDefinition Width="1*"/>
+        </Grid.ColumnDefinitions>
+
+        <!-- Row 0: 위치 표시 + 조그 버튼 -->
+        <GroupBox Grid.Row="0" Grid.Column="0" Header="Stage X[mm]"
+                  Style="{StaticResource StGBMonitor}" Margin="0 0 5 0" MinWidth="120">
+            <TextBlock FontSize="18" FontWeight="Bold"
+                       HorizontalAlignment="Center" VerticalAlignment="Center"
+                       Text="{Binding StageXPos, StringFormat={}{0:0.000}}"/>
+        </GroupBox>
+        <Button Grid.Row="0" Grid.Column="1" FontWeight="Bold" Margin="3"
+                Command="{Binding CMD_JogMove}"
+                CommandParameter="Stage_X_Left">◀ −</Button>
+        <Button Grid.Row="0" Grid.Column="2" FontWeight="Bold" Margin="3"
+                Command="{Binding CMD_JogMove}"
+                CommandParameter="Stage_X_Right">+ ▶</Button>
+        <TextBlock Grid.Row="0" Grid.Column="3" FontSize="10" Foreground="Gray"
+                   VerticalAlignment="Center" HorizontalAlignment="Center"
+                   Text="* 이미지 방향 반전 적용"/>
+
+        <!-- Row 1: 홈/서보/알람 버튼 (TODO: 변수 맵 수신 후 활성화) -->
+        <UniformGrid Grid.Row="1" Grid.Column="0" Grid.ColumnSpan="4"
+                     Rows="1" Margin="3">
+            <Button Margin="3" Content="Home Start"
+                    Command="{Binding CMD_HomeStart}"
+                    Style="{StaticResource StButtonAccentBlue}"/>
+            <Button Margin="3" Content="Home Stop"
+                    Command="{Binding CMD_HomeStop}"
+                    Background="DarkSlateGray"/>
+            <Button Margin="3" Content="Servo Off"
+                    Command="{Binding CMD_ServoOff}"
+                    Background="DarkOrange"/>
+            <Button Margin="3" Content="Alarm Reset"
+                    Command="{Binding CMD_AlarmReset}"
+                    Background="DarkRed"/>
+        </UniformGrid>
+    </Grid>
+</GroupBox>
+```
+
+---
+
+## 4. MOTF 시퀀스 흐름
+
+### 4-1. 개념
+```
+MOTF (Mark On The Fly)
+= Stage X가 이동하는 동안 갈바노 스캐너가 레이저 마킹
+
+트리거: Stage X 엔코더 위치 기반
+        → 특정 위치 도달 시 갈바노가 마킹 시작
+```
+
+### 4-2. 시퀀스 흐름 (사수 피드백 기준)
+```
+[Step 1] Scanner List 채우기
+    LASA 레시피 기반으로 마킹 좌표 목록 생성
+    → ScannerList에 마킹할 X, Y 좌표 순서대로 입력
+
+[Step 2] ACS에 파라미터 전송
+    → 시작 위치, 속도, 가속도 설정
+    → 레이저 ON/OFF 위치 설정
+    → MOTF 트리거 조건 설정
+
+[Step 3] ACS MOTF 시작
+    → RunBuffer(eBuffer.MOTF_Start)
+    → Stage X 이동 시작
+    → 엔코더 트리거로 갈바노 동기화
+
+[Step 4] 완료 확인
+    → ReadVariableInt(iMOTFComplete) > 0
+```
+
+### 4-3. 참조할 기존 소스
+```
+CCW 웰더 프로젝트
+    └── SeqAutoRunCCWH52A.cs  ← MOTF 시퀀스 구현 참조
+```
+
+### 4-4. 구현 예정 시퀀스 클래스 구조
+```csharp
+// ILSOS_PrismaticScanner/Sequences/SeqAutoRunPrismaticScanner.cs
+public class SeqAutoRunPrismaticScanner : ISequence
+{
+    private ScannerACS _acs;
+    private Scanner _scanner;
+
+    protected override void DoProcess()
+    {
+        // Step 1. Scanner List 채우기 (LASA 레시피 기반)
+        FillScannerList();
+
+        // Step 2. ACS 파라미터 전송
+        SetMOTFParameters();
+
+        // Step 3. MOTF 시작
+        _acs.MOTFStart();
+
+        // Step 4. 완료 대기
+        WaitForComplete();
+    }
+
+    private void FillScannerList()
+    {
+        // TODO: LASA 레시피에서 마킹 좌표 가져오기
+        // var recipe = ... (MainRecipe)
+        // scanner.SetMarkList(recipe.MarkPoints);
+    }
+
+    private void SetMOTFParameters()
+    {
+        // TODO: 변수 맵 수신 후 실제 변수명으로 구현
+        // _acs.SetMOTFVelocity(velocity);
+        // _acs.SetMOTFAcc(acc);
+        // _acs.SetLaserOnOffPosition(onPos, offPos);
+    }
+
+    private void WaitForComplete()
+    {
+        // TODO: Timeout 처리 포함
+        // while (!_acs.CheckMOTFComp()) { Thread.Sleep(10); }
+    }
+}
+```
+
+### 4-5. MOTF 좌표 오류 주의사항
+```
+주의: MOTF 트리거는 Stage X 엔코더만 기준
+      → 헤드 유닛 Y축 이동은 미반영
+      → R-section(라운드 코너)에서 위치 오차 발생 가능
+
+원인:
+  Stage X + 갈바노 X + 갈바노 Y 조합으로 실제 마킹 위치 결정
+  → Stage X 엔코더 트리거만으로는 Y 성분 누락
+
+해결: 이정인 선임과 R-section 처리 방법 협의 필요
+```
+
+---
+
+## 5. 캘리브레이션
+
+### 5-1. 방향
+```
+기존 소스와 동일하게 진행 (사수 피드백)
+→ WeldingCommon의 LaserPowerCalParam 그대로 사용
+→ ScannerACS.DoActivate()에서 이미 참조 구조 잡혀있음
+```
+
+### 5-2. 현재 ScannerACS.cs 상태
+```csharp
+// DoActivate()에서 캘리브레이션 참조 준비됨
+// TODO: Scanner용 SettingIds 확정 후 연결
+// _calibration = env.SettingEntry[CommonSettingIds.LaserPowerCalParam]
+//                as LaserPowerCalParam;
+```
+
+---
+
+## 6. TODO 체크리스트
+
+### 이정인 선임 변수 맵 수신 전
+- [ ] 홈/서보/알람 버튼 XAML 추가
+- [ ] UCScannerMotionViewModel에 CMD_HomeStart 등 커맨드 추가
+- [ ] SeqAutoRunPrismaticScanner 클래스 골격 작성
+
+### 이정인 선임 변수 맵 수신 후
+- [ ] ScannerACS.Parameter.cs 변수명 교체
+- [ ] eBuffer 번호 교체
+- [ ] MotorIds.eMotorIdx 축 번호 검증
+- [ ] MoveStageX() → ACS 버퍼 방식으로 교체
+- [ ] MOTF 파라미터 전송 구현
+- [ ] 실제 장비에서 동작 확인
+
+### 장기 과제
+- [ ] R-section 위치 오차 처리 방법 협의
+- [ ] 캘리브레이션 연결
+- [ ] Scanner + ACS 통합 컨트롤러 클래스 설계

Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs

@@ -305,6 +305,9 @@ namespace ILSOS_PrismaticScanner
             //manual.AddSubMenu(CommonViewIds.LBAD, new UCLBADDevice(AuroraEnv, CommonDeviceIds.LBAD, CommonDeviceIds.IODevice));
             //manual.AddSubMenu(CommonViewIds.ConvEdgeObject, new UCConvEdgeObject(AuroraEnv));
             manual.AddSubMenu(CommonViewIds.ModelFinder, new UCManualModelFinder(new UCManualModelFinderViewModel(AuroraEnv)));
+            #region 26.04.06 ACS 모션 스테이지 메뉴얼 추가  - 진행 예정이였으나, Gun 에 속해서 사용 애매함. View 자체를 전부 가져오지는 못함. 
+            #endregion
+
 
             // Manual - For Test
             //manual.AddSubMenu(CommonViewIds.TestDevice, new UCTestDevice(new UCTestDeviceViewModel(AuroraEnv)));

Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs

@@ -33,6 +33,7 @@ using VisionCommon;
 using WeldingCommon;
 using WeldingCommon.Alarm;
 using WeldingCommon.Data;
+using WeldingCommon.Devices.ACS;  // 26.04.06 
 using WeldingCommon.Sequences;
 using WeldingCommon.Settings;
 using WeldingCommon.Utils;
@@ -78,6 +79,10 @@ namespace ILSOS_PrismaticScanner.Sequences
 
         private static Scanner _Scanner;
         private static PAIX_PrismaticScanner _IO;
+
+        // 필드 선언 추가 (다른 필드들 옆에)
+        private ScannerACS _ACS;  // 26.04.06 NDY - MOTF용 ACS Stage X 제어
+
         private Laser _Laser;
         private ILaser _LaserDevice;
         private LaserTruFiber _LaserTruFiber;
@@ -194,11 +199,15 @@ namespace ILSOS_PrismaticScanner.Sequences
             _Scanner = context.GetLaserScanner();
             _IO = context.Devices[CommonDeviceIds.IODevice] as PAIX_PrismaticScanner;
 
+            // 26.04.06 NDY 추가: ACS 디바이스 취득 (null-safe)
+            // 변수 맵 수신 후 MOTFStart() 호출에 사용
+            try { _ACS = context.Devices["ACS"] as ScannerACS; }
+            catch { _ACS = null; Log.W("ACS 디바이스 취득 실패 (null 처리)"); }
         }
         private bool CheckDeviceReady(SequenceContext context)
         {
             List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.IODevice };
-
+            //List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.IODevice,DeviceIds.ACS }; 변수 맵 수신 후 ACS 주석 해제 위에 주석 처리 
             bool isAllDeviceActivated = true;
             foreach (string item in deviceListToCheck) {
                 if (!context.Devices[item].IsActivated) {
@@ -505,7 +514,24 @@ namespace ILSOS_PrismaticScanner.Sequences
             Log.I($"Welding List Space : {_Scanner.GetListSpace()}");
             DateTime weldingTime = DateTime.Now;
             _Scanner.ExecuteList(_WeldingScannerListNo);
+
+
+            // ── 26.04.06 NDY 추가: ACS Stage X 이동 ──────────────
+            // MOTF: Scanner List 실행과 동시에 Stage X 이동 시작
+            // Stage X 엔코더가 트리거 → WaitForEncoderX 조건 도달 시 갈바노 마킹
+            // TODO: 변수 맵 수신 후 _ACS.MOTFStart()로 교체
+            // _ACS?.MOTFStart();
+            // ────────────────────────────────────────────────────
+
+
+
             _Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
+
+            // ── 26.04.06 NDY 추가: ACS 완료 대기 ─────────────────
+            // TODO: 변수 맵 수신 후 활성화
+            // while (!_ACS.CheckMOTFComp()) { Thread.Sleep(10); }
+            // ────────────────────────────────────────────────────
+
             _MeasurementSpanTime = DateTime.Now.Subtract(weldingTime);
             Log.D(string.Format($"[ComponentTeachingRun] Component Welding Complete Time : {_MeasurementSpanTime.TotalMilliseconds}"));
 

WeldingComponents/WeldingCommon/Devices/ACS/PrismaticGunACS.Parameter.cs

@@ -1,4 +1,7 @@
 // WeldingCommon/Devices/ACS/ScannerACS.Parameter.cs
+using AuroraACS;
+using System.Web.UI.WebControls;
+
 namespace WeldingCommon.Devices.ACS
 {
     public partial class ScannerACS
@@ -19,6 +22,19 @@ namespace WeldingCommon.Devices.ACS
         const string rMOTFVelocity = "rPCset_SCANNER_MOTF_VEL";     // placeholder
         const string rMOTFAcc = "rPCset_SCANNER_MOTF_ACC";     // placeholder
 
+        #region 변수 맵 받으면 작업 순서
+        //1. ScannerACS.Parameter.cs
+        //   → placeholder 변수명을 실제 변수명으로 교체
+
+        //2. ScannerACS.cs
+        //   → 축 번호 검증(ACSMotor 생성 시 넣은 번호)
+
+        //3. EquipDef.cs
+        //   → MotorIds의 eMotorIdx 번호 검증
+
+        //4. 빌드 후 실제 장비에서 동작 확인
+        #endregion
+
         // ── 레이저 ───────────────────────────────────────
         const string IsLaserOn = "LCI_DEVICE.LaserEnabled";
         const string iLaserUse = "iPCset_LASER_USE";

WeldingComponents/WeldingCommon/EquipDefCommon.cs

@@ -65,6 +65,7 @@
 
         public const string TestDevice = "TestDevice";      // For Test Device
         public const string TestSequence = "TestSequence";      // For Test Sequence
+        public const string StageManual = "StageManual"; // 26.04.06 
 
         // Monitoring
         public const string PLCBitMonitoring = "PLCBitMonitoring";

WeldingComponents/WeldingCommon/Sequences/Main/SeqUploadWeldingList.cs

@@ -87,7 +87,7 @@ namespace WeldingCommon.Sequences
             sb.AddAction(SEQ_ENTER, Sequence_Enter);
             sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
 
-            sb.AddAction(SEQ_MARKING_ON_THE_FLY_ON, MarkingOnTheFlyOn);
+            sb.AddAction(SEQ_MARKING_ON_THE_FLY_ON, MarkingOnTheFlyOn); 
             sb.AddAction(SEQ_RECORD_SIGNAL_ON, RecordSignalOn);
             sb.AddAction(SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM, LoadDrawObjectScannerParam);
             sb.AddAction(SEQ_MARKING_ON_THE_FLY_OFF, MarkingOnTheFlyOff);
@@ -225,6 +225,7 @@ namespace WeldingCommon.Sequences
             return SEQ_MARKING_ON_THE_FLY_ON;
         }
 
+        // MOTF 지원 중 
         private SequenceActionResult MarkingOnTheFlyOn(SequenceContext context, string id, SequenceActionResult param)
         {
             if (_Scanner.Config.UseMarkingOnTheFly) {

WeldingComponents/WeldingCommon/Views/Manual/Scanner/UCScannerMotion.xaml

@@ -24,38 +24,47 @@
     </behavior:Interaction.Triggers>
     <Grid>
         <Grid.RowDefinitions>
-            <RowDefinition Height="auto"></RowDefinition>
-            <RowDefinition Height="auto"></RowDefinition>
-            <RowDefinition Height="auto"></RowDefinition>
+            <RowDefinition Height="auto"/>
+            <RowDefinition Height="auto"/>
+            <RowDefinition Height="auto"/>
         </Grid.RowDefinitions>
+
+        <!-- Scanner 위치 표시 -->
         <Grid Grid.Row="0" Margin="5">
             <Grid.ColumnDefinitions>
-                <ColumnDefinition Width="1*"></ColumnDefinition>
-                <ColumnDefinition Width="1*"></ColumnDefinition>
-                <ColumnDefinition Width="1*"></ColumnDefinition>
+                <ColumnDefinition Width="1*"/>
+                <ColumnDefinition Width="1*"/>
+                <ColumnDefinition Width="1*"/>
             </Grid.ColumnDefinitions>
             <GroupBox Header="X[mm]" Style="{StaticResource StGBMonitor}" Margin="0 0 3 3">
-                <TextBlock FontSize="18" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center" Text="{Binding ScannerXPos, StringFormat={}{0:0.000000}}"/>
+                <TextBlock FontSize="18" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center"
+                           Text="{Binding ScannerXPos, StringFormat={}{0:0.000000}}"/>
             </GroupBox>
-            <GroupBox Grid.Column="1" Header="Y[mm]" Style="{StaticResource StGBMonitor}" Margin="3 0 3 3" >
-                <TextBlock FontSize="18" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center" Text="{Binding ScannerYPos, StringFormat={}{0:0.000000}}"/>
+            <GroupBox Grid.Column="1" Header="Y[mm]" Style="{StaticResource StGBMonitor}" Margin="3 0 3 3">
+                <TextBlock FontSize="18" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center"
+                           Text="{Binding ScannerYPos, StringFormat={}{0:0.000000}}"/>
             </GroupBox>
-            <GroupBox Grid.Column="2" Header="Status" Style="{StaticResource StGBMonitor}" Margin="3 0 3 3" >
-                <TextBlock FontSize="18" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center" Text="{Binding IsScannerBusy, Converter={StaticResource convWorkConverter}}"/>
+            <GroupBox Grid.Column="2" Header="Status" Style="{StaticResource StGBMonitor}" Margin="3 0 3 3">
+                <TextBlock FontSize="18" FontWeight="Bold" HorizontalAlignment="Center" VerticalAlignment="Center"
+                           Text="{Binding IsScannerBusy, Converter={StaticResource convWorkConverter}}"/>
             </GroupBox>
         </Grid>
+
+        <!-- Scanner Motion -->
         <GroupBox Grid.Row="1" Header="Scanner Motion" Margin="0 3 3 0">
             <Grid>
                 <Grid.ColumnDefinitions>
-                    <ColumnDefinition Width="230"></ColumnDefinition>
-                    <ColumnDefinition Width="1*"></ColumnDefinition>
+                    <ColumnDefinition Width="230"/>
+                    <ColumnDefinition Width="1*"/>
                 </Grid.ColumnDefinitions>
                 <Grid.RowDefinitions>
-                    <RowDefinition Height="auto"></RowDefinition>
-                    <RowDefinition Height="230"></RowDefinition>
+                    <RowDefinition Height="auto"/>
+                    <RowDefinition Height="230"/>
                 </Grid.RowDefinitions>
                 <Grid Grid.Row="0" Grid.Column="0" Margin="5">
-                    <usercontrols:UCKeyValue KeyText="Step Value" Value="{Binding StepValue}" DecimalPlaces="3" Unit="mm" KeyHorizontalAlignment="Right" KeyTextWidth="0.9*" />
+                    <usercontrols:UCKeyValue KeyText="Step Value" Value="{Binding StepValue}"
+                                            DecimalPlaces="3" Unit="mm"
+                                            KeyHorizontalAlignment="Right" KeyTextWidth="0.9*"/>
                 </Grid>
                 <Grid Grid.Row="1" Grid.Column="0" Margin="20 5 15 5">
                     <Grid.ColumnDefinitions>
@@ -68,84 +77,116 @@
                         <RowDefinition/>
                         <RowDefinition/>
                     </Grid.RowDefinitions>
-                    <Button Grid.Row="0" Grid.Column="1" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e" Command="{Binding CMD_JogMove}" CommandParameter="Up">▲</Button>
-                    <Button Grid.Row="1" Grid.Column="0" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e" Command="{Binding CMD_JogMove}" CommandParameter="Left">◀</Button>
-                    <Button Grid.Row="1" Grid.Column="1" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e" Command="{Binding CMD_JogMove}" CommandParameter="Home">⌂</Button>
-                    <Button Grid.Row="1" Grid.Column="2" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e" Command="{Binding CMD_JogMove}" CommandParameter="Right">▶</Button>
-                    <Button Grid.Row="2" Grid.Column="1" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e" Command="{Binding CMD_JogMove}" CommandParameter="Down">▼</Button>
+                    <Button Grid.Row="0" Grid.Column="1" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e"
+                            Command="{Binding CMD_JogMove}" CommandParameter="Up">▲</Button>
+                    <Button Grid.Row="1" Grid.Column="0" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e"
+                            Command="{Binding CMD_JogMove}" CommandParameter="Left">◀</Button>
+                    <Button Grid.Row="1" Grid.Column="1" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e"
+                            Command="{Binding CMD_JogMove}" CommandParameter="Home">⌂</Button>
+                    <Button Grid.Row="1" Grid.Column="2" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e"
+                            Command="{Binding CMD_JogMove}" CommandParameter="Right">▶</Button>
+                    <Button Grid.Row="2" Grid.Column="1" FontWeight="Bold" Margin="2" BorderBrush="#1e1e1e"
+                            Command="{Binding CMD_JogMove}" CommandParameter="Down">▼</Button>
                 </Grid>
                 <Grid Grid.Row="0" Grid.Column="1" Grid.RowSpan="2" Margin="5">
                     <Grid.ColumnDefinitions>
-                        <ColumnDefinition Width="1*"></ColumnDefinition>
-                        <ColumnDefinition Width="3*"></ColumnDefinition>
+                        <ColumnDefinition Width="1*"/>
+                        <ColumnDefinition Width="3*"/>
                     </Grid.ColumnDefinitions>
                     <Grid.RowDefinitions>
-                        <RowDefinition Height="1*"></RowDefinition>
-                        <RowDefinition Height="1*"></RowDefinition>
-                        <RowDefinition Height="0.3*"></RowDefinition>
-                        <RowDefinition Height="2*"></RowDefinition>
+                        <RowDefinition Height="1*"/>
+                        <RowDefinition Height="1*"/>
+                        <RowDefinition Height="0.3*"/>
+                        <RowDefinition Height="2*"/>
                     </Grid.RowDefinitions>
                     <TextBlock Grid.Row="0" Grid.Column="0" Style="{StaticResource StGuideTB}" VerticalAlignment="Center">Motion Speed</TextBlock>
                     <TextBlock Grid.Row="1" Grid.Column="0" Style="{StaticResource StGuideTB}" VerticalAlignment="Center">Motion Mode</TextBlock>
                     <Grid Grid.Row="0" Grid.Column="1" Margin="5">
                         <Grid.ColumnDefinitions>
-                            <ColumnDefinition Width="1*"></ColumnDefinition>
-                            <ColumnDefinition Width="1*"></ColumnDefinition>
-                            <ColumnDefinition Width="1*"></ColumnDefinition>
+                            <ColumnDefinition Width="1*"/>
+                            <ColumnDefinition Width="1*"/>
+                            <ColumnDefinition Width="1*"/>
                         </Grid.ColumnDefinitions>
                         <RadioButton Grid.Column="0" Command="{Binding CMD_SpeedChanged}" CommandParameter="Low"
-                            Style="{StaticResource stRadio}" Content="LOW" Margin="3"/>
+                                     Style="{StaticResource stRadio}" Content="LOW" Margin="3"/>
                         <RadioButton Grid.Column="1" Command="{Binding CMD_SpeedChanged}" CommandParameter="Mid"
-                            Style="{StaticResource stRadio}" Content="MID" IsChecked="True" Margin="3"/>
+                                     Style="{StaticResource stRadio}" Content="MID" IsChecked="True" Margin="3"/>
                         <RadioButton Grid.Column="2" Command="{Binding CMD_SpeedChanged}" CommandParameter="High"
-                            Style="{StaticResource stRadio}" Content="HIGH" Margin="3"/>
+                                     Style="{StaticResource stRadio}" Content="HIGH" Margin="3"/>
                     </Grid>
                     <Grid Grid.Row="1" Grid.Column="1" Margin="5">
                         <Grid.ColumnDefinitions>
-                            <ColumnDefinition Width="1*"></ColumnDefinition>
-                            <ColumnDefinition Width="1*"></ColumnDefinition>
+                            <ColumnDefinition Width="1*"/>
+                            <ColumnDefinition Width="1*"/>
                         </Grid.ColumnDefinitions>
                         <RadioButton Grid.Column="0" Command="{Binding CMD_MotionModeChanged}" CommandParameter="ABS"
-                                    Style="{StaticResource stRadio}" Content="ABS" Margin="3" IsChecked="True"/>
+                                     Style="{StaticResource stRadio}" Content="ABS" Margin="3" IsChecked="True"/>
                         <RadioButton Grid.Column="1" Command="{Binding CMD_MotionModeChanged}" CommandParameter="REL"
-                                    Style="{StaticResource stRadio}" Content="REL" Margin="3"/>
+                                     Style="{StaticResource stRadio}" Content="REL" Margin="3"/>
                     </Grid>
                     <Grid Grid.Row="3" Grid.Column="0" Grid.ColumnSpan="2" Margin="5">
                         <Grid.ColumnDefinitions>
-                            <ColumnDefinition Width="2*"></ColumnDefinition>
-                            <ColumnDefinition Width="0.8*"></ColumnDefinition>
-                            <ColumnDefinition Width="0.2*"></ColumnDefinition>
-                            <ColumnDefinition Width="0.8*"></ColumnDefinition>
-                            <ColumnDefinition Width="2*"></ColumnDefinition>
+                            <ColumnDefinition Width="2*"/>
+                            <ColumnDefinition Width="0.8*"/>
+                            <ColumnDefinition Width="0.2*"/>
+                            <ColumnDefinition Width="0.8*"/>
+                            <ColumnDefinition Width="2*"/>
                         </Grid.ColumnDefinitions>
                         <Grid.RowDefinitions>
-                            <RowDefinition Height="1*"></RowDefinition>
-                            <RowDefinition Height="1.5*"></RowDefinition>
-                            <RowDefinition Height="1.5*"></RowDefinition>
+                            <RowDefinition Height="1*"/>
+                            <RowDefinition Height="1.5*"/>
+                            <RowDefinition Height="1.5*"/>
                         </Grid.RowDefinitions>
-                        <TextBlock Grid.Row="0" Grid.Column="1" Foreground="White" TextAlignment="Center" FontSize="8" >MinLimit</TextBlock>
-                        <TextBlock Grid.Row="1" Grid.Column="1" FontSize="8" Text="{Binding CommandPosLimitMinX, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"></TextBlock>
-                        <TextBlock Grid.Row="2" Grid.Column="1" FontSize="8" Text="{Binding CommandPosLimitMinY, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"></TextBlock>
-
-                        <TextBlock Grid.Row="0" Grid.Column="3" Foreground="White" TextAlignment="Center" FontSize="8" >MaxLimit</TextBlock>
-                        <TextBlock Grid.Row="1" Grid.Column="3" FontSize="8" Text="{Binding CommandPosLimitMaxX, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"></TextBlock>
-                        <TextBlock Grid.Row="2" Grid.Column="3" FontSize="8" Text="{Binding CommandPosLimitMaxY, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"></TextBlock>
-
-                        <TextBlock Grid.Row="1" Grid.Column="2" Foreground="White" TextAlignment="Center" VerticalAlignment="Center" FontSize="10" Text="~"></TextBlock>
-                        <TextBlock Grid.Row="2" Grid.Column="2" Foreground="White" TextAlignment="Center" VerticalAlignment="Center" FontSize="10" Text="~"></TextBlock>
-
-                        <usercontrols:UCKeyValue Grid.Row="1" Grid.Column="0" KeyText="Axis X" Value="{Binding CommandPosX}" DecimalPlaces="3" Unit="mm" KeyHorizontalAlignment="Right" KeyTextWidth="0.6*" />
-                        <usercontrols:UCKeyValue Grid.Row="2" Grid.Column="0" KeyText="Axis Y" Value="{Binding CommandPosY}" DecimalPlaces="3" Unit="mm" KeyHorizontalAlignment="Right" KeyTextWidth="0.6*" />
-
+                        <TextBlock Grid.Row="0" Grid.Column="1" Foreground="White" TextAlignment="Center" FontSize="8">MinLimit</TextBlock>
+                        <TextBlock Grid.Row="1" Grid.Column="1" FontSize="8" Text="{Binding CommandPosLimitMinX, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"/>
+                        <TextBlock Grid.Row="2" Grid.Column="1" FontSize="8" Text="{Binding CommandPosLimitMinY, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"/>
+                        <TextBlock Grid.Row="0" Grid.Column="3" Foreground="White" TextAlignment="Center" FontSize="8">MaxLimit</TextBlock>
+                        <TextBlock Grid.Row="1" Grid.Column="3" FontSize="8" Text="{Binding CommandPosLimitMaxX, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"/>
+                        <TextBlock Grid.Row="2" Grid.Column="3" FontSize="8" Text="{Binding CommandPosLimitMaxY, StringFormat={}{0:0.000}}" Foreground="Gray" HorizontalAlignment="Center" TextAlignment="Center"/>
+                        <TextBlock Grid.Row="1" Grid.Column="2" Foreground="White" TextAlignment="Center" VerticalAlignment="Center" FontSize="10" Text="~"/>
+                        <TextBlock Grid.Row="2" Grid.Column="2" Foreground="White" TextAlignment="Center" VerticalAlignment="Center" FontSize="10" Text="~"/>
+                        <usercontrols:UCKeyValue Grid.Row="1" Grid.Column="0" KeyText="Axis X" Value="{Binding CommandPosX}"
+                                                DecimalPlaces="3" Unit="mm" KeyHorizontalAlignment="Right" KeyTextWidth="0.6*"/>
+                        <usercontrols:UCKeyValue Grid.Row="2" Grid.Column="0" KeyText="Axis Y" Value="{Binding CommandPosY}"
+                                                DecimalPlaces="3" Unit="mm" KeyHorizontalAlignment="Right" KeyTextWidth="0.6*"/>
                         <UniformGrid Grid.Row="1" Grid.Column="4" Grid.RowSpan="2" Columns="2">
-                            <Button Margin="3" Command="{Binding CMD_CommandPosMove}" CommandParameter="X" Content="Move X" HorizontalAlignment="Stretch" VerticalAlignment="Stretch" Height="auto" Style="{StaticResource StButtonAccentBlue}" />
-                            <Button Margin="3" Command="{Binding CMD_CommandPosMove}" CommandParameter="Y" Content="Move Y" HorizontalAlignment="Stretch" VerticalAlignment="Stretch" Height="auto" Style="{StaticResource StButtonAccentBlue}" />
+                            <Button Margin="3" Command="{Binding CMD_CommandPosMove}" CommandParameter="X"
+                                    Content="Move X" HorizontalAlignment="Stretch" VerticalAlignment="Stretch"
+                                    Height="auto" Style="{StaticResource StButtonAccentBlue}"/>
+                            <Button Margin="3" Command="{Binding CMD_CommandPosMove}" CommandParameter="Y"
+                                    Content="Move Y" HorizontalAlignment="Stretch" VerticalAlignment="Stretch"
+                                    Height="auto" Style="{StaticResource StButtonAccentBlue}"/>
                         </UniformGrid>
-
                     </Grid>
                 </Grid>
             </Grid>
         </GroupBox>
 
+        <!-- 26.04.06 NDY Stage X Motion 섹션 추가 -->
+        <GroupBox Grid.Row="2" Header="Stage X Motion (ACS)" Margin="0 3 3 0"
+                  IsEnabled="{Binding IsStageXActivated}">
+            <Grid Margin="5">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="auto"/>
+                    <ColumnDefinition Width="1*"/>
+                    <ColumnDefinition Width="1*"/>
+                    <ColumnDefinition Width="1*"/>
+                </Grid.ColumnDefinitions>
+                <GroupBox Grid.Column="0" Header="Stage X[mm]"
+                          Style="{StaticResource StGBMonitor}" Margin="0 0 5 0" MinWidth="120">
+                    <TextBlock FontSize="18" FontWeight="Bold"
+                               HorizontalAlignment="Center" VerticalAlignment="Center"
+                               Text="{Binding StageXPos, StringFormat={}{0:0.000}}"/>
+                </GroupBox>
+                <Button Grid.Column="1" FontWeight="Bold" Margin="3"
+                        Command="{Binding CMD_JogMove}" CommandParameter="Stage_X_Left">◀ −</Button>
+                <Button Grid.Column="2" FontWeight="Bold" Margin="3"
+                        Command="{Binding CMD_JogMove}" CommandParameter="Stage_X_Right">+ ▶</Button>
+                <TextBlock Grid.Column="3" FontSize="10" Foreground="Gray"
+                           VerticalAlignment="Center" HorizontalAlignment="Center"
+                           Text="* 이미지 방향 반전 적용"/>
+            </Grid>
+        </GroupBox>
+
     </Grid>
-</UserControl>
+</UserControl>

WeldingComponents/WeldingCommon/Views/Manual/Scanner/UCScannerMotionViewModel.cs

@@ -1,7 +1,9 @@
 using Aurora;
 using Aurora.Api;
+using Aurora.Api.Devices;
 using Aurora.Api.Manager;
 using Aurora.View;
+using AuroraACS;          // 26.04.06 NDY 추가
 using AuroraLaser;
 using AuroraLaserScanner;
 using HarfBuzzSharp;
@@ -41,13 +43,10 @@ namespace WeldingCommon.Views
         public ICommand CMD_VisibleChanged { get; }
         public ICommand CMD_SpeedChanged { get; }
         public ICommand CMD_MotionModeChanged { get; }
-
         public ICommand CMD_JogMove { get; }
         public ICommand CMD_CommandPosMove { get; }
 
-
         private readonly IAuroraEnvironment _Aurora;
-
         private readonly Scanner _Scanner;
         private readonly Laser _Laser;
         private readonly ScannerConfig _ScannerConfig;
@@ -82,6 +81,16 @@ namespace WeldingCommon.Views
 
         private readonly DispatcherTimer _MonitorTimer;
 
+        // 26.04.06 NDY Stage X 관련 필드 추가 ==================
+        private ACSMotor _MotorX;
+
+        private double _StageXPos;
+        public double StageXPos { get => _StageXPos; set => SetProperty(ref _StageXPos, value); }
+
+        private bool _IsStageXActivated;
+        public bool IsStageXActivated { get => _IsStageXActivated; set => SetProperty(ref _IsStageXActivated, value); }
+        // ========================================================
+
         // PAM, RUW 처럼 2개 이상의 scanner 를 사용하는 경우가 있어, scannerId 를 받는 형태로 생성
         public UCScannerMotionViewModel(IAuroraEnvironment aurora, string scannerId)
         {
@@ -91,6 +100,11 @@ namespace WeldingCommon.Views
             _Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as Laser;
             _ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(scannerId) as ScannerConfig;
 
+            // 26.04.06 NDY Stage X 모터 연결 추가 ===============
+            try { _MotorX = _Aurora.DeviceManager["AxisX2"] as ACSMotor; }
+            catch { _MotorX = null; }
+            // ====================================================
+
             InitVariable();
 
             CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
@@ -113,157 +127,139 @@ namespace WeldingCommon.Views
         private void VisibleChanged(object obj)
         {
             bool visible = (bool)obj;
-            if (visible) {
+            if (visible)
+            {
                 Init_XYLimitPos();
                 _MonitorTimer.Start();
-            } else {
+            }
+            else
+            {
                 _MonitorTimer.Stop();
             }
         }
 
         private void Init_XYLimitPos()
         {
-            // TODO: Limit 값을 Min, Max 로 따로 Setting 입력값으로 가져와야 할 수도 있음. 우선 현상태 유지
             CommandPosLimitMinX = -1 * _ScannerConfig.ScanXSize / 2;
             CommandPosLimitMaxX = _ScannerConfig.ScanXSize / 2;
-
             CommandPosLimitMinY = -1 * _ScannerConfig.ScanYSize / 2;
             CommandPosLimitMaxY = _ScannerConfig.ScanYSize / 2;
-
-            //CommandPosXLimit = string.Format($"{-1 * _ScannerConfig.ScanXSize / 2} ~ {_ScannerConfig.ScanXSize / 2}");
-            //CommandPosYLimit = string.Format($"{-1 * _ScannerConfig.ScanYSize / 2} ~ {_ScannerConfig.ScanYSize / 2}");
         }
 
         private void OnMonitoring(object sender, EventArgs e)
         {
+            // 기존 Scanner 모니터링
             double xPos, yPos;
-            if (_Scanner != null && _Scanner.IsActivated) {
+            if (_Scanner != null && _Scanner.IsActivated)
+            {
                 _Scanner.GetXYPos(out xPos, out yPos);
                 ScannerXPos = xPos;
                 ScannerYPos = yPos;
-
                 IsScannerBusy = _Scanner.GetBusyStatus();
-            } else {
+            }
+            else
+            {
                 ScannerXPos = 0;
                 ScannerYPos = 0;
                 IsScannerBusy = false;
             }
 
+            // 26.04.06 NDY Stage X 모니터링 추가 ================
+            if (_MotorX != null && _MotorX.IsActivated)
+            {
+                StageXPos = _MotorX.GetActualPos();
+                IsStageXActivated = true;
+            }
+            else
+            {
+                IsStageXActivated = false;
+            }
+            // ====================================================
         }
 
         private void PerformCmdSpeedChanged(object commandParameter)
         {
-            switch ((string)commandParameter) {
-                case "Low": {
-                        _VelocityRate = 0.5;
-                    }
-                    break;
-
-                case "Mid": {
-                        _VelocityRate = 1;
-                    }
-                    break;
-
-                case "High": {
-                        _VelocityRate = 1.5;
-                    }
-                    break;
+            switch ((string)commandParameter)
+            {
+                case "Low": _VelocityRate = 0.5; break;
+                case "Mid": _VelocityRate = 1; break;
+                case "High": _VelocityRate = 1.5; break;
             }
         }
 
         private void PerformCmdMotionModeChanged(object commandParameter)
         {
-            switch ((string)commandParameter) {
-                case "ABS": {
-                        _MotionMode = eMotionMode.ABS;
-                    }
-                    break;
-
-                case "REL": {
-                        _MotionMode = eMotionMode.REL;
-                    }
-                    break;
+            switch ((string)commandParameter)
+            {
+                case "ABS": _MotionMode = eMotionMode.ABS; break;
+                case "REL": _MotionMode = eMotionMode.REL; break;
             }
         }
 
         private void PerformCmdJogMove(object commandParameter)
         {
-            // TODO: Left, Right, Up, Down 은 장비 Scanner 의 방향에 따라 달라질 수 있다
-            //  양산중에는 동작 하면 안됨
             var MainSequence = _Aurora.SequenceEntry[CommonSequenceIds.SeqAutoRun].RunState;
-            if(MainSequence == SequenceRunState.Running)
+            if (MainSequence == SequenceRunState.Running)
                 return;
 
-            switch ((string)commandParameter) {
-                case "Left": {
-                        MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.MINUS);
-                    }
-                    break;
+            switch ((string)commandParameter)
+            {
+                case "Left": MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.MINUS); break;
+                case "Right": MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.PLUS); break;
+                case "Up": MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.PLUS); break;
+                case "Down": MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.MINUS); break;
+                case "Home": MoveJogHome(); break;
 
-                case "Right": {
-                        MoveJogXYPos(eAxisType.AXIS_X, eJogDirection.PLUS);
-                    }
-                    break;
-
-                case "Up": {
-                        MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.PLUS);
-                    }
-                    break;
-
-                case "Down": {
-                        MoveJogXYPos(eAxisType.AXIS_Y, eJogDirection.MINUS);
-                    }
-                    break;
-
-                case "Home": {
-                        MoveJogHome();
-                    }
-                    break;
+                // 26.04.06 NDY Stage X 버튼 추가 =================
+                case "Stage_X_Left": MoveStageX(eJogDirection.MINUS); break;
+                case "Stage_X_Right": MoveStageX(eJogDirection.PLUS); break;
+                    // =================================================
             }
         }
 
+        // 26.04.06 NDY Stage X 이동 메서드 추가 ==================
+        private void MoveStageX(eJogDirection direction)
+        {
+            if (_MotorX == null || !_MotorX.IsActivated) return;
+
+            // 이미지 기준 방향 반전 적용
+            double step = direction == eJogDirection.PLUS ? -StepValue : +StepValue;
+            Log.I($"Stage X Move : {step}mm");
+
+            _MotorX.SetTargetPos(step, TargetPosType.REL);
+            _MotorX.Move();
+        }
+        // =========================================================
+
         private void MoveJogXYPos(eAxisType axisType, eJogDirection direction)
         {
             double xPos = 0.0;
             double yPos = 0.0;
-            switch (axisType) {
-                case eAxisType.AXIS_X: {
-                        if (direction == eJogDirection.MINUS) {
-                            xPos = StepValue * -1;
-                            yPos = 0;
-                        } else if (direction == eJogDirection.PLUS) {
-                            xPos = StepValue;
-                            yPos = 0;
-                        }
+            switch (axisType)
+            {
+                case eAxisType.AXIS_X:
+                    {
+                        if (direction == eJogDirection.MINUS) { xPos = StepValue * -1; yPos = 0; }
+                        else if (direction == eJogDirection.PLUS) { xPos = StepValue; yPos = 0; }
                     }
                     break;
-
-                case eAxisType.AXIS_Y: {
-                        if (direction == eJogDirection.MINUS) {
-                            xPos = 0;
-                            yPos = StepValue * -1;
-                        } else if (direction == eJogDirection.PLUS) {
-                            xPos = 0;
-                            yPos = StepValue;
-                        }
+                case eAxisType.AXIS_Y:
+                    {
+                        if (direction == eJogDirection.MINUS) { xPos = 0; yPos = StepValue * -1; }
+                        else if (direction == eJogDirection.PLUS) { xPos = 0; yPos = StepValue; }
                     }
                     break;
-
-                default:
-                    break;
             }
 
-            // 현재 Curruent Pos 기준으로, 입력방향으로 입력값이 Limit 를 넘어 서는지 확인 (Rel 임)
-            if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos)) {
-                Log.E(string.Format("움직이려는 범위가 스캐너 범위를 초과하였습니다."));
+            if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos))
+            {
+                Log.E("움직이려는 범위가 스캐너 범위를 초과하였습니다.");
                 return;
             }
 
             double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
             _Scanner.SetJumpSpeedCtrl(finalVelocity);
             _Scanner.JumpRel(xPos, yPos);
-
-            //Jump 후 Speed 원복
             _Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
         }
 
@@ -272,23 +268,15 @@ namespace WeldingCommon.Views
             double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
             _Scanner.SetJumpSpeedCtrl(finalVelocity);
             _Scanner.JumpAbs(0, 0);
-
-            //Jump 후 Speed 원복
             _Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
         }
 
         private void PerformCmdCommandPosMove(object commandParameter)
         {
-            switch ((string)commandParameter) {
-                case "X": {
-                        MoveCommandXYPos(eAxisType.AXIS_X);
-                    }
-                    break;
-
-                case "Y": {
-                        MoveCommandXYPos(eAxisType.AXIS_Y);
-                    }
-                    break;
+            switch ((string)commandParameter)
+            {
+                case "X": MoveCommandXYPos(eAxisType.AXIS_X); break;
+                case "Y": MoveCommandXYPos(eAxisType.AXIS_Y); break;
             }
         }
 
@@ -296,42 +284,35 @@ namespace WeldingCommon.Views
         {
             double xPos = 0.0;
             double yPos = 0.0;
-            switch (axisType) {
-                case eAxisType.AXIS_X: {
+            switch (axisType)
+            {
+                case eAxisType.AXIS_X:
+                    {
                         xPos = CommandPosX;
-
-                        if (_MotionMode == eMotionMode.ABS) {
-                            yPos = _Scanner.GetCommandPosY();
-                        } else {
-                            yPos = 0.0;
-                        }
+                        yPos = _MotionMode == eMotionMode.ABS ? _Scanner.GetCommandPosY() : 0.0;
                     }
                     break;
-
-                case eAxisType.AXIS_Y: {
-                        if (_MotionMode == eMotionMode.ABS) {
-                            xPos = _Scanner.GetCommandPosX();
-                        } else {
-                            xPos = 0.0;
-                        }
-
+                case eAxisType.AXIS_Y:
+                    {
+                        xPos = _MotionMode == eMotionMode.ABS ? _Scanner.GetCommandPosX() : 0.0;
                         yPos = CommandPosY;
                     }
                     break;
-
-                default:
-                    break;
             }
 
-            // 현재 Curruent Pos 기준으로, 입력방향으로 입력값이 Limit 를 넘어 서는지 확인
-            if (_MotionMode == eMotionMode.ABS) {
-                if (CheckOverLimitPos(xPos, yPos)) {
-                    Log.E(string.Format("움직이려는 범위가 스캐너 범위를 초과하였습니다."));
+            if (_MotionMode == eMotionMode.ABS)
+            {
+                if (CheckOverLimitPos(xPos, yPos))
+                {
+                    Log.E("움직이려는 범위가 스캐너 범위를 초과하였습니다.");
                     return;
                 }
-            } else {
-                if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos)) {
-                    Log.E(string.Format("움직이려는 범위가 스캐너 범위를 초과하였습니다."));
+            }
+            else
+            {
+                if (CheckOverLimitPos(ScannerXPos + xPos, ScannerYPos + yPos))
+                {
+                    Log.E("움직이려는 범위가 스캐너 범위를 초과하였습니다.");
                     return;
                 }
             }
@@ -339,25 +320,19 @@ namespace WeldingCommon.Views
             double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
             _Scanner.SetJumpSpeedCtrl(finalVelocity);
 
-            if (_MotionMode == eMotionMode.ABS) {
+            if (_MotionMode == eMotionMode.ABS)
                 _Scanner.JumpAbs(xPos, yPos);
-            } else {
+            else
                 _Scanner.JumpRel(xPos, yPos);
-            }
 
-            //Jump 후 Speed 원복
             _Scanner.SetJumpSpeedCtrl(_ScannerConfig.JumpSpeed);
         }
 
         private bool CheckOverLimitPos(double calcPosX, double calcPosY)
         {
-            if (calcPosX < CommandPosLimitMinX || calcPosX > CommandPosLimitMaxX) {
-                return true;
-            } else if (calcPosY < CommandPosLimitMinY || calcPosY > CommandPosLimitMaxY) {
-                return true;
-            }
-
+            if (calcPosX < CommandPosLimitMinX || calcPosX > CommandPosLimitMaxX) return true;
+            if (calcPosY < CommandPosLimitMinY || calcPosY > CommandPosLimitMaxY) return true;
             return false;
         }
     }
-}
+}