AuroraDevices/AuroraACS/ACSDevice.cs

@@ -643,7 +643,7 @@ namespace AuroraACS
                 return intValue;
             }
 
-            //Log.E($"ReadVariable {VariableName} Error : " + result); // 잠시 주석 26.04.14 - 로그 많이 찍힘 - VariableName 확인 필요
+            Log.E($"ReadVariable {VariableName} Error : " + result);
             return 0;
         }
 
@@ -773,7 +773,7 @@ namespace AuroraACS
                 }
             } catch (Exception exc) {
                 if (!IsSimul) {
-                    //Log.E($"ReadVariable {VariableName} Exception : " + exc.Message); // 26.04.14 잠시 주석 - 로그가 너무 많이 찍힘 VariableName 확인 필요 
+                    Log.E($"ReadVariable {VariableName} Exception : " + exc.Message);
                     return null;
                 }
                 return null;

AuroraDevices/AuroraIO/IODevice.cs

@@ -281,9 +281,9 @@ namespace AuroraIO
                     Log.I(string.Format($"파일({fileName})이 존재하지 않습니다. Device Config의 File 경로를 확인하세요."));
 
                     return 0;
-                    StreamWriter writer = new StreamWriter(fileName, false, System.Text.Encoding.Unicode);
+                    //StreamWriter writer = new StreamWriter(fileName, false, System.Text.Encoding.Unicode);
-                    writer.WriteLine("Index,Address,ID,IoType,ActiveLevel,BoardNo,Description,HighNecCond,LowNecCond,HighSensor,LowSensor,WaitInterlockTimeOut,WaitSensorTimeOut,HighSufCond,LowSufCond");
+                    //writer.WriteLine("Index,Address,ID,IoType,ActiveLevel,BoardNo,Description,HighNecCond,LowNecCond,HighSensor,LowSensor,WaitInterlockTimeOut,WaitSensorTimeOut,HighSufCond,LowSufCond");
-                    writer.Close();
+                    //writer.Close();
                 }
 
                 StreamReader sr = new StreamReader(fileName, System.Text.Encoding.Default);

AuroraDevices/AuroraLaser/Coherent/Arm/LaserArm.cs

@@ -395,7 +395,7 @@ namespace AuroraLaser
                                 ReadNode[nTargetCommand + 1].dRet = dData * 0.25;
                             } else {
                                 //To Do : AlarmLog 수정할 것
-                                Logger.E("LASER_POWER Invalid Data received  " + strReceiveMsgTotal); // 04 14 
+                                Logger.E("LASER_POWER Invalid Data received  " + strReceiveMsgTotal);
 
                                 //UtilUnit.logUnit.SetLog(LogUnit.eLogType.DEBUG, MethodBase.GetCurrentMethod().Name, "LASER_POWER Invalid Data received  " + strReceiveMsgTotal);
                             }

AuroraDevices/AuroraLaserScanner/Scanner.cs

@@ -350,33 +350,6 @@ namespace AuroraLaserScanner
             }
             _scannerObj.WaitForEncoderX(position);
         }
-        public void WaitForEncoderY(double position)
-        {
-            if (!IsActivated)
-            {
-                return;
-            }
-            _scannerObj.WaitForEncoderY(position);
-        }
-        public void GetListPointer(out eListNo list_no, out uint list_pos)
-        {
-            list_no = eListNo.LIST1;
-            list_pos = 0;
-            if (!IsActivated)
-            {
-                return;
-            }
-            _scannerObj.GetListPointer(out list_no, out list_pos);
-        }
-        public void SetFlyY(double encoderResolution)
-        {
-            if (!IsActivated)
-            {
-                return;
-            }
-            _scannerObj.SetFlyY(encoderResolution);
-        }
-
 
         public void WaitForEncoderRotateX(double angle)
         {

AuroraDevices/AuroraLaserScanner/ScannerConfig.cs

@@ -69,11 +69,6 @@ namespace AuroraLaserScanner
         public double MarkingOntheFlyOffsetY { get; set; }
         public double MarkingOntheFlyParkingPositionX { get; set; }
         public double MarkingOntheFlyParkingPositionY { get; set; }
-        public double MarkingStartX_1 { get; set; }
-        public double MarkingStartX_2 { get; set; }
-        public double XDiff_Page1and2 { get; set; }
-        public double XDiff_Page3and4 { get; set; }
-
         public eWaitEncoderMode MarkingStartWaitMode { get; set; }
         public eOntheFlyCoordinate OnTheFlyCoordinate { get; set; }
         public double FlySpeedInterlock { get; set; }

AuroraDevices/AuroraLaserScanner/ScannerObj.cs

@@ -315,7 +315,6 @@ namespace AuroraLaserScanner
         public abstract void SetConfigList(uint mem1, uint mem2);
         public abstract uint GetListSpace();
         #endregion
-        public abstract void GetListPointer(out eListNo list_no, out uint list_pos);
         public void WaitForListTaskCompleted(int timeOut, SequenceContext context = null) //단위는 초
         {
             TimeSpan spanTime;

AuroraDevices/AuroraLaserScanner/ScannerRTC5.cs

@@ -1109,12 +1109,5 @@ namespace AuroraLaserScanner
         {
             return RTC5Wrap.get_last_error();
         }
-        public override void GetListPointer(out eListNo list_no, out uint list_pos)
-        {
-            uint listNo = 0;
-            RTC5Wrap.get_list_pointer(out listNo, out list_pos);
-            list_no = (eListNo)listNo;
-        }
-
     }
 }

AuroraDevices/AuroraLaserScanner/ScannerRTC6.cs

@@ -1121,12 +1121,6 @@ namespace AuroraLaserScanner
         {
             return RTC6Wrap.get_last_error();
         }
-        public override void GetListPointer(out eListNo list_no, out uint list_pos)
-        {
-            uint listNo = 0;
-            RTC6Wrap.get_list_pointer(out listNo, out list_pos);
-            list_no = (eListNo)listNo;
-        }
 
         #region 26.04.08 NDY - 오차 추적 메소드 OVERRIDE 추가 RTC6  (자식클래스 -실제 RTC6Wrap전달 지점)
         //public override void SetFlyLimit(uint portNo,int xMin, int xMax , int yMin,int yMax )

AuroraDevices/AuroraLaserScanner/ScannerSimul.cs

@@ -569,10 +569,5 @@ namespace AuroraLaserScanner
             return 0;
         }
 
-        public override void GetListPointer(out eListNo list_no, out uint list_pos)
-        {
-            list_no = eListNo.LIST1;
-            list_pos = 0;
-        }
     }
 }

AuroraVision/MilUI/Camera/CameraDisplay.xaml.cs

@@ -172,7 +172,7 @@ namespace MilUI {
         public void DrawGuideLines() {
             var calFovRecipe = VisionRecipeManager.GetCalFovRecipe(_FovInfo);
             var centerPos = new ImagePoint(_ImageSize.Width / 2, _ImageSize.Height / 2);
-            var color = MIL.M_COLOR_RED;  // Orange
+            var color = MIL.M_RGB888(255, 165, 0);  // Orange
 
             _gridGuideLine.DrawGuideLines(_ImageSize, centerPos, 1, color, calFovRecipe.ErrRotationX);
             //_gridGuideLine.DrawRefLine(_ImageSize, calFovRecipe.ErrRotationX);

AuroraVision/MilUI/Camera/GridGuideLine.cs

@@ -97,11 +97,11 @@ namespace MilUI {
 
             if (gridMode == eGridMode.Narrow) {
                 DrawGuideLines(imageSize, centerPos, 11, MIL.M_COLOR_LIGHT_GRAY, errRotation);
-                DrawGuideLines(imageSize, centerPos, 1, MIL.M_COLOR_RED, errRotation);
+                DrawGuideLines(imageSize, centerPos, 1, COLOR_ORANGE, errRotation);
             }
             else {
                 DrawGuideLines(imageSize, centerPos, 5, MIL.M_COLOR_LIGHT_GRAY, errRotation);
-                DrawGuideLines(imageSize, centerPos, 1, MIL.M_COLOR_RED, errRotation);
+                DrawGuideLines(imageSize, centerPos, 1, COLOR_ORANGE, errRotation);
             }
         }
 

AuroraVision/MilUI/Camera/RulerMode.cs

@@ -36,8 +36,7 @@ namespace MilUI {
             _milGraphics = new MilGraphics(_displayId, _graphicListId);
             _tempMilGraphics = new MilGraphics(_displayId, _graphicListId);
             _colors = new List<MIL_INT>() {
-                //MIL.M_COLOR_YELLOW,
+                MIL.M_COLOR_YELLOW,
-                MIL.M_COLOR_GREEN,
                 MIL.M_COLOR_MAGENTA
             };
         }

Machines/ILSOS_PrismaticGun/Device/ACS/PrismaticGunACS.Parameter.cs

@@ -7,8 +7,7 @@ using System.Threading.Tasks;
 namespace ILSOS_PrismaticGun.Device.ACS
 {
     public partial class PrismaticGunACS
-    {  
+    {   const string AlarmReset = "iAlarmreset";
-        const string AlarmReset = "iAlarmreset";
         const string HeavyAlarm = "iAlarm";
         const string LightAlarm = "iLightAlarm";
         const string AlarmCodes = "iPCAlarmNo"; // 10개

Machines/ILSOS_PrismaticGun/Device/ACS/PrismaticGunACS.cs

@@ -106,10 +106,10 @@ namespace ILSOS_PrismaticGun.Device.ACS
             _calibration = env.SettingEntry[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
             _teachingSetting = env.SettingEntry[SettingIds.TeachingPos] as TeachingPositionSetting;
 
-            //MotorX1 = env.DeviceManager[MotorIds.AxisX1] as ACSMotor;
+            MotorX1 = env.DeviceManager[MotorIds.AxisX1] as ACSMotor;
             MotorX2 = env.DeviceManager[MotorIds.AxisX2] as ACSMotor;
-            //MotorY1 = env.DeviceManager[MotorIds.AxisY1] as ACSMotor;
+            MotorY1 = env.DeviceManager[MotorIds.AxisY1] as ACSMotor;
-            //MotorY2 = env.DeviceManager[MotorIds.AxisY2] as ACSMotor;
+            MotorY2 = env.DeviceManager[MotorIds.AxisY2] as ACSMotor;
             MotorZ = env.DeviceManager[MotorIds.AxisZ] as ACSMotor;
 
 

Machines/ILSOS_PrismaticScanner/Alarm/AlarmManager_PrismaticScanner.cs

@@ -24,7 +24,6 @@ namespace ILSOS_PrismaticScanner.Alarm
             // High Alarm 은 Sequence 정지
             if (alarm.Level == AlarmLevel.H) {
                 StopSequence(SequenceIds.SeqAutoRun);
-                StopSequence(SequenceIds.SeqAutoRunACS); // 26.04.15 추가 
             }
         }
     }

Machines/ILSOS_PrismaticScanner/EquipDef.cs

@@ -17,8 +17,8 @@ namespace ILSOS_PrismaticScanner
     internal class MotorIds
     {
         public const string AxisX2 = "AxisX2";
-        //public const string AxisY1 = "AxisY1";
+        public const string AxisY1 = "AxisY1";
-        //public const string AxisY2 = "AxisY2";
+        public const string AxisY2 = "AxisY2";
         public const string AxisZ = "AxisZ";
 
         // TODO: 이정인 선임 ACS 변수 맵 수신 후 실제 번호 검증
@@ -41,6 +41,9 @@ namespace ILSOS_PrismaticScanner
         public const string SeqAlarmMonitor = "SeqAlarmMonitor";
         public const string SeqStatusMonitor = "SeqStatusMonitor";
 
+        // 26.04.09 NDY - ACS MOTF AutoRun - > SeqAutoRun은 CommonSequenceIds에 존재함. 
+        public const string SeqAutoRunACS = "SeqAutoRunACS";
+
     }
 
     public class StreamMessageNames

Machines/ILSOS_PrismaticScanner/EquipmentSetup.cs

@@ -98,17 +98,17 @@ namespace ILSOS_PrismaticScanner
                 await ActivateDevices();
             }
 
-            //AuroraEx.RegisterRmsHandler<RMSHandlerForScanner>();
+            AuroraEx.RegisterRmsHandler<RMSHandlerForScanner>();
-            //AuroraEnv.RecipeManager.RmsHandler().RegistryDeviceHandler(AuroraEnv);
+            AuroraEnv.RecipeManager.RmsHandler().RegistryDeviceHandler(AuroraEnv);
-            //AuroraEnv.RecipeManager.RmsHandler().Start();
+            AuroraEnv.RecipeManager.RmsHandler().Start();
 
             // [Singleton Instance] Recipe Change History
-            //AuroraEnv.RecipeManager.RchHandler().RegistryDeviceHandler(AuroraEnv);
+            AuroraEnv.RecipeManager.RchHandler().RegistryDeviceHandler(AuroraEnv);
 
             //AlarmMonitroing Seq Start
-            //AuroraEnv.SequenceEntry[SequenceIds.SeqAlarmMonitor].Start();
+            AuroraEnv.SequenceEntry[SequenceIds.SeqAlarmMonitor].Start();
-            //AuroraEnv.SequenceEntry[SequenceIds.SeqStatusMonitor].Start();
+            AuroraEnv.SequenceEntry[SequenceIds.SeqStatusMonitor].Start();
-            //AuroraEnv.SequenceEntry[CommonSequenceIds.PLCMonitor].Start();
+            AuroraEnv.SequenceEntry[CommonSequenceIds.PLCMonitor].Start();
 
 
             base.OnStartUp();
@@ -116,9 +116,9 @@ namespace ILSOS_PrismaticScanner
         public override void OnShutDown()
         {
             // 모니터링 시퀀스 먼저 종료
-            //AuroraEnv.SequenceEntry[SequenceIds.SeqAlarmMonitor].Stop();
+            AuroraEnv.SequenceEntry[SequenceIds.SeqAlarmMonitor].Stop();
-            //AuroraEnv.SequenceEntry[SequenceIds.SeqStatusMonitor].Stop();
+            AuroraEnv.SequenceEntry[SequenceIds.SeqStatusMonitor].Stop();
-            //AuroraEnv.SequenceEntry[CommonSequenceIds.PLCMonitor].Stop();
+            AuroraEnv.SequenceEntry[CommonSequenceIds.PLCMonitor].Stop();
             Thread.Sleep(200);
 
             base.OnShutDown();
@@ -145,6 +145,24 @@ namespace ILSOS_PrismaticScanner
 
             var isSimul = ApplicationExt.IsSimulation;
 
+            //registry.Register(CommonDeviceIds.OCT, () => new OCT(CommonDeviceIds.OCT, isSimul), new OCTConfig(),
+            //    device => new UCOCTDevice() { DataContext = new UCOCTDeviceViewModel(AuroraEnv, CommonDeviceIds.OCT) });
+            //registry.Register(CommonDeviceIds.LBAD, () => new LBAD(CommonDeviceIds.LBAD, isSimul), new LBADConfig());
+            //registry.Register(CommonDeviceIds.CellTracker, () => new CellTracker(CommonDeviceIds.CellTracker, eCellTrackerType.Daekhon, isSimul), new CellTrackerConfig(),
+            //    device => new UCCellTrackerDevice() { DataContext = new UCCellTrackerDeviceViewModel(AuroraEnv, CommonDeviceIds.CellTracker) });
+
+
+            //IODevice는 AjinIO가 아니라 IOUnit으로 받아오는것으로 수정해야 함
+            registry.Register(CommonDeviceIds.IODevice, () => new PAIX_PrismaticScanner(AuroraEnv, CommonDeviceIds.IODevice, isSimul), new IOUnitConfig());
+            registry.Register(CommonDeviceIds.Laser, () => new Laser(CommonDeviceIds.Laser, isSimul), new LaserConfig(),
+                device => new UCLaserDevice() { DataContext = new UCLaserDeviceViewModel(AuroraEnv, CommonDeviceIds.Laser) });
+
+            var _plc = new PLCControllerPrismaticScanner(CommonDeviceIds.PLCDevice, ePLCNetType.MXComponent, ApplicationExt.IsSimulation, PLCMMapFileType.CSV, AuroraEnv);
+            registry.Register(CommonDeviceIds.PLCDevice,
+                () => _plc, PLCMxComponentConfig.GetDefaultConfig(),
+                device => new UCPLCDevice() { DataContext = new UCPLCDeviceViewModel(AuroraEnv, _plc) });
+
+
 
             AlarmManager.Init(AuroraEnv);
 
@@ -153,12 +171,22 @@ namespace ILSOS_PrismaticScanner
             var ACS = new ScannerACS(isSimul);
             registry.Register(DeviceIds.ACS, () => ACS, new ACSDeviceConfig());
 
-            // TODO: 스테이지 X는 2 스테이지 Z는  4 확인완료 Y 사용 안함 
+            // TODO: 축 번호는 이정인 선임 변수 맵 수신 후 검증
             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 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, 4, (int)MotorIds.eMotorIdx.AxisZ);
             registry.Register(MotorIds.AxisZ, () => motorZ,
                 new ACSMotorConfig(MotorIds.AxisZ),
@@ -169,8 +197,8 @@ namespace ILSOS_PrismaticScanner
             {
                 if (device.DeviceId == DeviceIds.ACS ||
                     device.DeviceId == MotorIds.AxisX2 ||
-                    //device.DeviceId == MotorIds.AxisY1 ||
+                    device.DeviceId == MotorIds.AxisY1 ||
-                    //device.DeviceId == MotorIds.AxisY2 ||
+                    device.DeviceId == MotorIds.AxisY2 ||
                     device.DeviceId == MotorIds.AxisZ)
                 {
                     device.DevGroup = "ACS";
@@ -178,12 +206,47 @@ namespace ILSOS_PrismaticScanner
             }
             // ──────────────────────────────────────────────────────────────────
 
-
+            // ── 26.04.06 NDY 추가: 인터락 ─────────────────────────────────────
+            // TODO: PLCControllerPrismaticScanner에 IsDoorOpen, IsEMO 있는지 확인 필요  - 없는 것 확인 완료
+            //PLC_DOOR_INTERLOCK = 6,  // ← 도어 인터락
+            //PLC_EMO_STATUS = 7,  // ← EMO
+            AddMotionInterlockCheck(_plc);
+            // ──────────────────────────────────────────────────────────────────
             #endregion
 
         }
         // 인터락
+        private void AddMotionInterlockCheck(PLCControllerPrismaticScanner plc)
+        {
+            var motorIds = new[] {
+                        MotorIds.AxisX2,
+                        MotorIds.AxisY1,
+                        MotorIds.AxisY2,
+                        MotorIds.AxisZ
+                    };
 
+            foreach (var motorId in motorIds)
+            {
+                try
+                {
+                    var motor = AuroraEnv.DeviceManager[motorId] as ACSMotor;
+                    if (motor == null) continue;
+
+                    //motor.AddInterlockCheck(("MotorInPos",
+                    //    () => !motor.ReadInposition()));
+                    //motor.AddInterlockCheck(("IsDoorOpen",
+                    //    () => plc.ReadBit(PLCControllerPrismaticScanner.eBitInput.PLC_DOOR_INTERLOCK).data));
+                    //motor.AddInterlockCheck(("IsEMO",
+                    //    () => plc.ReadBit(PLCControllerPrismaticScanner.eBitInput.PLC_EMO_STATUS).data));
+
+                    //*** 인터락은 이정인 선임께 ACSMotor에 AddInterlockCheck가 있는지 확인 후 진행
+                }
+                catch (Exception ex)
+                {
+                    Log.W($"AddMotionInterlockCheck [{motorId}] 실패: {ex.Message}");
+                }
+            }
+        }
         public override void RegisterRecipes(RecipeRegister register)
         {
             register(CommonRecipeIds.ScannerObjectTeaching, new ScannerObjectTeachingRecipe(),
@@ -228,7 +291,7 @@ namespace ILSOS_PrismaticScanner
             // ACS MOTF 전용 시퀀스를 별도 Builder로 등록
             var seqAutoRunPrismaticScannerACS = new SeqAutoRunPrismaticScannerACS();
             _SeqAutoRunPrismaticScannerACS_Builder = seqAutoRunPrismaticScannerACS.Builder();
-            register(CommonSequenceIds.SeqAutoRunACS, _SeqAutoRunPrismaticScannerACS_Builder);
+            register(SequenceIds.SeqAutoRunACS, _SeqAutoRunPrismaticScannerACS_Builder);
             #endregion
         }
 
@@ -269,10 +332,10 @@ namespace ILSOS_PrismaticScanner
             base.RegisterViews(manager);
 
             // Auto Run
-            // 26.04.06 NDY: Manual 서브로 이동 - 26.04.14 주석이였으나 - 주석 해제 
+            // 26.04.06 NDY: Manual 서브로 이동
-            var MainAutoRun = new MainMenu(CommonViewIds.AutoRun, MenuIcon.GetMenuIcon(eMenuIcon.HOME), PermissionLevel.NONE, false);
+            //var MainAutoRun = new MainMenu(CommonViewIds.AutoRun, MenuIcon.GetMenuIcon(eMenuIcon.HOME), PermissionLevel.NONE, false);
-            MainAutoRun.AddSubMenu(CommonViewIds.AutoRun, new UCMainAutoRun(new UCMainAutoRunViewModel(AuroraEnv, SequenceIds.SeqAutoRun)));
+            //MainAutoRun.AddSubMenu(CommonViewIds.AutoRun, new UCMainAutoRun(new UCMainAutoRunViewModel(AuroraEnv, SequenceIds.SeqAutoRun)));
-            manager.RegisterMainMenu(MainAutoRun);
+            //manager.RegisterMainMenu(MainAutoRun);
 
             // Recipe
             MainMenu recipe = new MainMenu(CommonViewIds.Recipe, MenuIcon.GetMenuIcon(eMenuIcon.RECIPE), PermissionLevel.NONE, true);

Machines/ILSOS_PrismaticScanner/Sequences/Manual/SeqComponentTeachingRun.cs

@@ -51,29 +51,25 @@ namespace ILSOS_PrismaticScanner.Sequences
     {
         static readonly Logger Log = new Logger("SeqComponentTeachingRun");
 
-        const string SEQ_ENTER = "[SeqComponentTeachingRun] SEQ_ENTER";   // inputParam 으로 받자.
+        const string SEQ_ENTER = "SEQ_ENTER";   // inputParam 으로 받자.
-        const string SEQ_CHECK_INIT_CONDITION = "[SeqComponentTeachingRun] Check Init Condition";  // Check Init Condition
+        const string SEQ_CHECK_INIT_CONDITION = "Check Init Condition";  // Check Init Condition
 
-        const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "[SeqComponentTeachingRun] Set Sequence Param (UploadWeldingList Seq)";
+        const string SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ = "Set Sequence Param (UploadWeldingList Seq)";
-        const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "[SeqComponentTeachingRun] Process (UploadWeldingList Seq)";
+        const string SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ = "Process (UploadWeldingList Seq)";
-        const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "[SeqComponentTeachingRun] Get Sequence Result (UploadWeldingList Seq)";
+        const string SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ = "Get Sequence Result (UploadWeldingList Seq)";
-        const string SEQ_SET_BLOW_ON = "[SeqComponentTeachingRun] Set Blow On";
-        const string SEQ_SET_BLOW_OFF = "[SeqComponentTeachingRun] Set Blow Off";
 
-        const string SEQ_SAVE_RESULT_DATA = "[SeqComponentTeachingRun] Save Result Data";
+        const string SEQ_COMPLETE = "SEQ_COMPLETE";         // 완료
 
-        const string SEQ_COMPLETE = "[SeqComponentTeachingRun] SEQ_COMPLETE";         // 완료
+        const string SEQ_START_WELDING = "Start All Welding";
-
+        const string SEQ_DO_COMPONENT_WELDING = "Do Component Welding";
-        const string SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS = "[SeqComponentTeachingRun] Update Component Welding Parameters";
+        const string SEQ_ACS_MOTION_SET = "Set ACS Motion Parameter";
-        const string SEQ_START_WELDING = "[SeqComponentTeachingRun] Start All Welding";
+        const string SEQ_ACS_MOTION_START = "ACS Motion Start";
-        const string SEQ_DO_COMPONENT_WELDING = "[SeqComponentTeachingRun] Do Component Welding";
+        const string SEQ_CHECK_MOTION_END = "Check ACS Motion Complete";
-        const string SEQ_CHECK_END_LIST = "[SeqComponentTeachingRun] Check End List";
-        const string SEQ_END_WELDING = "[SeqComponentTeachingRun] End All Welding";
 
         #region 260408 NDY  노드 추가
         // Builder()에 노드 추가
-        //const string SEQ_MOVE_STAGE_ORIGIN = "[SeqComponentTeachingRun] Move Stage To Origin";
+        const string SEQ_STANDBY_MOTION = "Move Stage To Origin";
-        //const string SEQ_ENCODER_RESET = "[SeqComponentTeachingRun] Encoder Reset";
+        const string SEQ_STANDBY_SCANNER = "Encoder Reset";
         #endregion
 
         const int timeoutSeconds = 10;
@@ -86,7 +82,6 @@ namespace ILSOS_PrismaticScanner.Sequences
         private SeqTeachingRun_InitParam _InitParam;
 
         private static Scanner _Scanner;
-        private static PAIX_PrismaticScanner _IO;
 
         // 필드 선언 추가 (다른 필드들 옆에)
         // 변경 전
@@ -95,13 +90,7 @@ namespace ILSOS_PrismaticScanner.Sequences
 
         // 변경 후
         private IScannerACS _ACS;  // 26.04.06 NDY - MOTF용 ACS Stage X 제어
-        private static ACSMotor _AxisX; // 26.04.08 NDY - MOTF용 Stage X 축 
+        private static ACSMotor _AxisX, _AxisZ; // 26.04.08 NDY - MOTF용 Stage X 축
-
-        private Laser _Laser;
-        private ILaser _LaserDevice;
-        private LaserTruFiber _LaserTruFiber;
-        private LaserPowerCalParam _LaserPowerCalParam;
-        private PLCControllerPrismaticScanner _plc;
 
         private SystemParameter _SystemParameter;
         private ScannerCanvasUserCtrl _ScannerCanvasUserCtrl; //스캐너 동작관련 객체 선언
@@ -112,69 +101,48 @@ namespace ILSOS_PrismaticScanner.Sequences
 
 
         private List<IDrawObject> _SelectedObjectList;
-        private Queue<List<IDrawObject>> _DivideObjectsQueue;
         private List<IDrawObject> _TargetObjects;
         private static DateTime _SequenceCompleteTime; // 시퀸스 시간
         private static TimeSpan _MeasurementSpanTime; //측정 시간
         private static TimeSpan _ScannerSaveLogTime;
         private static DateTime _partialWeldingStartTime;
-        private static List<IDrawObject> _FlattenRecipes;
-        private static int _CountWeldingObject; // 트럼프 레시피에서 부분 용접 할 Ojbect의 개수
-        private static int _CurrentobjectIndex;
-        private static int _BeforeObjectIndex;
-        private static int _BeforeProgramNo; // 이전 트럼프 레이저 용접 번호
-        private static int _BeforeParameterNo; //
 
-        private static int _CenterBeamPower;
-        private static int _RingBeamPower;
-        private static bool _LaserPowerControlByRatio = false;
-        private static int _CenterRingRatio; // Center Ring의 파워 비율
-        private static double _LaserPowerRatio; // Laser에서 출력 파워 비율
         public SequenceBuilder Builder()
         {
             var sb = new SequenceBuilder(1000, true);
-            ////var sb = new SequenceBuilder(1000, false);        // With log
 
             sb.AddAction(SEQ_ENTER, Sequence_Enter);
             sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기
-            sb.AddAction(SEQ_SET_BLOW_ON, SetBlowOn);
             #region  26.04.08 추가된 노드 NDY
             // 26.04.08 필드 좌표 0,0으로 스테이지 이동 시퀸스 + EncoderReset 호출
-            //sb.AddAction(SEQ_MOVE_STAGE_ORIGIN, MoveStageToOrigin);
+            sb.AddAction(SEQ_STANDBY_MOTION, SetStandbyMotion);
-            //sb.AddAction(SEQ_ENCODER_RESET, EncoderReset);
+            sb.AddAction(SEQ_STANDBY_SCANNER, SetStandbyScanner);
             #endregion
 
-            sb.AddAction(SEQ_START_WELDING, StartWelding);
-            sb.AddDecision(SEQ_CHECK_END_LIST, CheckEndList);
-            sb.AddAction(SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS, UpdateComponentWeldingParameters);
             sb.AddAction(SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ, SetUploadWeldingList_SeqParams);
             sb.AddSubsequence(SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ, CommonSequenceManager.GetSeqBuilder_SeqUploadWeldingList());
             sb.AddAction(SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ, GetUploadWeldingList_SeqResult);
             sb.AddAction(SEQ_DO_COMPONENT_WELDING, DoComponentWelding);
-            sb.AddAction(SEQ_END_WELDING, EndWelding);
+            sb.AddAction(SEQ_ACS_MOTION_SET, SetMotion);
-            sb.AddAction(SEQ_SET_BLOW_OFF, SetBlowOff);
+            sb.AddAction(SEQ_ACS_MOTION_START, StartMotion);
-            sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData);      // 해당 공정의 정보를 기록 함.
+            sb.AddAction(SEQ_CHECK_MOTION_END, EndWelding);
             sb.AddAction(SEQ_COMPLETE, Complete);
 
 
-            // 기존 흐름에서 SET_BLOW_ON → START_WELDING 사이에 끼워넣기
+            sb.Flows(sb.Init
-            #region 기존 흐름 26.04.08
+                   > sb[SEQ_ENTER]
-            sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_SET_BLOW_ON]
+                   > sb[SEQ_CHECK_INIT_CONDITION]
-                    > sb[SEQ_START_WELDING] > sb[SEQ_CHECK_END_LIST]);
+                   > sb[SEQ_STANDBY_MOTION]
-            #endregion
+                   > sb[SEQ_STANDBY_SCANNER]
-            #region 2개 노드 추가한 흐름 26.04.08
+                   > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ]
-            //sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_SET_BLOW_ON]
+                   > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ]
-            //        > sb[SEQ_MOVE_STAGE_ORIGIN]   // ← 추가
+                   > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
-            //        > sb[SEQ_ENCODER_RESET]       // ← 추가
+                   > sb[SEQ_DO_COMPONENT_WELDING]
-            //        > sb[SEQ_START_WELDING] > sb[SEQ_CHECK_END_LIST]);
+                   > sb[SEQ_ACS_MOTION_SET]
-            #endregion
+                   > sb[SEQ_ACS_MOTION_START]
-
+                   > sb[SEQ_CHECK_MOTION_END]
-            // 아래 두 흐름은 기존 그대로 유지
+                   > sb[SEQ_COMPLETE]
-            sb.Flows(sb[SEQ_CHECK_END_LIST] > sb[SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS]
+                   > sb.Final);
-                    > sb[SEQ_SET_PARAMS_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_DO_ID_UPLOAD_WELDING_LIST_SEQ] > sb[SEQ_GET_RESULT_UPLOAD_WELDING_LIST_SEQ]
-                    > sb[SEQ_DO_COMPONENT_WELDING] > sb[SEQ_CHECK_END_LIST]);
-            sb.Flows(sb[SEQ_CHECK_END_LIST] > sb[SEQ_END_WELDING] > sb[SEQ_SET_BLOW_OFF]
-                    > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_COMPLETE] > sb.Final);
 
             sb.OnStopped(OnStopped);
             sb.OnForceError(OnForceError);
@@ -184,23 +152,123 @@ namespace ILSOS_PrismaticScanner.Sequences
 
             return sb;
         }
-        #region 26.04.08 NDY
+
-        private SequenceActionResult EncoderReset(SequenceContext context, string id, SequenceActionResult param)
+
+        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
         {
-            if (_ACS == null)
+            Log.I("===== SeqTeachingRun Sequence_Enter 진입 ====="); // 임시 추가
+            Log.I("SeqTeachingRun Start");
+
+            _InitParam = param.Param as SeqTeachingRun_InitParam;
+            _SystemParameter = context.Settings[CommonSettingIds.SystemParameter] as SystemParameter;
+            _SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting;
+
+            _Scanner = context.Devices[DeviceIds.Scanner] as Scanner;
+            if (_Scanner == null) { MessageUtil.ShowErrorToast("Scanner not Ready", Log); return null; }
+
+            _ACS = context.Devices[DeviceIds.ACS] as ScannerACS;
+            if (_ACS == null) { MessageUtil.ShowErrorToast("ACS not Ready", Log); return null; }
+
+            _AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor;
+            if (_AxisX == null) { MessageUtil.ShowErrorToast("AxisX not Ready", Log); return null; }
+
+            _AxisZ = context.Devices[CommonDeviceIds.AxisZ] as ACSMotor;
+            if (_AxisZ == null) { MessageUtil.ShowErrorToast("AxisZ not Ready", Log); return null; }
+
+            //Check Device
+            if (!CheckDeviceReady(context)) {
+                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_DeviceNotReady);
+                Log.E("The devices are not active.");
+                return null;
+            }
+
+            return SequenceAction.Ok();
+        }
+        private bool CheckDeviceReady(SequenceContext context)
         {
-                Log.W("[EncoderReset] ACS null - 스킵");
+            List<string> deviceListToCheck = new List<string>() { DeviceIds.ACS, CommonDeviceIds.Scanner, CommonDeviceIds.AxisX2, CommonDeviceIds.AxisZ };
+            //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) {
+                    isAllDeviceActivated = isAllDeviceActivated && false;
+                }
+            }
+
+            return isAllDeviceActivated;
+        }
+
+        private SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
+        {
+            bool boolian = AlarmManager.HasAlarmLevelHigh();
+            if (boolian) {
+                Log.E($"Clear Heavy Alarms For Welding!");
+                MessageUtil.ShowWarningToast(string.Format("Clear Heavy Alarms For Welding!"));
+                return null;
+            }
+
+            _ScannerSaveLogTime = TimeSpan.Zero;
+
+            var startTime = DateTime.Now;
+            context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
+
+            Log.D("ComponentTeachingRun Sequence CheckInitCondition");
             return SequenceAction.Ok();
         }
 
-            if (!_Scanner.Config.UseMarkingOnTheFly)
+        #region 26.04.08 NDY
+        private SequenceActionResult SetStandbyMotion(SequenceContext context, string id, SequenceActionResult param)
         {
+            if (_AxisX == null) {
+                Log.W("[MoveStageToOrigin] AxisX2 null - 스킵");
+                return SequenceAction.Ok();
+            }
+
+            Log.I("[MoveStageToOrigin] Stage X → 0 이동 시작");
+
+            // (스캐너의 0,0 && 용접 대상의 시작 위치) >> X축을 이동
+            _AxisX.SetTargetPos(0, TargetPosType.ABS);
+            _AxisX.SetMoveVelocityImm(AuroraACS.Speed.M);
+            _AxisX.AccelerationImm(AuroraACS.Speed.M);
+            _AxisX.DecelerationImm(AuroraACS.Speed.M);
+            _AxisX.JerkImm(AuroraACS.Speed.M);
+            _AxisX.Move();
+
+            // Laser FocusPosition Move
+            _AxisZ.SetTargetPos(0, TargetPosType.ABS);
+            _AxisZ.SetMoveVelocityImm(AuroraACS.Speed.M);
+            _AxisZ.AccelerationImm(AuroraACS.Speed.M);
+            _AxisZ.DecelerationImm(AuroraACS.Speed.M);
+            _AxisZ.JerkImm(AuroraACS.Speed.M);
+            _AxisZ.Move();
+
+            var res = context.RetryUntilSuccess(
+                () => _AxisX.IsReachedTargetPosition(0) && _AxisZ.IsReachedTargetPosition(0),
+                30 * 1000, 20, true);
+
+            if (res == E2.TIMEOUT) { Log.E("[MoveStageToOrigin] TIMEOUT"); return null; }
+            else if (res == E2.CANCELLED) { Log.E("[MoveStageToOrigin] CANCELLED"); return null; }
+
+            Log.I("[MoveStageToOrigin] Stage X = 0 도달 완료");
+            return SequenceAction.Ok();
+
+        }
+        private SequenceActionResult SetStandbyScanner(SequenceContext context, string id, SequenceActionResult param)
+        {
+            // Scanner Default Setting
+            var mainPage = CommonHelper.GetMainPage();
+            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
+            _WeldingScannerListNo = eListNo.LIST1;
+            _SelectedObjectList = FindObjects();
+            //Vision Correction File 선택
+            _Scanner.SelectCorrectionTable(2);
+
+            if (!_Scanner.Config.UseMarkingOnTheFly) {
                 Log.W("[EncoderReset] MOTF 비활성화 - 스킵");
                 return SequenceAction.Ok();
             }
 
             Log.I("[EncoderReset] 시작");
-
             // SeqUploadWeldingList.MarkingOnTheFlyOn 패턴
             _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
             Log.I($"[EncoderReset] SetFlyX: {_Scanner.Config.MarkingOnTheFlyEncoderResolutionX}");
@@ -215,398 +283,35 @@ namespace ILSOS_PrismaticScanner.Sequences
             return SequenceAction.Ok();
         }
         //SeqTeachingPosMoveStageA패턴 참고 - 기존 GUN 프로젝트 시퀸스
-        private SequenceActionResult MoveStageToOrigin(SequenceContext context, string id, SequenceActionResult param)
-        {
-            if (_AxisX == null)
-            {
-                Log.W("[MoveStageToOrigin] AxisX2 null - 스킵");
-                return SequenceAction.Ok();
-            }
-
-            Log.I("[MoveStageToOrigin] Stage X → 0 이동 시작");
-
-            // SeqTeachingPosMoveStageA.MoveXYStage 패턴
-            _AxisX.SetTargetPos(0, TargetPosType.ABS);
-            _AxisX.SetMoveVelocityImm(AuroraACS.Speed.M);
-            _AxisX.AccelerationImm(AuroraACS.Speed.M);
-            _AxisX.DecelerationImm(AuroraACS.Speed.M);
-            _AxisX.JerkImm(AuroraACS.Speed.M);
-            _AxisX.Move();
-
-            var res = context.RetryUntilSuccess(
-                () => _AxisX.IsReachedTargetPosition(0),
-                30 * 1000, 20, true);
-
-            if (res == E2.TIMEOUT) { Log.E("[MoveStageToOrigin] TIMEOUT"); return null; }
-            if (res == E2.CANCELLED) { Log.E("[MoveStageToOrigin] CANCELLED"); return null; }
-
-            Log.I("[MoveStageToOrigin] Stage X = 0 도달 완료");
-            return SequenceAction.Ok();
-
-        }
-        #endregion
-        private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
-        {
-            Log.I("===== SeqTeachingRun Sequence_Enter 진입 ====="); // 임시 추가
-            Log.I("SeqTeachingRun Start");
-
-            _InitParam = param.Param as SeqTeachingRun_InitParam;
-            _SystemParameter = context.GetSetting<SystemParameter>(CommonSettingIds.SystemParameter);
-
-            //_Laser = context.GetLaser();
-            //_Laser.GetLaserDevice(ref _LaserDevice);
-            //_LaserTruFiber = _LaserDevice as LaserTruFiber;
-
-            //if (_plc == null)
-            //    _plc = context.Devices[DeviceIds.PLCDevice] as PLCControllerPrismaticScanner;
-
-            // Laser 시퀀스 Running. 안 넣어줘도 됨.
-            //_LaserTruFiber.SetIsSeqRunning(true);
-
-            _LaserPowerCalParam = context.GetSetting<LaserPowerCalParam>(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함
-            //laserPowerCalParam 초기화(CSV 파일 불러오기)
-            _LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile);
-
-            _SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting;
-            InitDev(context);
-            if (!CheckDeviceReady(context))
-            { //Check Device
-                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_DeviceNotReady);
-                Log.E("The devices are not active.");
-                return null;
-            }
-
-            if (InitSequenceVariable(context) == false)
-            {
-                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_InitVariableError);
-                return null;
-            }
-
-
-            return SequenceAction.Ok();
-        }
-        private void InitDev(SequenceContext context)
-        {
-            //Device Init
-            _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
-            // 변경 전
-            //try { _ACS = context.Devices[DeviceIds.ACS] as ScannerACS; }
-            // 변경 후
-            try { _ACS = context.Devices[DeviceIds.ACS] as IScannerACS; }
-            catch { _ACS = null; Log.W("ACS 디바이스 취득 실패 (null 처리)"); }
-
-            //26.04.08 NDY 추가 _AxisX 가져오기 
-            try { _AxisX = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor; }
-            catch { _AxisX = null; Log.W("AxisX2 취득 실패"); }
-        }
-        private bool CheckDeviceReady(SequenceContext context)
-        {
-            //List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner, CommonDeviceIds.IODevice };  // 26.04.15 주석처리 아래 로 테스트
-            List<string> deviceListToCheck = new List<string>() { CommonDeviceIds.Scanner };
-            //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)
-                {
-                    isAllDeviceActivated = isAllDeviceActivated && false;
-                }
-            }
-
-            return isAllDeviceActivated;
-        }
-        private bool InitSequenceVariable(SequenceContext context)
-        {
-            var mainPage = CommonHelper.GetMainPage();
-            _ScannerCanvasUserCtrl = mainPage.ScannerCanvasCtrlTeaching;
-
-            _WeldingScannerListNo = eListNo.LIST1;
-
-            _SelectedObjectList = FindObjects();
-
-            return true;
-        }
 
         private List<IDrawObject> FindObjects()
         {
-            if (_InitParam.IsUseExternalObjects)
+            if (_InitParam.IsUseExternalObjects) {
-            {
                 return _InitParam.ExternalObjects;
-            }
+            } else if (_InitParam.IsObjectSelectAll) {
-            else if (_InitParam.IsObjectSelectAll)
-            {
                 return _ScannerCanvasUserCtrl.Model.ActiveLayer.Objects;
-            }
+            } else {
-            else
-            {
                 return _ScannerCanvasUserCtrl.Canvas.Model.SelectedObjects;
             }
-
         }
 
-        private SequenceActionResult CheckInitCondition(SequenceContext context, string id, SequenceActionResult param)
+        #endregion
-        {
-            if (!CheckCondition())
-            {
-                AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_CheckInitCondition);
-                Log.E("Condition is not in state to start sequence.");
-                context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
-                return null;
-            }
 
-            _CurrentobjectIndex = 0;
-            _BeforeObjectIndex = 0;
-            _CountWeldingObject = 0;
-            _BeforeParameterNo = -1;
-            _BeforeProgramNo = -1;
-            _ScannerSaveLogTime = TimeSpan.Zero;
-
-            _FlattenRecipes = new List<IDrawObject>(); // 레시피 초기화
-            UnpackRecipes(_SelectedObjectList);
-            var startTime = DateTime.Now;
-            context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
-
-            Log.D("ComponentTeachingRun Sequence CheckInitCondition");
-            return SequenceAction.Ok();
-        }
-        private bool CheckCondition()
-        {
-            if (CheckCondition_Interlock())
-            {
-                if (InitializeDeviceStatus())
-                {
-                    return true;
-                }
-            }
-            return false;
-        }
-
-        private bool CheckCondition_Interlock()
-        {
-            //// PLC, Data, IO 등 Interlock checking
-            bool boolian = AlarmManager.HasAlarmLevelHigh();
-            if (boolian)
-            {
-                Log.E($"Clear Heavy Alarms For Welding!");
-                MessageUtil.ShowWarningToast(string.Format("Clear Heavy Alarms For Welding!"));
-                return false;
-            }
-            boolian = AlarmManager.IsPlcDoorOpen();
-            if (boolian)
-            {
-                Log.E($"PLC Door Opened!! Can't Weld Now.");
-                MessageUtil.ShowWarningToast(string.Format("Close Door ! Clear PLC DoorInterlock!"));
-                return false;
-            }
-
-            boolian = AlarmManager.IsPlcEmoAlarm();
-            if (boolian)
-            {
-                Log.E($"PLC EMO Pushed!! Can't Weld Now.");
-                MessageUtil.ShowWarningToast(string.Format("Clear PLC EMO Status!"));
-                return false;
-            }
-            return true;
-        }
-
-        private bool InitializeDeviceStatus()
-        {
-            //Vision Correction File 선택
-            _Scanner.SelectCorrectionTable(2);
-            return true;
-        }
-
-        private SequenceActionResult SetBlowOn(SequenceContext context, string id, SequenceActionResult param)
-        {
-            if (_InitParam.UseBlow == false)
-            {
-                return SequenceAction.Ok();
-            }
-
-            int intervalTime = _InitParam.IntervalTimeBlowOn;
-            //_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), true);
-            Thread.Sleep(intervalTime);
-
-            Log.D(string.Format($"[ComponentTeachingRun] Blow ON Complete"));
-
-            return SequenceAction.Ok();
-        }
-
-        private void SaveScannerRecordFileForamt()
-        {
-            if (_Scanner.Config.UseRecordSignal)
-            {
-                DateTime startTime = DateTime.Now;
-                _Scanner.SaveStackRecord("Normal");
-                _ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
-            }
-        }
-
-        private SequenceActionResult StartWelding(SequenceContext context, string id, SequenceActionResult param)
-        {
-            Log.D(string.Format($"[ComponentTeachingRun] Start Component Welding"));
-            _SequenceCompleteTime = DateTime.Now;
-            // Laser 판넬 On
-            //_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, true);
-
-            _DivideObjectsQueue = SplitBySerialize(_FlattenRecipes);
-            Log.I($"Divided DrawObjects List Count[{_DivideObjectsQueue.Count}]");
-
-            return SequenceAction.Ok();
-        }
-
-        // 펼쳐진 객체(_FlattenRecipes)를 여러개의 스캔 파라미터에 따라 여러개로 나눈다
-        public static Queue<List<IDrawObject>> SplitBySerialize(List<IDrawObject> source)
-        {
-            var result = new Queue<List<IDrawObject>>();
-            if (source == null || source.Count == 0)
-                return result;
-
-            List<IDrawObject> current = null;
-            int? currentId = null;
-
-            foreach (var item in source)
-            {
-                if (current == null || currentId.Value != item.ScannerParamID)
-                {
-                    current = new List<IDrawObject>();
-                    result.Enqueue(current);
-                    currentId = item.ScannerParamID;
-                }
-
-                current.Add(item);
-            }
-
-            return result;
-        }
-
-        private string CheckEndList(SequenceContext context, string id, ICollection<string> branches, SequenceActionResult param)
-        {
-            if (_DivideObjectsQueue.Count == 0)
-                return SEQ_END_WELDING;
-
-            // 파일 저장 변수 초기화
-            if (_Scanner.Config.UseRecordSignal)
-            {
-                DateTime startTime = DateTime.Now;
-                _Scanner.InitializeRecord();
-                _ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
-            }
-
-            return SEQ_UPDATE_COMPONENT_WELDING_PARAMETERS;
-
-        }
-
-        private SequenceActionResult UpdateComponentWeldingParameters(SequenceContext context, string id, SequenceActionResult param)
-        {
-            _partialWeldingStartTime = DateTime.Now;
-            //var currentDivideObject = _DivideObjectsQueue.Peek();
-            //int paramIndex = currentDivideObject[0].ScannerParamID - 1;
-            //Log.I($"Remain Divided DrawObjects Count[{currentDivideObject.Count}] / ParameterNo[{paramIndex + 1}]");
-
-            //int SlotNo = _plc.ReadWord(eWordInput.PLC_CURRENT_SLOT_NO).data;
-            //if (SlotNo <= 0)
-            //    SlotNo = 1;
-            //// 결과 Data 를 업데이트 함.
-            //var power = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Power_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
-
-            //#region 26.04.08 NDY 캘리브레이션 노드 추가 테스트를 위해서 잠시 예외처리 코드 추가 
-            //if (power != null)
-            //    power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1
-            //                + ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
-            //#endregion
-            //// 26.04.08 NDY 주석처리 - power null 예외 방지 (위 null 체크로 대체)
-            ////power.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1 + ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
-
-
-            //var velocity = Status.GetProcessingWeldingData().UploadProcessDatas.Where(data => data.DataName == $"Velocity_{SlotNo}_{_SequenceSetting.LastPageNo}").FirstOrDefault();
-            //#region 26.04.08 NDY velocity null에 대한 예외 처리
-            //if (velocity != null)
-            //    velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
-            //#endregion
-            //// 26.04.08 NDY 주석처리 - velocity null 예외 방지 (위 null 체크로 대체)
-            ////velocity.Value = ScannerCanvasUserCtrl.ScannerParams[paramIndex].MarkSpeed;
-
-
-            //// 26.04.08 NDY - FDC 데이터 상신 -기존 코드 주석처리 
-            ////_plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
-            //// 26.04.08 NDY - FDC 상신도 데이터 있을 때만 - 테스트 목적 예외 처리 추가 
-            //if (Status.GetProcessingWeldingData().UploadProcessDatas.Count > 0)
-            //    _plc.UploadReportDatas(Status.GetProcessingWeldingData().UploadProcessDatas);
-
-            //_CenterBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower1;
-            //_RingBeamPower = (int)ScannerCanvasUserCtrl.ScannerParams[paramIndex].LaserPower2;
-            //_CenterRingRatio = 0;
-
-            //if (_CenterBeamPower == 0 && _RingBeamPower == 0)
-            //    _CenterRingRatio = 100;
-            //else
-            //    _CenterRingRatio = (int)Math.Round((double)(100 * _CenterBeamPower) / (double)(_CenterBeamPower + _RingBeamPower), 0); // Discrete 한 값이라서 Ring은 오차 발생
-
-            ////if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberP)
-            ////{
-            //    _CenterBeamPower = _LaserPowerCalParam.CalibrateWattToWatt(_CenterBeamPower, (uint)LaserPowerCalParam.beamMode.Center);
-            //    _RingBeamPower = _LaserPowerCalParam.CalibrateWattToWatt(_RingBeamPower, (uint)LaserPowerCalParam.beamMode.Ring);
-            ////}
-            //// Ready 상태 변경 확인(Complete 상태에서 Laser Ready로 변환되기까지 시간이 걸림)
-            //// 여기서는 왜 IW03과 Center를 비교하는 것인지.... 아직 값을 써주지 않았으므로 레이저 출사 가능 여부만 확인하면 되지 않을까.
-            //var res = context.RetryUntilSuccess(_Laser.GetLaserReady, timeoutSeconds * 1000, 1);
-
-            //if (res == E2.TIMEOUT)
-            //{
-            //    Log.E(string.Format($"[Page Change Req] Laser Program Ready Timeout When LaserReady"));
-            //    return null;
-            //}
-            //Log.D(string.Format($"[Page Change Req] Laser Program Ready OK"));
-
-            //// Laser Program Parameters 설정(Laser Ready 상태는 용접 직전에 확인)
-            //List<(int, int, bool)> datas = new List<(int, int, bool)>();
-            //datas.Add((csWriteNodeNo.IW03, _CenterBeamPower, true));
-            //datas.Add((csWriteNodeNo.IW04, _RingBeamPower, true));
-            //datas.Add((csWriteNodeNo.IW05, _CenterRingRatio, true));
-
-            //// 업데이트 될 경우, 프로그램 전환을 위한 프로그램 종료 시퀸스 진행됨.
-            //if (_LaserTruFiber.UpdatesDatasIfChanged(datas))
-            //{
-
-            //    // 프로그램이 종료 될 때까지 대기.
-            //    res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramCompleted, timeoutSeconds * 1000, 10);
-
-            //    if (res == E2.TIMEOUT)
-            //    {
-            //        Log.E(string.Format($"[Page Change Req] Laser Program Completed Timeout When Parameter Changes"));
-            //        return null;
-            //    }
-            //    Log.D(string.Format($"[Page Change Req] Laser Program Completed OK When Data Updated"));
-            //}
-
-            return SequenceAction.Ok();
-        }
         private SequenceActionResult SetUploadWeldingList_SeqParams(SequenceContext context, string id, SequenceActionResult param)
         {
             Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);
 
             // TeachingRun에는 용접 시퀀스만 정의해서 Auto Run에서도 사용하므로 Offset 넣어줘야 함
-            SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
+            SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam() {
-            {
                 NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
                 IncludeListStartEnd = true,
                 CellMeasureCenterOffsetX = _SystemParameter.CellPosMeasureCenterOffsetX + _InitParam.CellCenterOffsetX,
                 CellMeasureCenterOffsetY = _SystemParameter.CellPosMeasureCenterOffsetY + _InitParam.CellCenterOffsetY,
-                SelectedDrawObjectList = _DivideObjectsQueue.Peek(),
+                SelectedDrawObjectList = _SelectedObjectList,
                 WeldingScannerListNo = _WeldingScannerListNo,
             };
 
-            var _PageNo = _SequenceSetting.LastPageNo;
-
-            Log.W($"page {_PageNo}({Status.GetProcessingWeldingData().CellId}) : Cell Offset Value Check ; X : {_SystemParameter.CellPosMeasureCenterOffsetX} + {_InitParam.CellCenterOffsetX} ; Y : {_SystemParameter.CellPosMeasureCenterOffsetY} + {_InitParam.CellCenterOffsetY}");
-
             Log.D(string.Format($"[ComponentTeachingRun] Set UploadWelindList Seq Param"));
-
             return SequenceAction.Ok(seqParams);
         }
 
@@ -615,8 +320,7 @@ namespace ILSOS_PrismaticScanner.Sequences
             Log.D(string.Format($"[ComponentTeachingRun] Get UploadWelindList Seq Param"));
 
             var resultOutParam = param.Param as SeqUploadWeldingList_OutParam;
-            if (resultOutParam.Success == false)
+            if (resultOutParam.Success == false) {
-            {
                 Log.E(string.Format($"[ComponentTeachingRun] Failed UploadWeldingList Sequence"));
                 return null;
             }
@@ -627,33 +331,7 @@ namespace ILSOS_PrismaticScanner.Sequences
 
         private SequenceActionResult DoComponentWelding(SequenceContext context, string id, SequenceActionResult param)
         {
-            _DivideObjectsQueue.Dequeue();
+            Log.I("ExecuteList Start");
-            Log.I("UploadWeldingList Complete");
-            Log.D(string.Format($"[ComponentTeachingRun] Component Welding Start idx :({_BeforeObjectIndex} ~ {_BeforeObjectIndex + _CountWeldingObject - 1})"));
-
-            #region PSTART_DYN 사용시 참고
-            //// PSTART_DYN에서는 레이저가 활성화되었는지 확인하여야 함. 하지만, PSTART_STATICALLY에서는 굳이 확인할 필요 없음. (이전에 확인해줄 것이므로)
-            // var res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramActive, timeoutSeconds * 1000, 1);
-            //if (res == E2.TIMEOUT)
-            //{
-            //    Log.E(string.Format($"[ComponentTeachingRun] Laser Program Active Timeout"));
-            //    return null;
-            //}
-            #endregion
-
-            //Log.D(string.Format($"[ComponentTeachingRun] Check LaserReadyResponse"));
-            //// 만일 프로그램이 정상적으로 종료 및 변경 원할 경우, 레이저 스레드에서 Ready 상태로 만들어주고 있을 것임.
-            //// Ready 상태 변경 확인
-            //var res = context.RetryUntilSuccess(LaserReadyResponse, timeoutSeconds * 1000, 10);
-            //if (res == E2.TIMEOUT)
-            //{
-            //    Log.E(string.Format($"[ComponentTeachingRun] Laser Program Ready Timeout When LaserReadyResponse"));
-            //    return null;
-            //}
-            //Log.D(string.Format($"[ComponentTeachingRun] Laser Program Ready OK When ReadyResponse"));
-
-            //Status.SetWorkingPosition(eWorkingPosition.EXECUTING_WELD);
-
             Log.I($"Welding List Space : {_Scanner.GetListSpace()}");
             DateTime weldingTime = DateTime.Now;
             _Scanner.ExecuteList(_WeldingScannerListNo);
@@ -668,32 +346,14 @@ namespace ILSOS_PrismaticScanner.Sequences
 
 
 
-            _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}"));
 
-            #region PSTART_DYN 사용시 참고
+            if (_Scanner.Config.UseRecordSignal) {
-            //// 굳이 확인할 필요가 없을 듯 함.PSTAT_STATICALLY 활용시.
-            //res = context.RetryUntilSuccess(_LaserTruFiber.GetProgramCompleted, timeoutSeconds * 1000, 1);
-
-            //if (res == E2.TIMEOUT)
-            //{
-            //    Log.E(string.Format($"[ComponentTeachingRun] Laser Program Complete Timeout"));
-            //    return null;
-            //}
-            #endregion
-
-            Log.D(string.Format($"[ComponentTeachingRun] Laser Program Complete OK"));
-
-
-            if (_Scanner.Config.UseRecordSignal)
-            {
                 DateTime startTime = DateTime.Now;
                 _Scanner.StackRecord();
                 _ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
@@ -708,17 +368,35 @@ namespace ILSOS_PrismaticScanner.Sequences
 
             _ScannerCanvasUserCtrl.TimeLabelUpdate(_MeasurementSpanTime.TotalMilliseconds, PartialTactTime.TotalMilliseconds);
 
-            //// 용접 끝난 후, 초기화 시킴
-            //var UploadDatas = Status.GetProcessingWeldingData().UploadProcessDatas;
-            //foreach (var data in UploadDatas)
-            //    data.Clear();
-            //_plc.UploadReportDatas(UploadDatas);
-
             return SequenceAction.Ok();
         }
 
+        private SequenceActionResult SetMotion(SequenceContext context, string id, SequenceActionResult param)
+        {
+            // 메뉴얼 화면에서 셋팅이 필요해보임
+            _ACS.SetMOTFParams(0, 0, 0, 0, 0);
+            return SequenceAction.Ok();
+        }
+
+        private SequenceActionResult StartMotion(SequenceContext context, string id, SequenceActionResult param)
+        {
+            _ACS.MOTFStart();
+            // 모션 동작시키고 바로 확인하면 그냥 빠져나올 것 같음
+            var res = context.Wait(1000, 100);
+            if (res == E2.TIMEOUT) ;
+            else if (res == E2.CANCELLED) { Log.E("[MOTF] Motion CANCELLED"); return null; }
+
+            res = context.RetryUntilSuccess(() => _ACS.CheckMOTFComp(), 1000 * 20, 100, true);
+            if (res == E2.TIMEOUT) { Log.E("[MOTF] Motion TIMEOUT"); return null; }
+            else if (res == E2.CANCELLED) { Log.E("[MOTF] Motion CANCELLED"); return null; }
+
+            return SequenceAction.Ok();
+        }
         private SequenceActionResult EndWelding(SequenceContext context, string id, SequenceActionResult param)
         {
+            _Scanner.WaitForListTaskCompleted(_SystemParameter.WeldLinesTaskTimeOut);
+            Log.I("ExecuteList Complete");
+
             _MeasurementSpanTime = DateTime.Now.Subtract(_SequenceCompleteTime);
             Log.D(string.Format($"[TactTime] Complete All Component Weld : {_MeasurementSpanTime.TotalMilliseconds}"));
 
@@ -728,9 +406,6 @@ namespace ILSOS_PrismaticScanner.Sequences
             _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);
             _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
 
-            // Laser 판넬 Off
-            //_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, false);
-
             var mesurementTime = DateTime.Now;
 
             //용접 완료 후 CorrectionFile Vision으로 원복
@@ -742,36 +417,12 @@ namespace ILSOS_PrismaticScanner.Sequences
             return SequenceAction.Ok();
         }
 
-        private SequenceActionResult SetBlowOff(SequenceContext context, string id, SequenceActionResult param)
-        {
-            if (_InitParam.UseBlow == false)
-            {
-                return SequenceAction.Ok();
-            }
-
-            int intervalTime = _InitParam.IntervalTimeBlowOff;
-            Thread.Sleep(intervalTime);
-
-            //_IO._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.SeamWeldingN2BlowSol), false);
-
-            Log.D(string.Format($"[ComponentTeachingRun] Blow OFF Complete"));
-
-            return SequenceAction.Ok();
-        }
-
-        private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
-        {
-            context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
-            return SequenceAction.Ok();
-        }
-
         private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
         {
             context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult);
             SeqTeachingRun_OutParam result = new SeqTeachingRun_OutParam() { Success = seqResult };
 
-            if (seqResult == false)
+            if (seqResult == false) {
-            {
                 AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_TeachingRun_ResultFailed);
             }
 
@@ -779,27 +430,14 @@ namespace ILSOS_PrismaticScanner.Sequences
             return SequenceAction.Ok(result);
         }
 
-        private static void UnpackRecipes(List<IDrawObject> recipes)
+        private void SaveScannerRecordFileForamt()
         {
-            // Recipe를 재귀적으로 탐색해서 List로 재구성하는 함수
+            if (_Scanner.Config.UseRecordSignal) {
-            if (recipes == null)
+                DateTime startTime = DateTime.Now;
-                return;
+                _Scanner.SaveStackRecord("Normal");
-
+                _ScannerSaveLogTime += DateTime.Now.Subtract(startTime);
-            for (int i = 0; i < recipes.Count; i++)
-            {
-                if (recipes[i] is Group)
-                {
-                    Group subGroup = recipes[i] as Group;
-                    List<IDrawObject> subrecipes = subGroup.SubObjects as List<IDrawObject>;
-                    UnpackRecipes(subrecipes);
-                }
-                else
-                {
-                    _FlattenRecipes.Add(recipes[i]);
             }
         }
-        }
-
 
         private void OnForceError(SequenceContext context, string arg2)
         {
@@ -813,9 +451,6 @@ namespace ILSOS_PrismaticScanner.Sequences
             _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
             _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);
 
-            // TruFiber레이저 Ready로 변경
-            ForceLaserReady();
-
             //Scanner 원점 복귀
             // 복귀 시 Scanner Busy 상태일 수 있으므로 진행중인 작업이 끝날 때까지 대기
             Thread.Sleep(10);
@@ -837,41 +472,15 @@ namespace ILSOS_PrismaticScanner.Sequences
             _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.COMMAND);
             _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.COMMAND);
 
-            // TruFiber레이저 Ready로 변경
-            ForceLaserReady();
-
             //Scanner 원점 복귀
             // 복귀 시 Scanner Busy 상태일 수 있으므로 진행중인 작업이 끝날 때까지 대기
             Thread.Sleep(10);
             _Scanner.JumpAbs(0, 0, eFunctionType.COMMAND);
             Thread.Sleep(10);
 
-            // Laser 판넬 Off
-            //_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, false);
 
             Log.I("SequenceAction Ok : OnStopped");
         }
-
-
-
-        private void ForceLaserReady()
-        {
-            // 트럼프 레이저에서 PStartDyn, Prog_Stop을 감시하여 강제로 Ready 상태로 만드는 함수
-            if (_Laser.IsSimul)
-            {
-                return;
-            }
-
-            //// PSTART_STATICAL 에서는 필요 없어보임.
-            //_LaserTruFiber.SetProgEnd();
-
-            // Laser 판넬 Off
-            //_IO.WriteDoBit(PAIX_PrismaticScanner.ePrismaticDOAddress.CCCAPLaserOnLampOn, false);
-
-            Log.I("SequenceAction Ok : Set Laser Ready");
-
-        }
-
     }
 
     // TODO: UseStream 으로 TeachingRun 을 할 필요가 있을까?? 확인 필요

Machines/ILSOS_PrismaticScanner/Sequences/Monitoring/SeqAlarmMonitor.cs

@@ -106,8 +106,7 @@ namespace WeldingCommon.Sequences
             if (_SequenceSetting.ScannerActivated)
                 _Scanner = context.GetLaserScanner();
 
-            if (_SequenceSetting.LaserActivated)
+            if (_SequenceSetting.LaserActivated) {
-            {
                 _Laser = context.GetLaser();
                 _LaserTruFiber = _Laser.getCore() as LaserTruFiber;
             }
@@ -283,24 +282,16 @@ namespace WeldingCommon.Sequences
                     }
                 } else {
                     _LaserTruFiber = _Laser.getCore() as LaserTruFiber;
-                    //// Laser OPCUA로 연결한 경우
+                    // Laser OPCUA로 연결한 경우
-
+                    if (_LaserTruFiber.GetEStopOpen()) {
-                    //#region 26.04.14 삭제 할 것 
-                    if (_LaserTruFiber == null) return SequenceAction.Ok();; // 강제 OK 
-                    //#endregion
-                    if (_LaserTruFiber.GetEStopOpen())
-                    {
                         AlarmManager.Alarm(AlarmCode_PrismaticScanner.ALARM_DEVICE_IO_LASER_EMO);
                     }
-                    if (_LaserTruFiber.GetFaultLaser())
+                    if (_LaserTruFiber.GetFaultLaser()) {
-                    {
                         string alarmCode = $"{Convert.ToString(_LaserTruFiber.GetLastMessageCompID(),16).ToUpper().PadLeft(2,'0')}{Convert.ToString(_LaserTruFiber.GetLastMessageCompNum(),16).ToUpper().PadLeft(2,'0')} {Convert.ToString(_LaserTruFiber.GetLastMessageMsgCode(),16).ToUpper().PadLeft(2,'0')}";
                         string alarmDescription = $" {_LaserTruFiber.GetLastMessageShortText()}";
                         AlarmManager.ChangeAlarmDescription(AlarmCode_PrismaticScanner.ALARM_DEVICE_LASER_ERROR_MSG, alarmCode + alarmDescription);
 
-                    }
+                    } else if (_LaserTruFiber.GetMonitoring()) {
-                    else if (_LaserTruFiber.GetMonitoring())
-                    {
                         string alarmCode = $"{Convert.ToString(_LaserTruFiber.GetLastMessageCompID(), 16).ToUpper().PadLeft(2, '0')}{Convert.ToString(_LaserTruFiber.GetLastMessageCompNum(), 16).ToUpper().PadLeft(2, '0')} {Convert.ToString(_LaserTruFiber.GetLastMessageMsgCode(), 16).ToUpper().PadLeft(2, '0')}";
                         string alarmDescription = $" {_LaserTruFiber.GetLastMessageShortText()}";
                         AlarmManager.ChangeAlarmDescription(AlarmCode_PrismaticScanner.ALARM_DEVICE_LASER_WARNING_MSG, alarmCode + alarmDescription);

Machines/ILSOS_PrismaticScanner/Sequences/SequenceManager.cs

@@ -95,7 +95,6 @@ namespace ILSOS_PrismaticScanner.Sequences
             //register(CommonSequenceIds.DeviceMonitor, DeviceMonitoring.Builder());
             base.Register(aurora, register);
 
-            //SeqMarkGrid 시퀸스 등록
             if (_SeqMarkGrid == null)
             {
                 _SeqMarkGrid = new SeqMarkGrid();
@@ -170,7 +169,7 @@ namespace ILSOS_PrismaticScanner.Sequences
 
             #region 26.04.09 NDY - ACS MOTF AutoRun Sequence 등록
             // 기존 SeqAutoRun(SeqAutoRunPrismaticScanner)은 건드리지 않고
-            // ACS MOTF 전용 시퀀스를 별도 ID(SeqAutoRunACS)로 등록 - 이미 존재한다고 뜸 
+            // ACS MOTF 전용 시퀀스를 별도 ID(SeqAutoRunACS)로 등록
             if (_SeqAutoRunPrismaticScannerACS == null)
             {
                 _SeqAutoRunPrismaticScannerACS = new SeqAutoRunPrismaticScannerACS();

Machines/ILSOS_PrismaticScanner/Views/Main/UCMainAutoRunViewModel.cs

@@ -219,16 +219,8 @@ namespace ILSOS_PrismaticScanner.Views
             // 자동으로 Activated Recipe로 변경
             OnUpdateCurrentActivatedRecipe(null);
 
-            //var param = new SeqAutoRunPrismaticScanner_InitParam() {
+            var param = new SeqAutoRunPrismaticScanner_InitParam() {
-            //    //VisionRecipeNo = 0 // 해당 InitParam에는 없는 선언 
+                VisionRecipeNo = 0
-            //};
-
-            var param = new SeqTeachingRun_InitParam()
-            {
-                IsObjectSelectAll = true,
-                CellCenterOffsetX = 0,
-                CellCenterOffsetY = 0,
-
             };
 
             Status.SetStatus(eEqpStatus.Auto);
@@ -285,21 +277,18 @@ namespace ILSOS_PrismaticScanner.Views
         public override void OnAutoRunStopRequest()
         {
             base.OnAutoRunStopRequest();
+            //// Prewelding은 자동 운전 정지 와도 무시
+            //StopSequenceAutoRun();
         }
 
         private void OnStopSequenceAutoRun(object obj = null)
         {
-            //if (_SeqAutoRun.RunState == SequenceRunState.Idle) {
+            if (_SeqAutoRun.RunState == SequenceRunState.Idle) {
-            //    return;
+                return;
-            //}
+            }
 
             _SeqAutoRun.Stop();
 
-            #region 260417 확인 - 확인완료 
-            // 26.04.17 NDY - Stop 시 장비 상태 복귀
-            Status.SetStatus(eEqpStatus.Manual);
-            #endregion
-
             //Recipe를 기존에 선택된 Recipe로 Rollback 해 줌
             RecipeHelper.RollbackRecipe();
             //AutoRun 정지 시 CorrectionFile을 Vision으로 변경

WeldingComponents/LASA/GUI/Common/ExcelManagementUnit.cs

@@ -569,8 +569,7 @@ namespace CoreUnit.Common
                 // 다른 프로세스도 파일 읽고 쓸 수 있도록.
                 FileStream FileStream = new FileStream(path, FileMode.Append, FileAccess.Write, FileShare.ReadWrite);
 
-                StreamWriter sw = new StreamWriter(FileStream, System.Text.Encoding.Unicode);  // 26.04.15 기존 코드 주석처리함 
+                StreamWriter sw = new StreamWriter(FileStream, System.Text.Encoding.Unicode);
-                //StreamWriter sw = new StreamWriter(FileStream, System.Text.Encoding.UTF8); // 26.04.15 변경 코드 UTF8로 변경 log 깨짐 현상 
 
                 if (isFile) {
                     sw.WriteLine(strItem);

WeldingComponents/LASA/GUI/Dialog/WeldingParamDlg.cs

@@ -98,33 +98,33 @@ namespace CoreUnit.Scanner.UserControl.Canvas.Dialog
                 cbParamExt.Items.Add(i);
             }
 
-            //if (editMode) {
+            if (editMode) {
-            //    gbLaser.Enabled = true;
+                gbLaser.Enabled = true;
-            //    gbRamping.Enabled = true;
+                gbRamping.Enabled = true;
-            //    gbScanner.Enabled = true;
+                gbScanner.Enabled = true;
-            //    gbWobbel.Enabled = true;
+                gbWobbel.Enabled = true;
 
-            //    btnCopyParam.Enabled = true;
+                btnCopyParam.Enabled = true;
-            //    btnImport.Enabled = true;
+                btnImport.Enabled = true;
-            //    btnImportAll.Enabled = true;
+                btnImportAll.Enabled = true;
-            //    btnExport.Enabled = true;
+                btnExport.Enabled = true;
-            //    btnExportAll.Enabled = true;
+                btnExportAll.Enabled = true;
-            //    btnOk.Enabled = true;
+                btnOk.Enabled = true;
-            //    btnCancel.Enabled = true;
+                btnCancel.Enabled = true;
-            //} else {
+            } else {
-            //    gbLaser.Enabled = false;
+                gbLaser.Enabled = false;
-            //    gbRamping.Enabled = false;
+                gbRamping.Enabled = false;
-            //    gbScanner.Enabled = false;
+                gbScanner.Enabled = false;
-            //    gbWobbel.Enabled = false;
+                gbWobbel.Enabled = false;
 
-            //    btnCopyParam.Enabled = false;
+                btnCopyParam.Enabled = false;
-            //    btnImport.Enabled = false;
+                btnImport.Enabled = false;
-            //    btnImportAll.Enabled = false;
+                btnImportAll.Enabled = false;
-            //    btnExport.Enabled = false;
+                btnExport.Enabled = false;
-            //    btnExportAll.Enabled = false;
+                btnExportAll.Enabled = false;
-            //    btnOk.Enabled = false;
+                btnOk.Enabled = false;
-            //    btnCancel.Enabled = true;
+                btnCancel.Enabled = true;
-            //}
+            }
 
             //Welding Paramter 색 지정
             //rbParam1.ForeColor = Color.FromName(((WeldingParameterIDEditor.eWeldingColor)1).ToString());

WeldingComponents/LASA/GUI/Scanner/ScannerUnit.cs

@@ -116,10 +116,6 @@ namespace CoreUnit.Scanner
 
             double m_markingOntheFlyParkingPositionX;
             double m_markingOntheFlyParkingPositionY;
-            double m_markingStartX_1;
-            double m_markingStartX_2;
-            double m_XDiff_Page1and2;
-            double m_XDiff_Page3and4;
 
             double m_flySpeedInterlock;
             double m_rotaryEncoderOffset;
@@ -526,45 +522,6 @@ namespace CoreUnit.Scanner
                 get { return m_markingOntheFlyParkingPositionY; }
             }
 
-            [Browsable(true)]
-            [ReadOnly(false)]
-            [Category("Marking On The Fly(MOTF)")]
-            [DisplayName("Marking Start X 1 (mm)")]
-            [Description("Marking Start X 1 (mm)")]
-            public double MarkingStartX_1 {
-                set { m_markingStartX_1 = value; }
-                get { return m_markingStartX_1; }
-            }
-
-            [Browsable(true)]
-            [ReadOnly(false)]
-            [Category("Marking On The Fly(MOTF)")]
-            [DisplayName("Marking Start X 2 (mm)")]
-            [Description("Marking Start X 2 (mm)")]
-            public double MarkingStartX_2 {
-                set { m_markingStartX_2 = value; }
-                get { return m_markingStartX_2; }
-            }
-
-            [Browsable(true)]
-            [ReadOnly(false)]
-            [Category("Marking On The Fly(MOTF)")]
-            [DisplayName("X Diff Page 1 & 2 (mm)")]
-            [Description("X Diff Page 1 & 2 (mm)")]
-            public double XDiff_Page1and2 {
-                set { m_XDiff_Page1and2 = value; }
-                get { return m_XDiff_Page1and2; }
-            }
-
-            [Browsable(true)]
-            [ReadOnly(false)]
-            [Category("Marking On The Fly(MOTF)")]
-            [DisplayName("X Diff Page 3 & 4 (mm)")]
-            [Description("X Diff Page 3 & 4 (mm)")]
-            public double XDiff_Page3and4 {
-                set { m_XDiff_Page3and4 = value; }
-                get { return m_XDiff_Page3and4; }
-            }
             [Browsable(true)]
             [ReadOnly(false)]
             [Category("Marking On The Fly(MOTF)")]

WeldingComponents/WeldingCommon/Alarm/AlarmManager.cs

@@ -158,9 +158,6 @@ namespace WeldingCommon.Alarm
                 StopSequence(CommonSequenceIds.SeqScoutNormal);
                 StopSequence(CommonSequenceIds.SeqUploadWeldingList);
                 StopSequence(CommonSequenceIds.SeqTeachingRun);
-
-                //26.04.15 추가
-                StopSequence(CommonSequenceIds.SeqAutoRunACS);
             }
         }
 

WeldingComponents/WeldingCommon/CommonEquipmentSetup.cs

@@ -46,16 +46,11 @@ namespace WeldingCommon
             builder
                .AddLanguage("en-US", "ko-KR")
                .AddDeviceActiveStatus(CommonDeviceIds.Scanner)
-               //.AddDeviceActiveStatus(CommonDeviceIds.Laser)
+               .AddDeviceActiveStatus(CommonDeviceIds.Laser)
-               //.AddDeviceActiveStatus(CommonDeviceIds.IODevice)
+               .AddDeviceActiveStatus(CommonDeviceIds.IODevice)
-               //.AddDeviceActiveStatus(CommonDeviceIds.PLCDevice)
+               .AddDeviceActiveStatus(CommonDeviceIds.PLCDevice)
                .AddDeviceActiveStatus(CommonDeviceIds.Light)
-               .AddDeviceActiveStatus(CommonDeviceIds.ACS)
+               .AddDeviceActiveStatus(CommonDeviceIds.SmcChiller);
-               .AddDeviceActiveStatus(CommonDeviceIds.AxisX2)
-               .AddDeviceActiveStatus(CommonDeviceIds.AxisZ); 
-
-            //.AddDeviceActiveStatus(CommonDeviceIds.Light)
-            //.AddDeviceActiveStatus(CommonDeviceIds.SmcChiller);
         }
 
         public bool CanShutDown()
@@ -227,14 +222,13 @@ namespace WeldingCommon
 
 
             registry.Register(CommonDeviceIds.Scanner, () => new Scanner(CommonDeviceIds.Scanner, isSimul), new ScannerConfig());
-            registry.Register(CommonDeviceIds.Laser, () => new Laser(CommonDeviceIds.Laser, isSimul), new LaserConfig());
+            registry.Register(CommonDeviceIds.SmcChiller, () => new SmcChiller(CommonDeviceIds.SmcChiller, 0, isSimul), new SmcChiller.Config(),
-            //registry.Register(CommonDeviceIds.SmcChiller, () => new SmcChiller(CommonDeviceIds.SmcChiller, 0, isSimul), new SmcChiller.Config(),
+                            device => new UCSMCChillerDevice() { DataContext = new UCSMCChillerDeviceViewModel(AuroraEnv, CommonDeviceIds.SmcChiller) });
-            //                device => new UCSMCChillerDevice() { DataContext = new UCSMCChillerDeviceViewModel(AuroraEnv, CommonDeviceIds.SmcChiller) });
 
             VisionFactory.RegisterDevices(registry);
 
-            //registry.Register(CommonDeviceIds.Light, () => new LightDevice(CommonDeviceIds.Light, eLight.ERI, isSimul), new LightConfig(),
+            registry.Register(CommonDeviceIds.Light, () => new LightDevice(CommonDeviceIds.Light, eLight.ERI, isSimul), new LightConfig(),
-            //    device => new UCLight() { DataContext = new UCLightViewModel(AuroraEnv, CommonDeviceIds.Light, _SequenceSetting.LightValue) });
+                device => new UCLight() { DataContext = new UCLightViewModel(AuroraEnv, CommonDeviceIds.Light, _SequenceSetting.LightValue) });
 
             // TODO: SystemParameterManager.Initialize 할 위치 찾자. 여기는 조금....
             SystemParameterManager.Initialize(AuroraEnv);

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

@@ -3,12 +3,8 @@
 // 26.04.06 NDY
 using AuroraACS;
 
-
-
-
 namespace WeldingCommon.Devices.ACS
 {
-   
     // ── 레이저 출력 타입 ──────────────────────────────────────
     // Gun의 MainRecipe.eOutType과 동일
     // partial class 밖에 정의 → IScannerACS 인터페이스에서도 참조 가능
@@ -18,114 +14,6 @@ namespace WeldingCommon.Devices.ACS
         Interval,   // hz
     }
 
-    #region 26.04.14
-    //public partial class ScannerACS
-    //{
-    //    const string AlarmReset = "iAlarmreset";
-    //    const string HeavyAlarm = "iAlarm";
-    //    const string LightAlarm = "iLightAlarm";
-    //    const string AlarmCodes = "iPCAlarmNo"; // 10개
-    //    const string BStageRemarkUse = "iPCset_BLINE_WeldingRemarkUse";
-
-    //    const string IsLaserOn = "LCI_DEVICE.LaserEnabled";
-
-
-    //    /// <summary>
-    //    /// //////////////////////////////////////////////////////
-    //    /// </summary>
-    //    /// 
-    //    const string rOneShotTime = "rPCset_ALINE_SHOT_TIME";
-    //    const string rOneShotCoreVoltage = "rPCset_ALINE_SHOT_CORE_VOLTAGE";
-    //    const string rOneShotRingVoltage = "rPCset_ALINE_SHOT_RING_VOLTAGE";
-    //    const string iOneShotComplete = "iPCget_ALINE_SHOT_COMP";
-
-
-    //    const string rLineWeldingCoreVoltage = "rPCset_ALINE_LINE_CORE_VOLTAGE";
-    //    const string rLineWeldingRingVoltage = "rPCset_ALINE_LINE_RING_VOLTAGE";
-    //    const string rLineWeldingVel = "rPCset_ALINE_LINE_VEL";
-    //    const string rLineWeldingAcc = "rPCset_ALINE_LINE_ACC";
-    //    const string rLineWeldingLaserOnX = "rPCset_ALINE_LINE_LASERON_X";
-    //    const string rLineWeldingLaserOnY = "rPCset_ALINE_LINE_LASERON_Y";
-    //    const string rLineWeldingLaserOffX = "rPCset_ALINE_LINE_LASEROFF_X";
-    //    const string rLineWeldingLaserOffY = "rPCset_ALINE_LINE_LASEROFF_Y";
-    //    const string iLineWeldingComplete = "iPCget_ALINE_LINE_COMP";
-
-    //    const string rWeldingPosition1PosX = "rPCset_ALINE_WeldingPosition1_X";
-    //    const string rWeldingPosition1PosY = "rPCset_ALINE_WeldingPosition1_Y";
-    //    const string rWeldingPosition2PosX = "rPCset_ALINE_WeldingPosition2_X";
-    //    const string rWeldingPosition2PosY = "rPCset_ALINE_WeldingPosition2_Y";
-    //    const string rWeldingPosition3PosX = "rPCset_ALINE_WeldingPosition3_X";
-    //    const string rWeldingPosition3PosY = "rPCset_ALINE_WeldingPosition3_Y";
-    //    const string rWeldingPosition4PosX = "rPCset_ALINE_WeldingPosition4_X";
-    //    const string rWeldingPosition4PosY = "rPCset_ALINE_WeldingPosition4_Y";
-    //    const string rWeldingPosition5PosX = "rPCset_ALINE_WeldingPosition5_X";
-    //    const string rWeldingPosition5PosY = "rPCset_ALINE_WeldingPosition5_Y";
-    //    const string rWeldingPosition6PosX = "rPCset_ALINE_WeldingPosition6_X";
-    //    const string rWeldingPosition6PosY = "rPCset_ALINE_WeldingPosition6_Y";
-    //    const string rWeldingPosition7PosX = "rPCset_ALINE_WeldingPosition7_X";
-    //    const string rWeldingPosition7PosY = "rPCset_ALINE_WeldingPosition7_Y";
-    //    const string rWeldingPosition8PosX = "rPCset_ALINE_WeldingPosition8_X";
-    //    const string rWeldingPosition8PosY = "rPCset_ALINE_WeldingPosition8_Y";
-
-    //    const string rWeldingEdgePointRad1 = "rPCset_ALINE_EdgePointRad1";
-    //    const string rWeldingEdgePointRad2 = "rPCset_ALINE_EdgePointRad2";
-    //    const string rWeldingEdgePointRad3 = "rPCset_ALINE_EdgePointRad3";
-    //    const string rWeldingEdgePointRad4 = "rPCset_ALINE_EdgePointRad4";
-
-    //    const string rWeldingCorePowerMax = "rPCset_ALINE_WEL_COREPOWER_MAX";
-    //    const string rWeldingCorePowerMin = "rPCset_ALINE_WEL_COREPOWER_MIN";
-    //    const string rWeldingRingPowerMax = "rPCset_ALINE_WEL_RINGPOWER_MAX";
-    //    const string rWeldingRingPowerMin = "rPCset_ALINE_WEL_RINGPOWER_MIN";
-
-    //    const string rWeldingAcc = "rPCset_ALINE_WEL_ACC";
-    //    const string rWeldingSVel = "rPCset_ALINE_WEL_SVEL";
-    //    const string rWeldingCVel = "rPCset_ALINE_WEL_CVEL";
-    //    const string iWeldingComplete = "iPCget_ALINE_WEL_COMP";
-
-    //    const string rWeldingStartPosX = "rPCset_ALINE_WEL_ST_POS_X";
-    //    const string rWeldingStartPosY = "rPCset_ALINE_WEL_ST_POS_Y";
-    //    const string rWeldingEndPosX = "rPCset_ALINE_WEL_EN_POS_X";
-    //    const string rWeldingEndPosY = "rPCset_ALINE_WEL_EN_POS_Y";
-
-    //    const string rLaserONPosX = "rPCset_ALINE_LASER_ONPOS_X";
-    //    const string rLaserONOffset = "rPCset_ALINE_LASER_ON_OFFSET";
-    //    const string rLaserOFFPosX = "rPCset_ALINE_LASER_OFFPOS_X";
-    //    const string rLaserOFFOffset = "rPCset_ALINE_LASER_OFF_OFFSET";
-
-    //    const string rRampingONOverlapDist = "rPCset_ALINE_RAMP_ON_OVERLAP_DIS";
-    //    const string rRampingONStartPower = "rPCset_ALINE_RAMP_ON_STARTPOWER";
-
-    //    const string rRampingOFFStartPosX = "rPCset_ALINE_RAMP_OFF_STPOS_X";
-    //    const string rRampingOFFOverlapDist = "rPCset_ALINE_RAMP_OFF_OVERLAP_DIS";
-    //    const string rRampingOFFEndPower = "rPCset_ALINE_RAMP_OFF_ENDPOWER";
-
-    //    const string iALaserShotMode = "iPCset_ALASER_SHOT_MODE";
-    //    const string iAStageLCType = "iPCset_ALINE_LCTYPE";
-
-    //    const string iAllAxisHomeComplete = "iPCget_ALLAXIS_HOMECOMP";
-
-    //    const string iXAxisNumber = "iPCget_LCI_ASMASK_X";
-    //    const string iYAxisNumber = "iPCget_LCI_ASMASK_Y";
-    //    const string iLaserUse = "iPCset_LASER_USE";
-
-
-    //    private enum eBuffer
-    //    {
-    //        All_Axis_Home,
-    //        AxisX1_Home,
-    //        AxisX2_Home,
-    //        AxisY1_Home,
-    //        AxisY2_Home,
-    //        AxisZ_Home,
-
-    //        Welding_Line = 11,
-    //        Welding_AllRound,
-    //        Welding_OneShot
-    //    }
-
-    //}
-    #endregion
-    #region 26.04.14 
     public partial class ScannerACS
     {
         // ── 알람 ──────────────────────────────────────────
@@ -243,6 +131,4 @@ namespace WeldingCommon.Devices.ACS
             MOTF_Start = 17, // 26.04.09 NDY xlsx Buffer Info 기준 확정
         }
     }
-
-    #endregion
 }

WeldingComponents/WeldingCommon/Devices/ACS/ScannerACS.cs

@@ -41,7 +41,6 @@ namespace WeldingCommon.Devices.ACS
         bool MOTFStart();
         bool MOTFStop();
         bool CheckMOTFComp();
-        bool ResetMOTFComp();  // ← 여기에 추가 BUFFER 17에서 완료에 대한 플래그 리셋 0 으로 하는 것 260417 
 
         // OneShot
         bool SetOneShot(int msecShotTime, double secPhzShotPulse1, double secPhzShotPulse2);
@@ -105,10 +104,10 @@ namespace WeldingCommon.Devices.ACS
 
         private ACSDeviceSetting _setting;
 
-        // Scanner는 Stage X (X2) 1축만 사용 | Z 축까지 사용 스캐너 높이 
+        // Scanner는 Stage X (X2) 1축만 사용
         // Gun은 X1, X2, Y1, Y2, Z 5축 사용
         private ACSMotor MotorStageX; // AxisX2 = Scanner Stage X
-        private ACSMotor MotorStageZ; // 26.04.14 = AxisZ
+
         public MotionVariable _motorVariable;
 
         public bool HasHeavyAlarm { get; private set; }
@@ -138,9 +137,6 @@ namespace WeldingCommon.Devices.ACS
             try { MotorStageX = env.DeviceManager[CommonDeviceIds.AxisX2] as ACSMotor; }
             catch { MotorStageX = null; }
 
-            try { MotorStageZ = env.DeviceManager[CommonDeviceIds.AxisZ] as ACSMotor; }
-            catch { MotorStageZ = null; }
-
             SetMonitoringService(UpdateACSParam, 50);
             StartMonitoringService();
 
@@ -156,16 +152,9 @@ namespace WeldingCommon.Devices.ACS
                 _motorVariable.X2InPosition = MotorStageX.IsInpos();
                 _motorVariable.X2AxisVelocity = MotorStageX.GetFeedbackVelocity();
                 _motorVariable.X2AxisAcceleration = MotorStageX.GetAcceleration();
-                _motorVariable.IsHome |= MotorStageX.GetServoStatus() == 1;
+                _motorVariable.IsHome = MotorStageX.GetServoStatus() == 1;
-            }
-            if (MotorStageZ != null)
-            {
-                _motorVariable.ZAxisPosition = MotorStageZ.GetActualPos();
-                _motorVariable.ZInPosition = MotorStageZ.IsInpos();
-                _motorVariable.ZAxisVelocity = MotorStageZ.GetFeedbackVelocity();
-                _motorVariable.ZAxisAcceleration = MotorStageZ.GetAcceleration();
-                _motorVariable.IsHome |= MotorStageZ.GetServoStatus() == 1;
             }
+
             // 알람 상태 갱신
             HasHeavyAlarm = ReadVariableInt(HeavyAlarm) == 1;
             HasLightAlarm = ReadVariableInt(LightAlarm) == 1;
@@ -241,29 +230,10 @@ namespace WeldingCommon.Devices.ACS
 
         bool IScannerACS.CheckMOTFComp()
         {
-
-            #region 260418 확인 - 확인 완료 
-            // 26.04.17 NDY - 시퀀스 완료 후 장비 상태 복귀
-            Status.SetStatus(eEqpStatus.Manual);
-            #endregion
-
             if (IsSimul) return true;
             return ReadVariableInt(iMOTFComplete) > 0;
         }
 
-        // 260417여기 추가
-        bool IScannerACS.ResetMOTFComp()
-        {
-            if (IsSimul) return true;
-            if (WriteVariableInt(iMOTFComplete, 0))
-            {
-                Log.I("ResetMOTFComp >> Complete (iPCset_MOF_WEL_COMP = 0)");
-                return true;
-            }
-            Log.E("ResetMOTFComp >> Fail");
-            return false;
-        }
-
         // ── OneShot ──────────────────────────────────────────────────────────
         bool IScannerACS.SetOneShot(int msecShotTime, double secPhzShotPulse1, double secPhzShotPulse2)
         {

WeldingComponents/WeldingCommon/EquipDefCommon.cs

@@ -145,10 +145,10 @@ namespace WeldingCommon
         
         public const string ACS = "ACS"; // 26.04.06 추가 
 
-        //public const string AxisX1 = "AxisX1";
+        public const string AxisX1 = "AxisX1";
         public const string AxisX2 = "AxisX2"; // 26.04.06 추가 
-        //public const string AxisY1 = "AxisY1";
+        public const string AxisY1 = "AxisY1";
-        //public const string AxisY2 = "AxisY2";
+        public const string AxisY2 = "AxisY2";
 
         // Ajin Motor
         public const string AxisZ = "AxisZ";
@@ -219,8 +219,6 @@ namespace WeldingCommon
         public const string MotorInit = "MotorInit";
         public const string OneShot = "OneShot";
         #endregion
-        // 26.04.09 NDY - ACS MOTF AutoRun - > SeqAutoRun은 CommonSequenceIds에 존재함. 
-        public const string SeqAutoRunACS = "SeqAutoRunACS";
     }
 
     public class EquipEvent
@@ -268,10 +266,10 @@ namespace WeldingCommon
     // 26 .04.13 
     public class CommonMotorIds
     {
-        //public const string AxisX1 = "AxisX1";
+        public const string AxisX1 = "AxisX1";
         public const string AxisX2 = "AxisX2";
-        //public const string AxisY1 = "AxisY1";
+        public const string AxisY1 = "AxisY1";
-        //public const string AxisY2 = "AxisY2";
+        public const string AxisY2 = "AxisY2";
 
         // Ajin Motor
         public const string AxisZ = "AxisZ";

WeldingComponents/WeldingCommon/Sequences/Calibration/SeqScannerCalibration.cs

@@ -17,7 +17,6 @@ using WeldingCommon.Settings;
 
 namespace WeldingCommon.Sequences
 {
-    // 캘리브레이션 작업 시 타는 시퀸스 
     public class SeqScannerCalibration
     {
         static readonly Logger Log = new Logger("SeqScannerCalibration");

WeldingComponents/WeldingCommon/Sequences/Gun/Monitoring/SeqAlarmMonitor.cs

@@ -51,7 +51,7 @@ namespace WeldingCommon.Sequences.Monitoring
         private static Laser _laser;
         private static LaserTruFiber _laserCore;
         private static ScannerACS _acs; // 26.04.13
-        private static ACSMotor _axisX, _axisZ; //, _axisY1, _axisY2,
+        private static ACSMotor _axisX, _axisY1, _axisY2, _axisZ;
 
         public const int NODE_SLEEP = 100;     // msec
 
@@ -80,7 +80,6 @@ namespace WeldingCommon.Sequences.Monitoring
 
         }
 
-        //StartNode 알람 
         private static SequenceActionResult StartNode(SequenceContext context, string id, SequenceActionResult param)
         {
             _SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting;
@@ -96,11 +95,11 @@ namespace WeldingCommon.Sequences.Monitoring
             if (_axisX is null)
                 _axisX = context.Devices[CommonMotorIds.AxisX2] as ACSMotor;
 
-            //if (_axisY1 is null)
+            if (_axisY1 is null)
-            //    _axisY1 = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;
+                _axisY1 = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;
 
-            //if (_axisY2 is null)
+            if (_axisY2 is null)
-            //    _axisY2 = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;
+                _axisY2 = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;
 
             if (_axisZ is null)
                 _axisZ = context.Devices[CommonMotorIds.AxisZ] as ACSMotor;

WeldingComponents/WeldingCommon/Sequences/Gun/SeqMotorInit.cs

@@ -64,7 +64,7 @@ namespace WeldingCommon.Sequences
             sb.AddAction(SEQ_ENTER, Sequence_Enter);
             sb.AddAction(SEQ_CHECK_INIT_CONDITION, CheckInitCondition);
             sb.AddAction(SEQ_ACS_ALARM_RESET, ACSAlarmReset);
-            //sb.AddAction(SEQ_INIT_ACS_AXIS, ACSAxisInit);
+            sb.AddAction(SEQ_INIT_ACS_AXIS, ACSAxisInit);
             sb.AddAction(SEQ_INIT_COMPLETE, InitComplete);
 
             sb.OnStopped(OnStopped);
@@ -116,26 +116,26 @@ namespace WeldingCommon.Sequences
             return SequenceAction.Ok();
         }
 
-        //private static SequenceActionResult ACSAxisInit(SequenceContext context, string id, SequenceActionResult param)
+        private static SequenceActionResult ACSAxisInit(SequenceContext context, string id, SequenceActionResult param)
-        //{
+        {
-        //    Log.V($"ACS Init Start");
+            Log.V($"ACS Init Start");
-        //    _motion.AllAxisHomeStart();
+            _motion.AllAxisHomeStart();
-        //    Thread.Sleep(1000);
+            Thread.Sleep(1000);
 
-        //    var res = context.RetryUntilSuccess(() => _motion.CheckAllAxisHome(), SEQ_TIMEOUT, MOTION_INTERVAL);
+            var res = context.RetryUntilSuccess(() => _motion.CheckAllAxisHome(), SEQ_TIMEOUT, MOTION_INTERVAL);
-        //    if (res == E2.TIMEOUT) {
+            if (res == E2.TIMEOUT) {
-        //        context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_AXIS_INITIALIZE_FAIL); // 26.04.13 잠시 주석
+                context.PutValue<int>("AlarmCode", AlarmCode_PrismaticGun.ACS_AXIS_INITIALIZE_FAIL); // 26.04.13 잠시 주석
-        //        context.PutValue<string>("AlarmMessage", "ACS Axis Home Timeout");
+                context.PutValue<string>("AlarmMessage", "ACS Axis Home Timeout");
-        //        return null;
+                return null;
-        //    } else if (res == E2.CANCELLED) {
+            } else if (res == E2.CANCELLED) {
-        //        context.PutValue<int>("AlarmCode", 0);
+                context.PutValue<int>("AlarmCode", 0);
-        //        context.PutValue<string>("AlarmMessage", "ACS Axis Home Cancel");
+                context.PutValue<string>("AlarmMessage", "ACS Axis Home Cancel");
-        //        return null;
+                return null;
-        //    }
+            }
 
-        //    Log.V($"ACS Init End");
+            Log.V($"ACS Init End");
-        //    return SequenceAction.Ok(eTeachingPosition.SafetyPosition);
+            return SequenceAction.Ok(eTeachingPosition.SafetyPosition);
-        //}
+        }
 
         private static SequenceActionResult InitComplete(SequenceContext context, string id, SequenceActionResult param)
         {

WeldingComponents/WeldingCommon/Sequences/Gun/SeqSplitLine.cs

@@ -137,15 +137,15 @@ namespace WeldingCommon.Sequences
             _laserCal = context.Settings[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
 
             _AxisX = context.Devices[CommonMotorIds.AxisX2] as ACSMotor;
-            //_AxisZ = context.Devices[CommonMotorIds.AxisZ] as ACSMotor;
+            _AxisZ = context.Devices[CommonMotorIds.AxisZ] as ACSMotor;
-            //if (_data[LineInLinesIndex].YAxisType == (int)eYAxisType.Y1) {
+            if (_data[LineInLinesIndex].YAxisType == (int)eYAxisType.Y1) {
-            //    _AxisY = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;
+                _AxisY = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;
-            //    _acsMotion.SetWeldingAxes((int)CommonMotorIds.eMotorIdx.AxisX2, (int)CommonMotorIds.eMotorIdx.AxisY1);
+                _acsMotion.SetWeldingAxes((int)CommonMotorIds.eMotorIdx.AxisX2, (int)CommonMotorIds.eMotorIdx.AxisY1);
-            //}
+            }
-            //else {
+            else {
-            //    _AxisY = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;
+                _AxisY = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;
-            //    _acsMotion.SetWeldingAxes((int)CommonMotorIds.eMotorIdx.AxisX2, (int)CommonMotorIds.eMotorIdx.AxisY2);
+                _acsMotion.SetWeldingAxes((int)CommonMotorIds.eMotorIdx.AxisX2, (int)CommonMotorIds.eMotorIdx.AxisY2);
-            //}
+            }
 
 
             if (Status.EquipmentStatus == eEqpStatus.Manual)

WeldingComponents/WeldingCommon/Sequences/Gun/SubSequence/StageA/SeqTeachingPosMoveStageA.cs

@@ -80,10 +80,10 @@ namespace WeldingCommon.Sequences.SubSequence.StageA
                 _acs = context.Devices[CommonDeviceIds.ACS] as ScannerACS; //260413
             if (_AxisX is null)
                 _AxisX = _FirstMoveAxis = context.Devices[CommonDeviceIds.AxisX2] as ACSMotor;
-            //if (_AxisY1 is null)
+            if (_AxisY1 is null)
-            //    _AxisY1 = _SecondMoveAxis = context.Devices[CommonDeviceIds.AxisY1] as ACSMotor;
+                _AxisY1 = _SecondMoveAxis = context.Devices[CommonDeviceIds.AxisY1] as ACSMotor;
-            //if (_AxisY2 is null)
+            if (_AxisY2 is null)
-            //    _AxisY2 = _SecondMoveAxis = context.Devices[CommonDeviceIds.AxisY2] as ACSMotor;
+                _AxisY2 = _SecondMoveAxis = context.Devices[CommonDeviceIds.AxisY2] as ACSMotor;
             if (_AxisZ is null)
                 _AxisZ = context.Devices[CommonDeviceIds.AxisZ] as ACSMotor;
 

WeldingComponents/WeldingCommon/Sequences/Gun/SubSequence/StageA/SeqWeldingCellStageA.cs

@@ -124,8 +124,8 @@ namespace WeldingCommon.Sequences.SubSequence.StageA
 
             _AxisX = context.Devices[CommonMotorIds.AxisX2] as ACSMotor;
             _AxisZ = context.Devices[CommonMotorIds.AxisZ] as ACSMotor;
-            //_MotorY1 = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;
+            _MotorY1 = context.Devices[CommonMotorIds.AxisY1] as ACSMotor;
-            //_MotorY2 = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;
+            _MotorY2 = context.Devices[CommonMotorIds.AxisY2] as ACSMotor;
 
             if (_mainRecipe.YAxisUseType == MainRecipe.YAxisType.Y1) {
                 _AxisY = _MotorY1;

WeldingComponents/WeldingCommon/Sequences/Main/SeqUploadWeldingList.cs

@@ -1,6 +1,5 @@
 using Aurora.Api;
 using Aurora.Api.Devices;
-using Aurora.Util.HislogPlus;
 using AuroraLaser;
 using AuroraLaserScanner;
 using CoreUnit.Control.UserControl.Canvas;
@@ -9,7 +8,6 @@ using DB;
 using Hermes;
 using Matrox.MatroxImagingLibrary;
 using Newtonsoft.Json;
-using OpenCvSharp;
 using System;
 using System.Collections.Generic;
 using System.Configuration;
@@ -74,7 +72,7 @@ namespace WeldingCommon.Sequences
 
         private static int _CenterRingRatio; // Center Ring의 파워 비율
         private static float _LaserPowerRatio; // Laser에서 출력 파워 비율
-        private bool isFirst = true;
+
         private static SeqUploadWeldingList_OutParam result;
         const int ROTATION_DEGREE = 15;     // 15도 설정, 하나의 지그가 30도 이므로, 15도부터 돌도록 설정됨.
 
@@ -118,7 +116,7 @@ namespace WeldingCommon.Sequences
 
         private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param)
         {
-            Log.I("[Sequence_Enter] SeqUploadWeldingList Start");
+            Log.I("SeqUploadWeldingList Start");
 
             _InitParam = param.Param as SeqUploadWeldingList_InitParam;
             _LaserPowerCalParam = context.GetSetting<LaserPowerCalParam>(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함
@@ -130,7 +128,7 @@ namespace WeldingCommon.Sequences
             InitDev(context);
             if (!CheckDeviceReady(context)) { //Check Device
                 AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_DeviceNotReady);
-                Log.E("[Sequence_Enter] The devices are not active.");
+                Log.E("The devices are not active.");
                 return null;
             }
 
@@ -141,7 +139,7 @@ namespace WeldingCommon.Sequences
 
             // ian0513, 이게 여기 있어야 할까??, 무엇을 측정 하기 위한건지 명확히 알고 실제 공정이면 다른 밑의 Node 로 변경
             _UploadstartTime = DateTime.Now;
-            isFirst = true;
+
             return SequenceAction.Ok();
         }
 
@@ -151,15 +149,8 @@ namespace WeldingCommon.Sequences
             _LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile);
 
             _FlyOffsetX = 0;
-
             _FlyOffsetY = 0;
-            if (_Scanner.Config.UseMarkingOnTheFly) { 
-                if (_InitParam.PageNum == 1 || _InitParam.PageNum == 2)
-                    _FlyOffsetY += _Scanner.Config.XDiff_Page1and2;
 
-                else
-                    _FlyOffsetY += _Scanner.Config.XDiff_Page3and4;
-            }
             return true;
         }
 
@@ -168,7 +159,7 @@ namespace WeldingCommon.Sequences
         {
             //Device Init
             _Scanner = context.GetLaserScanner();
-            //_Laser = context.GetLaser();
+            _Laser = context.GetLaser();
         }
 
         private bool CheckDeviceReady(SequenceContext context)
@@ -222,7 +213,7 @@ namespace WeldingCommon.Sequences
         {
             if (!CheckCondition()) {
                 AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_CheckInitCondition);
-                Log.E("[CheckInitCondition] Condition is not in state to start sequence.");
+                Log.E("Condition is not in state to start sequence.");
                 context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false);
                 return SEQ_COMPLETE;
             }
@@ -230,54 +221,46 @@ namespace WeldingCommon.Sequences
             var startTime = DateTime.Now;
             context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime);
 
-            Log.D("[CheckInitCondition] UploadWeldingList Sequence CheckInitCondition");
+            Log.D("UploadWeldingList Sequence CheckInitCondition");
             return SEQ_MARKING_ON_THE_FLY_ON;
         }
 
         // MOTF 지원 중 
         private SequenceActionResult MarkingOnTheFlyOn(SequenceContext context, string id, SequenceActionResult param)
         {
-            #region 260416 복원  -지운 내용 복원함. 
+            if (_Scanner.Config.UseMarkingOnTheFly) {
-            //if (_Scanner.Config.UseMarkingOnTheFly)
+                if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
-            //{
+                    // 1. Linear Track OTF 활성화 및 엔코더 초기화
-            //    if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY)
+                    _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
-            //    {
-            //        // 1. Linear Track OTF 활성화 및 엔코더 초기화
-            //        _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
 
-            //        // 2. 엔코더 특정 위치갈 때까지 대기
+                    // 2. 엔코더 특정 위치갈 때까지 대기
-            //        _Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
+                    _Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
 
-            //        _FlyOffsetX = _Scanner.Config.MarkingOntheFlyOffsetX;
+                    _FlyOffsetX = _Scanner.Config.MarkingOntheFlyOffsetX;
-            //        _FlyOffsetY = _Scanner.Config.MarkingOntheFlyOffsetY;
+                    _FlyOffsetY = _Scanner.Config.MarkingOntheFlyOffsetY;
 
-            //    }
+                } else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) {
-            //    else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate)
+                    Log.I(string.Format("MOTF 사용, Rotate 보상"));
-            //    {
+                    // 1. 엔코더 값이 들어오면 바로 X(Rotary) Encoder 리셋
-            //        Log.I(string.Format("MOTF 사용, Rotate 보상"));
+                    _Scanner.SetFlyRotate(_Scanner.Config.MarkingOnTheFlyEncoderResolutionRotate);
-            //        // 1. 엔코더 값이 들어오면 바로 X(Rotary) Encoder 리셋
-            //        _Scanner.SetFlyRotate(_Scanner.Config.MarkingOnTheFlyEncoderResolutionRotate);
 
-            //        // 2. 일괄 회전.(OTW 세팅시, Encoder가 0부터 시작하므로)
+                    // 2. 일괄 회전.(OTW 세팅시, Encoder가 0부터 시작하므로)
-            //        foreach (IDrawObject obj in _InitParam.SelectedDrawObjectList)
+                    foreach (IDrawObject obj in _InitParam.SelectedDrawObjectList) {
-            //        {
+                        obj.Rotate(ROTATION_DEGREE, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY));  // +15도 회전
-            //            obj.Rotate(ROTATION_DEGREE, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY));  // +15도 회전
+                    }
-            //        }
 
-            //        // 3. 원하는 용접 시작 각도 올 때까지 기다리기.
+                    // 3. 원하는 용접 시작 각도 올 때까지 기다리기.
-            //        double weldingAngle = _Scanner.Config.MarkingRangeMinRotate + ROTATION_DEGREE;
+                    double weldingAngle = _Scanner.Config.MarkingRangeMinRotate + ROTATION_DEGREE;
-            //        _Scanner.WaitForEncoderRotateX(weldingAngle);  // -5도부터 용접시작하고 싶으면 10도 넣으면 됨
+                    _Scanner.WaitForEncoderRotateX(weldingAngle);  // -5도부터 용접시작하고 싶으면 10도 넣으면 됨
 
-            //        // _FlyOffsetX, _FlyOffsetY 값 설정 불필요, 0-0 이면 됨.
+                    // _FlyOffsetX, _FlyOffsetY 값 설정 불필요, 0-0 이면 됨.
-            //    }
+                }
 
-            //    // 엔코더 기록(용접 시작)
+                // 엔코더 기록(용접 시작)
-            //    _Scanner.StoreEncoder(0);
+                _Scanner.StoreEncoder(0);
-            //    _Scanner.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함
+                _Scanner.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함
-            //}
+            }
-            #endregion
 
-            Log.I($"[MarkingOnTheFlyOn] Comp");
             return SequenceAction.Ok();
         }
 
@@ -288,8 +271,6 @@ namespace WeldingCommon.Sequences
                 _Scanner.SetTrigger(_Scanner.Config.RecordPeriod,
                     _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2,
                     _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4);
-
-                Log.I($"[RecordSignalOn] Scanner SetTrigger 1 {_Scanner.Config.RecordSignalType1.ToString()} ,2 {_Scanner.Config.RecordSignalType2.ToString()}, 3 {_Scanner.Config.RecordSignalType3.ToString()} ,4 {_Scanner.Config.RecordSignalType4.ToString()}");
             }
 
             return SequenceAction.Ok();
@@ -299,28 +280,24 @@ namespace WeldingCommon.Sequences
         {
             //객체에 대한 파라미터 Load 전 lastX,Y를 현재 스캐너 위치로 받아옴
             _Scanner.GetXYPos(out _LastX, out _LastY);
-            Log.I($"[LoadDrawObjectScannerParam] 현재 스캐너 위치 Last X ({_LastX}) Last Y ({_LastY})");
 
             _ExternalCommandOffset.X = (float)_InitParam.CellMeasureCenterOffsetX;
             _ExternalCommandOffset.Y = (float)_InitParam.CellMeasureCenterOffsetY;
-            Log.I($"[LoadDrawObjectScannerParam] _ExternalCommandOffset X ({_ExternalCommandOffset.X}) Y ({_ExternalCommandOffset.Y})");
+
             // 첫번째 Object의 파라미터만 넣어주자?
             var scanParam = getScannerParameter(_InitParam.SelectedDrawObjectList.First());
             if (scanParam != null) {
                 result.SettingPower = scanParam.LaserPower1 + scanParam.LaserPower2;
                 result.SettingVelocity = scanParam.MarkSpeed;
             }
-
             //ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
             int drawObjectCount = FuncLoadDrawObjectScannerParam(_InitParam.SelectedDrawObjectList);
-            Log.I($"[LoadDrawObjectScannerParam]  SeqUploadWeldingList_OutParam : SettingPower ({result.SettingPower}) SettingVelocity ({result.SettingVelocity}) " +
+
-                $"drawObjectCount : ({drawObjectCount})");
             //var weldingData = Status.GetProcessingWeldingData();
             //weldingData.UploadDatas[eUploadData.LaserWeldingRecipeNo].Value = context.Recipes.ActivatedRecipe().Id;
             //weldingData.UploadDatas[eUploadData.PreWeldingPointCount].Value = drawObjectCount;
 
-            //if (_PageNo == 1)
+            //if (_PageNo == 1) {
-            //{
             //    weldingData.UploadDatas[eUploadData.CommonLaserDrawSpeed].Value = _ScannerParam.MarkSpeed;
             //    weldingData.UploadDatas[eUploadData.CommonLaserJumpSpeed].Value = _ScannerParam.JumpSpeed;
             //    weldingData.UploadDatas[eUploadData.CommonLaserMainPowerCore].Value = _ScannerParam.LaserPower1;
@@ -329,9 +306,7 @@ namespace WeldingCommon.Sequences
             //    weldingData.UploadDatas[eUploadData.CommonLaserRampingLength_Starting].Value = _ScannerParam.RampingStartDist;
             //    weldingData.UploadDatas[eUploadData.CommonLaserRampingPower_OverPath].Value = _ScannerParam.RampingEndPower;
             //    weldingData.UploadDatas[eUploadData.CommonLaserRampingLength_OverPath].Value = _ScannerParam.RampingEndDist;
-            //}
+            //} else {
-            //else
-            //{
             //    weldingData.UploadDatas[eUploadData.CathodeLaserDrawSpeed].Value =  _ScannerParam.MarkSpeed;
             //    weldingData.UploadDatas[eUploadData.CathodeLaserJumpSpeed].Value = _ScannerParam.JumpSpeed;
             //    weldingData.UploadDatas[eUploadData.CathodeLaserMainPowerCore].Value = _ScannerParam.LaserPower1;
@@ -367,7 +342,7 @@ namespace WeldingCommon.Sequences
 
             return count;
         }
-        //
+
         private int FuncLoadDrawObjectScannerParamSelected(IDrawObject obj)
         {
             if (!obj.Enabled)
@@ -388,20 +363,6 @@ namespace WeldingCommon.Sequences
                 }
 
                 if (obj is Line) {
-                    if (isFirst && (_InitParam.PageNum == 3)) { // 이전 Point 정보가 있고 첫번째 Line인 경우 긴 Line 만들어 Upload
-                        Line LongLine = new Line();
-                        LongLine.PF1 = new PointF((float)_InitParam.LastX, (float)_InitParam.LastY - (float)(_Scanner.Config.XDiff_Page3and4 - _Scanner.Config.XDiff_Page1and2));
-                        LongLine.PF2 = obj.PF1;
-                        LoadLineScannerParam(LongLine);
-                        isFirst = false;
-                    }
-                    if (isFirst && (_InitParam.PageNum == 1)) { // 이전 Point 정보가 있고 첫번째 Line인 경우 긴 Line 만들어 Upload
-                        Line LongLine = new Line();
-                        LongLine.PF1 = new PointF((float)_InitParam.LastX, (float)_InitParam.LastY + (float)(_Scanner.Config.XDiff_Page3and4 - _Scanner.Config.XDiff_Page1and2));
-                        LongLine.PF2 = obj.PF1;
-                        LoadLineScannerParam(LongLine);
-                        isFirst = false;
-                    }
                     LoadLineScannerParam((Line)obj);
                     count++;
                 } else if (obj is Dot) {
@@ -518,31 +479,31 @@ namespace WeldingCommon.Sequences
             else
                 _CenterRingRatio = (int)Math.Round((double)(100 * param.LaserPower1) / (double)(param.LaserPower1 + param.LaserPower2), 0); // Discrete 한 값이라서 Ring은 오차 발생
 
-            //if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberS) { // TruFiberS Type은 비율 제어
+            if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberS) { // TruFiberS Type은 비율 제어
-            //    if (_CenterRingRatio == 0) { // Center가 0인경우
+                if (_CenterRingRatio == 0) { // Center가 0인경우
-            //        //percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent((double)param.LaserPower2, (uint)eAnalogPortOut.DA1);
+                    //percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent((double)param.LaserPower2, (uint)eAnalogPortOut.DA1);
-            //        percentLaser1 = (float)(_LaserPowerCalParam.CalibrateWattToMeasuredVoltage((double)param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Center));
+                    percentLaser1 = (float)(_LaserPowerCalParam.CalibrateWattToMeasuredVoltage((double)param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Center));
-            //        percentLaser1 = percentLaser1 * 10; //  스캐너에 입렵하기 위한 연산 ( 1V : 10 ~~ 10V : 100 )
+                    percentLaser1 = percentLaser1 * 10; //  스캐너에 입렵하기 위한 연산 ( 1V : 10 ~~ 10V : 100 )
-            //    } else {
+                } else {
-            //        //percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent((double)param.LaserPower1 / (double)_CenterRingRatio * 100.0, (uint)eAnalogPortOut.DA1);
+                    //percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent((double)param.LaserPower1 / (double)_CenterRingRatio * 100.0, (uint)eAnalogPortOut.DA1);
-            //        percentLaser1 = (float)(_LaserPowerCalParam.CalibrateWattToMeasuredVoltage((double)param.LaserPower1 / (double)_CenterRingRatio * 100.0, (uint)LaserPowerCalParam.beamMode.Center));
+                    percentLaser1 = (float)(_LaserPowerCalParam.CalibrateWattToMeasuredVoltage((double)param.LaserPower1 / (double)_CenterRingRatio * 100.0, (uint)LaserPowerCalParam.beamMode.Center));
-            //        percentLaser1 = percentLaser1 * 10; //  스캐너에 입렵하기 위한 연산 ( 1V : 10 ~~ 10V : 100 )
+                    percentLaser1 = percentLaser1 * 10; //  스캐너에 입렵하기 위한 연산 ( 1V : 10 ~~ 10V : 100 )
-            //    }
+                }
-            //    percentLaser2 = 0;
+                percentLaser2 = 0;
-            //    Log.D(string.Format("TruFiber S Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2,percentLaser1,percentLaser2,_CenterRingRatio));
+                Log.D(string.Format("TruFiber S Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2,percentLaser1,percentLaser2,_CenterRingRatio));
-            //} else if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberP) { // Power제어
+            } else if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberP) { // Power제어
-            //    percentLaser1 = 100;
+                percentLaser1 = 100;
-            //    percentLaser2 = 0;
+                percentLaser2 = 0;
-            //    Log.D(string.Format("TruFiber P Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio));
+                Log.D(string.Format("TruFiber P Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio));
-            //} else if (_Laser.Config.TruFiberType == eTruFiberType.CalPercentToMeasuredVoltage) {
+            } else if (_Laser.Config.TruFiberType == eTruFiberType.CalPercentToMeasuredVoltage) {
-            //    percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower1, (uint)LaserPowerCalParam.beamMode.Center) * 10;
+                percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower1, (uint)LaserPowerCalParam.beamMode.Center) * 10;
-            //    percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
-            //    Log.D(string.Format("CalPercentToMeasuredVoltage Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio));
+                Log.D(string.Format("CalPercentToMeasuredVoltage Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio));
-            //} else {
+            } else {
                 percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);
                 percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower2, (uint)eAnalogPortOut.DA2);
                 Log.D(string.Format("Normal Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio));
-            //}
+            }
 
             _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
             _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
@@ -735,8 +696,7 @@ namespace WeldingCommon.Sequences
                 }
                 // END- 시작위치 점프 관련 설정
 
-            } 
+            } else {
-            else {
                 // Wobble, PowerProfile, Ramping을 사용하지 않는 일반적인 경우 이쪽으로 들어옴
 
                 // START- Jump(Line Shot)
@@ -783,10 +743,9 @@ namespace WeldingCommon.Sequences
 
                     _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);
 
-                    Log.I(string.Format($"[RCC Subpath Line Weld] Mark(Ramping) ({obj.PF2.X + xOffset},{obj.PF2.Y + yOffset})"));
+                    Log.I(string.Format($"[RCC Subpath Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
 
-                } 
+                } else if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingEndDist + param.RampingStartDist <= obj.Distance)) {
-                else if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingEndDist + param.RampingStartDist <= obj.Distance)) {
                     // RCC 가 아닌 경우
                     _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
                     _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
@@ -833,8 +792,7 @@ namespace WeldingCommon.Sequences
 
                     Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
 
-                } 
+                } else {
-                else {
                     // Ramping 이 없는 경우
                     _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
 
@@ -851,7 +809,7 @@ namespace WeldingCommon.Sequences
 
                     //_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);
 
-                    Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X+ xOffset},{obj.PF2.Y+ yOffset})"));
+                    Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
                 }
                 // END- Mark
 
@@ -1539,31 +1497,25 @@ namespace WeldingCommon.Sequences
 
         private SequenceActionResult MarkingOnTheFlyOff(SequenceContext context, string id, SequenceActionResult param)
         {
-            #region 260416 주석 처리한 내용 복원함 . - 레시피 가공 자체가 안 됨 
+            if (_Scanner.Config.UseMarkingOnTheFly) {
-            //if (_Scanner.Config.UseMarkingOnTheFly)
+                if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
-            //{
+                    // Linear OTW의 경우, 각 Draw Tool에서 좌표 오프셋을 해 주고 있음
-            //    if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY)
-            //    {
-            //        // Linear OTW의 경우, 각 Draw Tool에서 좌표 오프셋을 해 주고 있음
 
-            //    }
+                } else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) {
-            //    else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate)
+                    // 여기서 원래 레시피로 돌려주기
-            //    {
+                    foreach (IDrawObject obj in _InitParam.SelectedDrawObjectList) {
-            //        // 여기서 원래 레시피로 돌려주기
+                        obj.Rotate(ROTATION_DEGREE * -1, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); //  -15도 회전
-            //        foreach (IDrawObject obj in _InitParam.SelectedDrawObjectList)
+                    }
-            //        {
+                }
-            //            obj.Rotate(ROTATION_DEGREE * -1, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); //  -15도 회전
-            //        }
-            //    }
 
-            //    // 추후, Parking Position 을 용접 시작 위치로 자동으로 계산되어 들어가게 개선 필요
+                // 추후, Parking Position 을 용접 시작 위치로 자동으로 계산되어 들어가게 개선 필요
-            //    _Scanner.Fly_Return(_Scanner.Config.MarkingOntheFlyParkingPositionX, _Scanner.Config.MarkingOntheFlyParkingPositionY);
+                _Scanner.Fly_Return(_Scanner.Config.MarkingOntheFlyParkingPositionX, _Scanner.Config.MarkingOntheFlyParkingPositionY);
+
+                // 엔코더 기록(용접 완료)
+                _Scanner.StoreEncoder(1);
+                _Scanner.SaveAndRestartTimer();
+            }
 
-            //    // 엔코더 기록(용접 완료)
-            //    _Scanner.StoreEncoder(1);
-            //    _Scanner.SaveAndRestartTimer();
-            //}
-            #endregion
             return SequenceAction.Ok();
         }
 
@@ -1574,8 +1526,6 @@ namespace WeldingCommon.Sequences
                 _Scanner.SetTrigger(0,
                     _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2,
                     _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4);
-
-                Log.I($"[RecordSignalOff] 기록 종료 ");
             }
 
             return SequenceAction.Ok();
@@ -1583,10 +1533,8 @@ namespace WeldingCommon.Sequences
 
         private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param)
         {
-           
             // 결과 Data 를 업데이트 함.
             context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true);
-            Log.I($"[SaveResultData] KEY_SEQUENCE_RESULT : true ");
             return SequenceAction.Ok();
         }
 
@@ -1594,14 +1542,14 @@ namespace WeldingCommon.Sequences
         {
             // 완료 비트 write 하는 Node 추가 필요. format 유지, SeqScoutNormal 없음
 
-            Log.D("[WriteCompletionPLCBit] UploadWeldingList Sequence WriteCompletionPLCBit");
+            Log.D("UploadWeldingList Sequence WriteCompletionPLCBit");
             return SequenceAction.Ok();
         }
 
         private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param)
         {
             RestoreDeviceStatus();
-            Log.I("[Complete] UploadWeldingList Complete");
+            Log.I("UploadWeldingList Complete");
 
             _UploadSpanTime = DateTime.Now.Subtract(_UploadstartTime);
             Log.D(string.Format($"[SeqUploadWeldingList] UploadWeldingList Complete Time : {_UploadSpanTime.TotalMilliseconds}"));
@@ -1652,10 +1600,6 @@ namespace WeldingCommon.Sequences
 
         public List<IDrawObject> SelectedDrawObjectList { get; set; }
         public eListNo WeldingScannerListNo { get; set; }
-
-        public double PageNum { get; set; }
-        public double LastX { get; set; }
-        public double LastY { get; set; }
     }
 
     public class SeqUploadWeldingList_OutParam : OutParam

WeldingComponents/WeldingCommon/Utils/ExcelManagementUnit.cs

@@ -576,8 +576,7 @@ namespace WeldingCommon.Utils
                 // 다른 프로세스도 파일 읽고 쓸 수 있도록.
                 FileStream FileStream = new FileStream(path, FileMode.Append, FileAccess.Write, FileShare.ReadWrite);
 
-                StreamWriter sw = new StreamWriter(FileStream, System.Text.Encoding.Unicode);  // 26.04.15 기존 코드 주석처리함 
+                StreamWriter sw = new StreamWriter(FileStream, System.Text.Encoding.Unicode);
-                //StreamWriter sw = new StreamWriter(FileStream, System.Text.Encoding.UTF8); // 26.04.15 변경 코드 UTF8로 변경 log 깨짐 현상 
 
                 if (isFile) {
                     sw.WriteLine(strItem);

WeldingComponents/WeldingCommon/Views/Calibration/UCScannerCalibration.xaml

@@ -89,8 +89,8 @@
                                 <ColumnDefinition Width="1*"></ColumnDefinition>
                             </Grid.ColumnDefinitions>
                             <UniformGrid Grid.Column="0" Rows="3">
-                                <usercontrols:UCKeyValue KeyText="Row" Value="{Binding GridRowCount}" DecimalPlaces="0" Unit="count" KeyHorizontalAlignment="Right" KeyTextWidth="0.9*" ToolTip="+패턴 찾기 위해서 홀수입력" />
+                                <usercontrols:UCKeyValue KeyText="Row" Value="{Binding GridRowCount}" DecimalPlaces="0" Unit="count" KeyHorizontalAlignment="Right" KeyTextWidth="0.9*" />
-                                <usercontrols:UCKeyValue KeyText="Column" Value="{Binding GridColumnCount}" DecimalPlaces="0" Unit="count" KeyHorizontalAlignment="Right" KeyTextWidth="0.9*" ToolTip="+패턴 찾기 위해서 홀수입력"/>
+                                <usercontrols:UCKeyValue KeyText="Column" Value="{Binding GridColumnCount}" DecimalPlaces="0" Unit="count" KeyHorizontalAlignment="Right" KeyTextWidth="0.9*" />
                                 <usercontrols:UCKeyValue KeyText="Unit Length" Value="{Binding UnitLength}" DecimalPlaces="0" Unit="mm" KeyHorizontalAlignment="Right" KeyTextWidth="0.9*" />
                             </UniformGrid>
                             <UniformGrid Grid.Column="1" Rows="3">

WeldingComponents/WeldingCommon/Views/Calibration/UCScannerCalibrationViewModel.cs

@@ -29,8 +29,7 @@ using WeldingCommon.Settings;
 using WeldingCommon.Utils;
 using WeldingCommon.Process;
 using static CoreUnit.Control.UserControl.Canvas.WeldingParameterIDEditor;
-using System.Diagnostics;
+using System.Diagnostics; //Process.Start
-using Aurora.Util.HislogPlus; //Process.Start
 
 namespace WeldingCommon.Views
 {
@@ -136,7 +135,7 @@ namespace WeldingCommon.Views
 
             _Scanner = _Aurora.DeviceManager[CommonDeviceIds.Scanner] as Scanner;
             _Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as Laser;
-            //_LaserConfig = _Aurora.DeviceManager.GetDeviceConfig(_Laser.DeviceId) as LaserConfig;
+            _LaserConfig = _Aurora.DeviceManager.GetDeviceConfig(_Laser.DeviceId) as LaserConfig;
             _ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(_Scanner.DeviceId) as ScannerConfig;
 
             //_SeqMarkGrid = _Aurora.SequenceEntry[CommonSequenceIds.SeqMarkGrid] as ISequence;
@@ -211,20 +210,13 @@ namespace WeldingCommon.Views
                 CurrentY = yPos;
             }
 
-            if (_Laser != null)
+            if (_Laser.GetLaserReady()) {
-            {
-                if (_Laser.GetLaserReady())
-                {
                 LaserStatus = true;
-                }
+            } else {
-                else
-                {
                 LaserStatus = false;
             }
         }
 
-        }
-
         private void OnUpdateCorrectionTable(EventMessage obj)
         {
             var updateDataGridItem = obj.Param as UpdateDataGridItem;
@@ -488,7 +480,7 @@ namespace WeldingCommon.Views
             _SeqScannerCalibration.Start(param, OnCompleteScannerCalibration);
 
         }
-        //_SeqScannerCalibration 이 시퀸스가 시작된다.  IsSequenceRunning_ScannerCalibration param의 값이 result가 성공해야 성공
+
         private void OnCompleteScannerCalibration(SequenceActionResult res)
         {
             if (res != null) {

WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMovingViewModel.cs

@@ -112,12 +112,12 @@ namespace WeldingCommon.Views.ACS
             ACS = _env.DeviceManager[CommonDeviceIds.ACS] as ScannerACS;
 
             MotorX = _env.DeviceManager[CommonMotorIds.AxisX2] as ACSMotor;
-            //MotorY1 = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
+            MotorY1 = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
-            //MotorY2 = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
+            MotorY2 = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
             MotorZ = _env.DeviceManager[CommonMotorIds.AxisZ] as ACSMotor;
 
             XAxis = MotorX;
-            //YAxis = MotorY1;
+            YAxis = MotorY1;
             ZAxis = MotorZ;
 
             CurrentPosUpdateTimer = CreateTimer(

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

@@ -57,11 +57,7 @@
                 <RowDefinition Height="1*"></RowDefinition>
             </Grid.RowDefinitions>
             <local:UCScannerMotion Grid.Row="0" Margin="5 0 0 0" DataContext="{Binding ScannerMotionViewModel}"></local:UCScannerMotion>
-
+            <local:UCScannerLaserControl Grid.Row="1" Margin="5 5 0 0" DataContext="{Binding ScannerLaserControlViewModel}"></local:UCScannerLaserControl>
-            <ScrollViewer Grid.Row="1" VerticalScrollBarVisibility="Auto">
-                <local:UCScannerLaserControl Margin="5 5 0 0" DataContext="{Binding ScannerLaserControlViewModel}"></local:UCScannerLaserControl>
-            </ScrollViewer>
-            <!--local:UCScannerLaserControl Grid.Row="1" Margin="5 5 0 0" DataContext="{Binding ScannerLaserControlViewModel}"></local:UCScannerLaserControl>-->
         </Grid>
 
 

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

@@ -19,7 +19,7 @@ namespace WeldingCommon.Views
     {
         private readonly Logger Log = new Logger("UCManualScannerOperationViewModel");
 
-        public ICommand CMD_ShowSelectFieldWindow { get; } // 메뉴얼의 SelectField 팝업 버튼
+        public ICommand CMD_ShowSelectFieldWindow { get; }
 
         private readonly IAuroraEnvironment _Aurora;
 

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

@@ -28,13 +28,13 @@
             <RowDefinition Height="Auto"></RowDefinition>
             <RowDefinition Height="Auto"/>
             <RowDefinition Height="Auto"/>
-            <RowDefinition Height="Auto"/>
+            <RowDefinition/>
         </Grid.RowDefinitions>
         <GroupBox Grid.Row="0"  Header="Manual Laser Power Control" Margin="0 3 3 0">
             <Grid>
                 <Grid.RowDefinitions>
                     <RowDefinition Height="auto"></RowDefinition>
-                    <RowDefinition Height="auto"></RowDefinition>
+                    <RowDefinition Height="1*"></RowDefinition>
                 </Grid.RowDefinitions>
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="1.5*"></ColumnDefinition>
@@ -44,7 +44,7 @@
                     <Grid Margin="3">
                         <Grid.RowDefinitions>
                             <RowDefinition Height="auto"></RowDefinition>
-                            <RowDefinition Height="auto"></RowDefinition>
+                            <RowDefinition Height="1*"></RowDefinition>
                         </Grid.RowDefinitions>
                         <UniformGrid Grid.Row="0" Rows="4">
                             <usercontrols:UCKeyValue KeyText="Power #1" Value="{Binding LaserPower1Percent}" DecimalPlaces="0" Unit="%" KeyHorizontalAlignment="Right" KeyTextWidth="0.5*" />
@@ -63,14 +63,14 @@
                         </Grid.ColumnDefinitions>
                         <Grid.RowDefinitions>
                             <RowDefinition Height="auto"></RowDefinition>
-                            <RowDefinition Height="auto"></RowDefinition>
+                            <RowDefinition Height="1*"></RowDefinition>
                         </Grid.RowDefinitions>
                         <GroupBox Grid.Row="0" Grid.Column="0" Grid.RowSpan="2" Header="Timer Set" Style="{StaticResource StGroupBox4th}">
                             <Grid>
                                 <Grid.RowDefinitions>
                                     <RowDefinition Height="auto"></RowDefinition>
                                     <RowDefinition Height="auto"></RowDefinition>
-                                    <RowDefinition Height="auto"></RowDefinition>
+                                    <RowDefinition Height="1*"></RowDefinition>
                                 </Grid.RowDefinitions>
                                 <Border Grid.Row="0" BorderBrush="Gray" BorderThickness="0.5">
                                     <mah:ToggleSwitch Grid.Row="0" HorizontalAlignment="Center" FontSize="12" FontWeight="Bold"
@@ -122,7 +122,7 @@
             <Grid>
                 <Grid.RowDefinitions>
                     <RowDefinition Height="auto"></RowDefinition>
-                    <RowDefinition Height="auto"></RowDefinition>
+                    <RowDefinition Height="1*"></RowDefinition>
                 </Grid.RowDefinitions>
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="1.5*"></ColumnDefinition>
@@ -132,7 +132,7 @@
                     <Grid Margin="3">
                         <Grid.RowDefinitions>
                             <RowDefinition Height="auto"></RowDefinition>
-                            <RowDefinition Height="auto"></RowDefinition>
+                            <RowDefinition Height="1*"></RowDefinition>
                         </Grid.RowDefinitions>
                         <UniformGrid Grid.Row="0" Rows="4">
                             <usercontrols:UCKeyValue KeyText="Power #1" Value="{Binding LaserPower1Watt}" DecimalPlaces="0" Unit="W" KeyHorizontalAlignment="Right" KeyTextWidth="0.5*" />
@@ -151,14 +151,14 @@
                         </Grid.ColumnDefinitions>
                         <Grid.RowDefinitions>
                             <RowDefinition Height="auto"></RowDefinition>
-                            <RowDefinition Height="auto"></RowDefinition>
+                            <RowDefinition Height="1*"></RowDefinition>
                         </Grid.RowDefinitions>
                         <GroupBox Grid.Row="0" Grid.Column="0" Grid.RowSpan="2" Header="Timer Set" Style="{StaticResource StGroupBox4th}">
                             <Grid>
                                 <Grid.RowDefinitions>
                                     <RowDefinition Height="auto"></RowDefinition>
                                     <RowDefinition Height="auto"></RowDefinition>
-                                    <RowDefinition Height="auto"></RowDefinition>
+                                    <RowDefinition Height="1*"></RowDefinition>
                                 </Grid.RowDefinitions>
                                 <Border Grid.Row="0" BorderBrush="Gray" BorderThickness="0.5">
                                     <mah:ToggleSwitch Grid.Row="0" HorizontalAlignment="Center" FontSize="12" FontWeight="Bold"
@@ -207,19 +207,19 @@
 
 
 
-        <GroupBox Grid.Row="2"  Header="Marking On The Fly" Margin="0 3 3 0"  IsEnabled="{Binding IsUseMarkingOnTheFly}">
+        <GroupBox Grid.Row="2"  Header="Marking On The Fly" Margin="0 3 3 0" Visibility="{Binding IsUseMarkingOnTheFly, Converter={StaticResource convTrueVisible}}">
             <Grid>
                 <Grid.RowDefinitions>
                     <RowDefinition Height="auto"></RowDefinition>
                     <RowDefinition Height="auto"></RowDefinition>
-                    <RowDefinition Height="auto"></RowDefinition>
+                    <RowDefinition Height="1*"></RowDefinition>
                 </Grid.RowDefinitions>
                 <GroupBox Header="Encoder Value" Grid.Row="0" Margin="0 5 0 0" Style="{StaticResource StGroupBox4th}">
                     <Grid Margin="3">
                         <Grid.RowDefinitions>
                             <RowDefinition Height="auto"></RowDefinition>
                             <RowDefinition Height="auto"></RowDefinition>
-                            <RowDefinition Height="auto"></RowDefinition>
+                            <RowDefinition Height="1*"></RowDefinition>
                         </Grid.RowDefinitions>
                         <Grid.ColumnDefinitions>
                             <ColumnDefinition Width="1*"></ColumnDefinition>
@@ -240,7 +240,7 @@
                                 <Grid.RowDefinitions>
                                     <RowDefinition Height="auto"></RowDefinition>
                                     <RowDefinition Height="auto"></RowDefinition>
-                                    <RowDefinition Height="auto"></RowDefinition>
+                                    <RowDefinition Height="1*"></RowDefinition>
                                 </Grid.RowDefinitions>
                                 <Border Grid.Row="0" Grid.Column="0" MinHeight="30">
                                     <TextBlock Margin="10 0" FontSize="12" Foreground="#FFBBBBBB" FontWeight="Bold" Text="X Dir FieldOut" VerticalAlignment="Center" HorizontalAlignment="Right"/>
@@ -267,7 +267,7 @@
                     <Grid Margin="3">
                         <Grid.RowDefinitions>
                             <RowDefinition Height="auto"></RowDefinition>
-                            <RowDefinition Height="auto"></RowDefinition>
+                            <RowDefinition Height="1*"></RowDefinition>
                         </Grid.RowDefinitions>
                         <Grid.ColumnDefinitions>
                             <ColumnDefinition Width="1*"></ColumnDefinition>

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

@@ -40,7 +40,7 @@ namespace WeldingCommon.Views
         private readonly IAuroraEnvironment _Aurora;
 
         private readonly LaserConfig _LaserConfig;
-        private readonly Scanner _Scanner; // 스캐너 
+        private readonly Scanner _Scanner;
         private readonly Laser _Laser;
         private readonly ScannerConfig _ScannerConfig;
 
@@ -111,9 +111,9 @@ namespace WeldingCommon.Views
             _Aurora = aurora;
 
             _Scanner = _Aurora.DeviceManager[scannerId] as Scanner;
-            //_Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as Laser;
+            _Laser = _Aurora.DeviceManager[CommonDeviceIds.Laser] as Laser;
 
-            //_LaserConfig = _Aurora.DeviceManager.GetDeviceConfig(_Laser.DeviceId) as AuroraLaser.LaserConfig;
+            _LaserConfig = _Aurora.DeviceManager.GetDeviceConfig(_Laser.DeviceId) as AuroraLaser.LaserConfig;
             _ScannerConfig = _Aurora.DeviceManager.GetDeviceConfig(scannerId) as ScannerConfig;
 
             _SeqTeachingRun = _Aurora.SequenceEntry[CommonSequenceIds.SeqComponentTeachingRun];
@@ -122,9 +122,9 @@ namespace WeldingCommon.Views
             InitVariable();
 
             CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
-            CMD_LaserShotOnPercent = new DelegateCommand(PerformCmdLaserShotOnPercent); //레이저 온 퍼센트 적용
+            CMD_LaserShotOnPercent = new DelegateCommand(PerformCmdLaserShotOnPercent);
-            CMD_LaserShotOnWatt = new DelegateCommand(PerformCmdLaserShotOnWatt);   // 레이저 온 와트 적용 
+            CMD_LaserShotOnWatt = new DelegateCommand(PerformCmdLaserShotOnWatt);
-            CMD_LaserShotOff = new DelegateCommand(PerformCmdLaserShotOff); //레이저 끄기 
+            CMD_LaserShotOff = new DelegateCommand(PerformCmdLaserShotOff);
 
             CMD_ActivateOnTheFly = new DelegateCommand(PerformCmdActivateOnTheFly);
             CMD_DeactivateOnTheFly = new DelegateCommand(PerformCmdDeactivateOnTheFly);
@@ -156,24 +156,17 @@ namespace WeldingCommon.Views
         private void VisibleChanged(object obj)
         {
             bool visible = (bool)obj;
-            if (visible)
+            if (visible) {
-            {
                 //Init_XYLimitPos();
-
-                // 26.04.16 NDY - 탭 활성화 시마다 ScannerConfig에서 최신값 반영
-                IsUseMarkingOnTheFly = _ScannerConfig?.UseMarkingOnTheFly ?? false;
                 _MonitorTimer.Start();
-            }
+            } else {
-            else
-            {
                 _MonitorTimer.Stop();
             }
         }
 
         private void OnMonitoring(object sender, EventArgs e)
         {
-            if (_Scanner.IsActivated == false)
+            if (_Scanner.IsActivated == false) {
-            {
                 Log.D(string.Format("[OnMonitoring] Check Scanner device Connect. ScannerLaserControl view OnMonitoring Stop"));
                 MessageUtil.ShowWarningToast(string.Format("Check Scanner device Connect."));
 
@@ -181,12 +174,9 @@ namespace WeldingCommon.Views
             }
 
             double encoderX, encoderY;
-            if (_ScannerConfig.OnTheFlyCoordinate == eOntheFlyCoordinate.XY)
+            if (_ScannerConfig.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
-            {
                 _Scanner.GetEncoder(out encoderX, out encoderY, false);
-            }
+            } else {
-            else
-            {
                 _Scanner.GetEncoder(out encoderX, out encoderY, true);
             }
 
@@ -210,22 +200,16 @@ namespace WeldingCommon.Views
             markingInfo = _Scanner.GetMarkingInfo();
 
             // x 범위 초과
-            if ((markingInfo & 0x0001) == 0x0001 || (markingInfo & 0x0002) == 0x0002)
+            if ((markingInfo & 0x0001) == 0x0001 || (markingInfo & 0x0002) == 0x0002) {
-            {
                 IsFieldOutX = true;
-            }
+            } else {
-            else
-            {
                 IsFieldOutX = false;
             }
 
             // y 범위 초과
-            if ((markingInfo & 0x0004) == 0x0004 || (markingInfo & 0x0008) == 0x0008)
+            if ((markingInfo & 0x0004) == 0x0004 || (markingInfo & 0x0008) == 0x0008) {
-            {
                 IsFieldOutY = true;
-            }
+            } else {
-            else
-            {
                 IsFieldOutY = false;
             }
 
@@ -235,26 +219,19 @@ namespace WeldingCommon.Views
 
             uint IsList1Busy = readStatus & 16;
             uint IsList2Busy = readStatus & 32;
-            if (IsList1Busy == 16)
+            if (IsList1Busy == 16) {
-            {
                 busyStatus = "List1";
-                if (_BeforeBusyList != 1)
+                if (_BeforeBusyList != 1) {
-                {
                     _ListIterationCount++;
                 }
                 _BeforeBusyList = 1;
-            }
+            } else if (IsList2Busy == 32) {
-            else if (IsList2Busy == 32)
-            {
                 busyStatus = "List2";
-                if (_BeforeBusyList != 2)
+                if (_BeforeBusyList != 2) {
-                {
                     _ListIterationCount++;
                 }
                 _BeforeBusyList = 2;
-            }
+            } else {
-            else
-            {
                 busyStatus = "N/A";
             }
 
@@ -264,26 +241,22 @@ namespace WeldingCommon.Views
 
         private void PerformCmdLaserShotOnPercent(object obj)
         {
-            if (IsUseLaserAutoOffChecked)
+            if (IsUseLaserAutoOffChecked) {
-            {
+                if (_Scanner.GetBusyStatus()) {
-                if (_Scanner.GetBusyStatus())
-                {
                     MessageUtil.ShowWarningToast(string.Format("Laser, Scanner is busy."));
                     return;
                 }
-                //if (!_Laser.GetLaserReady()) {
+                if (!_Laser.GetLaserReady()) {
-                //    MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
+                    MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
-                //    return;
+                    return;
-                //}
+                }
 
-                if (_SeqTeachingRun.RunState == SequenceRunState.Running)
+                if (_SeqTeachingRun.RunState == SequenceRunState.Running) {
-                {
                     MessageUtil.ShowWarningToast(string.Format("이미 시퀀스가 Start 상태입니다.", "Laser On"), Log);
                     return;
                 }
                 var currentModelInfo = EquipmentSpecificModelUtil.GetCurrentRecipeEquipmentSpecificModel();
-                if (currentModelInfo.equipmentSpecificModel == null)
+                if (currentModelInfo.equipmentSpecificModel == null) {
-                {
                     MessageUtil.ShowWarningToast(string.Format("선택된 model 이 없습니다.", "Laser On"));
                     return;
                 }
@@ -291,15 +264,13 @@ namespace WeldingCommon.Views
                 var intervalTimeBlowOn = 0;
                 var intervalTimeBlowOff = 0;
 
-                if (currentModelInfo.equipmentSpecificModel.UseBlow)
+                if (currentModelInfo.equipmentSpecificModel.UseBlow) {
-                {
                     intervalTimeBlowOn = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOn;
                     intervalTimeBlowOff = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOff;
                 }
 
                 // Object를 만들어
-                var param = new SeqTeachingRun_InitParam()
+                var param = new SeqTeachingRun_InitParam() {
-                {
                     IsUseExternalObjects = true,
                     ExternalObjects = CreateDotForLaserOn(),
 
@@ -314,15 +285,24 @@ namespace WeldingCommon.Views
                 };
 
                 _SeqTeachingRun.Start(param, OnCompleteMarkGrid);
-            }
+            } else {
-            else
-            {
                 LaserPowerCalParam powerCalParam = Status.AuroraEnv.SettingEntry[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
                 float powerVolt1 = 0, powerVolt2 = 0;
 
                 powerCalParam.Initialize(powerCalParam.PowerCalibrationCenterBeamCSVFile, powerCalParam.PowerCalibrationRingBeamCSVFile);
+
+                if (_LaserConfig.TruFiberType == eTruFiberType.TruFiberS) {
+                    powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent) * 10;
+                } else if(_LaserConfig.TruFiberType == eTruFiberType.TruFiberP){
                     powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent, (uint)LaserPowerCalParam.beamMode.Center) * 10;
                     powerVolt2 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower2Percent, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                } else if (_Laser.Config.TruFiberType == eTruFiberType.CalPercentToMeasuredVoltage) {
+                    powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent, (uint)LaserPowerCalParam.beamMode.Center) * 10;
+                    powerVolt2 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower2Percent, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                } else {
+                    powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent, (uint)LaserPowerCalParam.beamMode.Center) * 10;
+                    powerVolt2 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower2Percent, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                }
                     Thread.Sleep(50);
                 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, powerVolt1, eFunctionType.COMMAND);
                 _Scanner.WriteDA((uint)eAnalogPortOut.DA2, powerVolt2, eFunctionType.COMMAND);
@@ -335,26 +315,22 @@ namespace WeldingCommon.Views
         private void PerformCmdLaserShotOnWatt(object obj)
         {
 
-            if (IsUseLaserAutoOffChecked)
+            if (IsUseLaserAutoOffChecked) {
-            {
+                if (_Scanner.GetBusyStatus()) {
-                if (_Scanner.GetBusyStatus())
-                {
                     MessageUtil.ShowWarningToast(string.Format("Laser, Scanner is busy."));
                     return;
                 }
-                //if (!_Laser.GetLaserReady()) {
+                if (!_Laser.GetLaserReady()) {
-                //    MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
+                    MessageUtil.ShowWarningToast(string.Format("Laser, Check Laser Ready status."));
-                //    return;
+                    return;
-                //}
+                }
 
-                if (_SeqTeachingRun.RunState == SequenceRunState.Running)
+                if (_SeqTeachingRun.RunState == SequenceRunState.Running) {
-                {
                     MessageUtil.ShowWarningToast(string.Format("이미 시퀀스가 Start 상태입니다.", "Laser On"), Log);
                     return;
                 }
                 var currentModelInfo = EquipmentSpecificModelUtil.GetCurrentRecipeEquipmentSpecificModel();
-                if (currentModelInfo.equipmentSpecificModel == null)
+                if (currentModelInfo.equipmentSpecificModel == null) {
-                {
                     MessageUtil.ShowWarningToast(string.Format("선택된 model 이 없습니다.", "Laser On"));
                     return;
                 }
@@ -362,8 +338,7 @@ namespace WeldingCommon.Views
                 var intervalTimeBlowOn = 0;
                 var intervalTimeBlowOff = 0;
 
-                if (currentModelInfo.equipmentSpecificModel.UseBlow)
+                if (currentModelInfo.equipmentSpecificModel.UseBlow) {
-                {
                     intervalTimeBlowOn = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOn;
                     intervalTimeBlowOff = currentModelInfo.equipmentSpecificModel.IntervalTimeBlowOff;
                 }
@@ -385,15 +360,25 @@ namespace WeldingCommon.Views
                 };
 
                 _SeqTeachingRun.Start(param, OnCompleteMarkGrid);
-            }
+            } else {
-            else
-            {
                 LaserPowerCalParam powerCalParam = Status.AuroraEnv.SettingEntry[CommonSettingIds.LaserPowerCalParam] as LaserPowerCalParam;
                 float powerVolt1 = 0, powerVolt2 = 0;
 
                 powerCalParam.Initialize(powerCalParam.PowerCalibrationCenterBeamCSVFile, powerCalParam.PowerCalibrationRingBeamCSVFile);
+
+                if (_LaserConfig.TruFiberType == eTruFiberType.TruFiberS) {
+                    powerVolt1 = (float)powerCalParam.CalibrateWattToMeasuredVoltage(LaserPower1Watt) * 10;
+                }
+                else if (_LaserConfig.TruFiberType == eTruFiberType.TruFiberP) {
+                    powerVolt1 = (float)powerCalParam.CalibrateWattToMeasuredVoltage(LaserPower1Watt, (uint)LaserPowerCalParam.beamMode.Center) * 10;
+                    powerVolt2 = (float)powerCalParam.CalibrateWattToMeasuredVoltage(LaserPower2Watt, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                } else if (_Laser.Config.TruFiberType == eTruFiberType.CalPercentToMeasuredVoltage) {
+                    powerVolt1 = (float)powerCalParam.CalibrateWattToMeasuredVoltage(LaserPower1Watt, (uint)LaserPowerCalParam.beamMode.Center) * 10;
+                    powerVolt2 = (float)powerCalParam.CalibrateWattToMeasuredVoltage(LaserPower2Watt, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                } else {
                     powerVolt1 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower1Percent, (uint)LaserPowerCalParam.beamMode.Center) * 10;
                     powerVolt2 = (float)powerCalParam.CalibratePercentToMeasuredVoltage(LaserPower2Percent, (uint)LaserPowerCalParam.beamMode.Ring) * 10;
+                }
                 Thread.Sleep(50);
                 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, powerVolt1, eFunctionType.COMMAND);
                 _Scanner.WriteDA((uint)eAnalogPortOut.DA2, powerVolt2, eFunctionType.COMMAND);
@@ -405,10 +390,8 @@ namespace WeldingCommon.Views
         }
         private void OnCompleteMarkGrid(SequenceActionResult res)
         {
-            if (res != null)
+            if (res != null) {
-            {
+                if (res.Param is SeqTeachingRun_OutParam result && result.Success == true) {
-                if (res.Param is SeqTeachingRun_OutParam result && result.Success == true)
-                {
                     MessageUtil.ShowSuccessToast(string.Format("Success SeqMarkGrid"));
                     return;
                 }
@@ -419,12 +402,9 @@ namespace WeldingCommon.Views
 
         private void PerformCmdLaserShotOff(object obj)
         {
-            if (IsUseLaserAutoOffChecked)
+            if (IsUseLaserAutoOffChecked) {
-            {
                 _Scanner.StopExecution();
-            }
+            } else {
-            else
-            {
                 _Scanner.LaserSignalOff();
             }
 
@@ -433,8 +413,7 @@ namespace WeldingCommon.Views
 
         private void PerformCmdResetEncoderValue(object obj)
         {
-            try
+            try {
-            {
                 _Scanner.InitFly2D();
 
                 // CBW OTW 테스트를 위해 아래는 일단 주석처리
@@ -442,9 +421,7 @@ namespace WeldingCommon.Views
 
                 // list 반복 숫자 초기화
                 _ListIterationCount = 0;
-            }
+            } catch (Exception ex) {
-            catch (Exception ex)
-            {
                 MessageUtil.ShowErrorToast(string.Format($"{ex.Message}"));
             }
         }
@@ -479,13 +456,10 @@ namespace WeldingCommon.Views
 
         private void PerformCmdSimulateEncoder(object obj)
         {
-            if (_ToggleSimulateEncoder)
+            if (_ToggleSimulateEncoder) {
-            {
                 _Scanner.SimulateEncoder(0);
                 _ToggleSimulateEncoder = false;
-            }
+            } else {
-            else
-            {
                 _ToggleSimulateEncoder = true;
                 _Scanner.SimulateEncoder(1);
             }
@@ -493,13 +467,10 @@ namespace WeldingCommon.Views
 
         private void PerformCmdSimulateEncoderXY(object obj)
         {
-            if (_ToggleSimulateEncoder)
+            if (_ToggleSimulateEncoder) {
-            {
                 _Scanner.SimulateEncoder(0);
                 _ToggleSimulateEncoder = false;
-            }
+            } else {
-            else
-            {
                 _ToggleSimulateEncoder = true;
                 _Scanner.SimulateEncoder(3);
             }

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

@@ -11,7 +11,7 @@
              xmlns:usercontrols="clr-namespace:AuroraUIComponent.UserControls;assembly=AuroraUIComponent"
              d:DataContext="{d:DesignInstance Type=local:UCScannerMotionViewModel}"
              mc:Ignorable="d"
-             d:DesignHeight="500" d:DesignWidth="600" x:Name="uc">
+             d:DesignHeight="400" d:DesignWidth="600" x:Name="uc">
     <UserControl.Resources>
         <ResourceDictionary>
             <view:BoolConverter x:Key="convWorkConverter" FalseValue="Not Work" TrueValue="Work"/>
@@ -164,9 +164,8 @@
         </GroupBox>
 
         <!-- 26.04.06 NDY Stage X Motion 섹션 추가 -->
-        <GroupBox Grid.Row="2" Header="Stage X Y Motion (ACS)" Margin="0 3 3 0"
+        <GroupBox Grid.Row="2" Header="Stage X Motion (ACS)" Margin="0 3 3 0"
                   IsEnabled="{Binding IsStageXActivated}">
-            <UniformGrid Rows="2">
             <Grid Margin="5">
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="auto"/>
@@ -188,30 +187,6 @@
                            VerticalAlignment="Center" HorizontalAlignment="Center"
                            Text="* 이미지 방향 반전 적용"/>
             </Grid>
-
-                <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 Z[mm]"
-                          Style="{StaticResource StGBMonitor}" Margin="0 0 5 0" MinWidth="120">
-                        <TextBlock FontSize="18" FontWeight="Bold"
-                               HorizontalAlignment="Center" VerticalAlignment="Center"
-                               Text="{Binding StageZPos, StringFormat={}{0:0.000}}"/>
-                    </GroupBox>
-                    <Button Grid.Column="1" FontWeight="Bold" Margin="3"
-                        Command="{Binding CMD_JogMove}" CommandParameter="Stage_Z_Left"  ToolTip="StageZ 위치값 증가">◀ +</Button>
-                    <Button Grid.Column="2" FontWeight="Bold" Margin="3"
-                        Command="{Binding CMD_JogMove}" CommandParameter="Stage_Z_Right" ToolTip="StageZ 위치값 감소">- ▶</Button>
-                    <TextBlock Grid.Column="3" FontSize="10" Foreground="Gray"
-                           VerticalAlignment="Center" HorizontalAlignment="Center"
-                           Text="* 이미지 방향 반전 적용"/>
-                </Grid>
-            </UniformGrid>
-
         </GroupBox>
 
     </Grid>

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

@@ -6,7 +6,6 @@ using Aurora.View;
 using AuroraACS;          // 26.04.06 NDY 추가
 using AuroraLaser;
 using AuroraLaserScanner;
-using AuroraMotionBoard.Ajin;
 using HarfBuzzSharp;
 using Microsoft.Office.Interop.Excel;
 using System;
@@ -84,18 +83,12 @@ namespace WeldingCommon.Views
 
         // 26.04.06 NDY Stage X 관련 필드 추가 ==================
         private ACSMotor _MotorX;
-        private ACSMotor _MotorZ;
 
         private double _StageXPos;
         public double StageXPos { get => _StageXPos; set => SetProperty(ref _StageXPos, value); }
 
-        private double _StageZPos;
-        public double StageZPos { get => _StageZPos; set => SetProperty(ref _StageZPos, value); }
-
         private bool _IsStageXActivated;
         public bool IsStageXActivated { get => _IsStageXActivated; set => SetProperty(ref _IsStageXActivated, value); }
-        private bool _IsStageZActivated;
-        public bool IsStageZActivated { get => _IsStageZActivated; set => SetProperty(ref _IsStageZActivated, value); }
         // ========================================================
 
         // PAM, RUW 처럼 2개 이상의 scanner 를 사용하는 경우가 있어, scannerId 를 받는 형태로 생성
@@ -110,8 +103,6 @@ namespace WeldingCommon.Views
             // 26.04.06 NDY Stage X 모터 연결 추가 ===============
             try { _MotorX = _Aurora.DeviceManager["AxisX2"] as ACSMotor; }
             catch { _MotorX = null; }
-            try { _MotorZ = _Aurora.DeviceManager["AxisZ"] as ACSMotor; }
-            catch { _MotorZ = null; }
             // ====================================================
 
             InitVariable();
@@ -183,16 +174,6 @@ namespace WeldingCommon.Views
             {
                 IsStageXActivated = false;
             }
-
-            if (_MotorZ != null && _MotorZ.IsActivated)
-            {
-                StageZPos = _MotorZ.GetActualPos();
-                IsStageZActivated = true;
-            }
-            else
-            {
-                IsStageZActivated = false;
-            }
             // ====================================================
         }
 
@@ -232,8 +213,6 @@ namespace WeldingCommon.Views
                 // 26.04.06 NDY Stage X 버튼 추가 =================
                 case "Stage_X_Left": MoveStageX(eJogDirection.MINUS); break;
                 case "Stage_X_Right": MoveStageX(eJogDirection.PLUS); break;
-                case "Stage_Z_Left": MoveStageZ(eJogDirection.MINUS); break;
-                case "Stage_Z_Right": MoveStageZ(eJogDirection.PLUS); break;
                     // =================================================
             }
         }
@@ -248,21 +227,8 @@ namespace WeldingCommon.Views
             Log.I($"Stage X Move : {step}mm");
 
             _MotorX.SetTargetPos(step, TargetPosType.REL);
-            _MotorX.SetVelocityImm(_MotorX.GetJogSpeed(AuroraACS.Speed.L) * _VelocityRate);
             _MotorX.Move();
         }
-        private void MoveStageZ(eJogDirection direction)
-        {
-            if (_MotorZ == null || !_MotorZ.IsActivated) return;
-
-            // 이미지 기준 방향 반전 적용
-            double step = direction == eJogDirection.PLUS ? -StepValue : +StepValue;
-            Log.I($"Stage Z Move : {step}mm");
-
-            _MotorZ.SetTargetPos(step, TargetPosType.REL);
-            _MotorZ.SetVelocityImm(_MotorZ.GetJogSpeed(AuroraACS.Speed.L) * _VelocityRate);
-            _MotorZ.Move();
-        }
         // =========================================================
 
         private void MoveJogXYPos(eAxisType axisType, eJogDirection direction)
@@ -299,11 +265,6 @@ namespace WeldingCommon.Views
 
         private void MoveJogHome()
         {
-            _Scanner.GetBusyStatus();
-            double xPos, yPos;
-            _Scanner.GetXYPos(out xPos, out yPos);
-            Log.W($"xPos[{xPos}] / yPos[{yPos}]");
-
             double finalVelocity = _ScannerConfig.JumpSpeed * _VelocityRate;
             _Scanner.SetJumpSpeedCtrl(finalVelocity);
             _Scanner.JumpAbs(0, 0);

WeldingComponents/WeldingCommon/Views/Recipes/Gun/UCMainRecipeViewModel.cs

@@ -80,7 +80,7 @@ namespace WeldingCommon.Views
 
         private IScannerACS _motion; // 변경
         private ScannerACS _acs; // 변경
-        private ACSMotor _AxisX; // AxisX,Y는 갈보모터 기준이고
+        private ACSMotor _AxisX;
         private ACSMotor _AxisY;
         private ACSMotor _MotorY1, _MotorY2;
         public MainRecipe Recipe { get => _Recipe; private set => SetProperty(ref _Recipe, value); }
@@ -118,8 +118,8 @@ namespace WeldingCommon.Views
 
             Recipe = recipeItem as MainRecipe;
 
-            //_MotorY1 = _devices[CommonMotorIds.AxisY1] as ACSMotor; //변경 
+            _MotorY1 = _devices[CommonMotorIds.AxisY1] as ACSMotor; //변경 
-            //_MotorY2 = _devices[CommonMotorIds.AxisY2] as ACSMotor; //변경
+            _MotorY2 = _devices[CommonMotorIds.AxisY2] as ACSMotor; //변경
 
             _AxisX = _env.DeviceManager[CommonMotorIds.AxisX2] as ACSMotor; // 변경
             //if (Recipe.YAxisUseType == MainRecipe.YAxisType.Y1) {
@@ -313,8 +313,8 @@ namespace WeldingCommon.Views
                     _MotorY2.Move();
                     Log.V($"Move Y2 Position : {teachingSetting.SettingPositions[(int)eTeachingPosition.StageWeldingStartPos].AxisY2}");
 
-                    //_AxisY = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
+                    _AxisY = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
-                    //_acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY1);
+                    _acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY1);
                 }
                 else
                 {
@@ -323,8 +323,8 @@ namespace WeldingCommon.Views
                     _MotorY1.Move();
                     Log.V($"Move Y1 Position : {teachingSetting.SettingPositions[(int)eTeachingPosition.StageWeldingStartPos].AxisY1}");
 
-                    //_AxisY = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
+                    _AxisY = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
-                    //_acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY2);
+                    _acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY2);
                 }
             }    
         }
@@ -341,8 +341,8 @@ namespace WeldingCommon.Views
                 _MotorY2.Move();
                 Log.V($"Move Y2 Position : {teachingSetting.SettingPositions[(int)eTeachingPosition.StageWeldingStartPos].AxisY2}");
 
-                //_AxisY = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
+                _AxisY = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
-                //_acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY1);
+                _acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY1);
             }
             else
             {
@@ -351,8 +351,8 @@ namespace WeldingCommon.Views
                 _MotorY1.Move();
                 Log.V($"Move Y1 Position : {teachingSetting.SettingPositions[(int)eTeachingPosition.StageWeldingStartPos].AxisY1}");
 
-                //_AxisY = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
+                _AxisY = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
-                //_acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY2);
+                _acs.WriteVariableInt("iPCget_LCI_ASMASK_Y", (int)CommonMotorIds.eMotorIdx.AxisY2);
             }
         }
 

WeldingComponents/WeldingCommon/Views/Recipes/UCScannerObjectTeachingControlBox.xaml

@@ -126,40 +126,37 @@
                             </Grid>
                         </GroupBox>
 
-                        <GroupBox Header="Object Select" Grid.Row="1" Grid.Column="0"  Margin="0 3 0 0" Style="{StaticResource StGroupBox4th}">
+                        <GroupBox Header="Object Select" Grid.Row="1" Grid.Column="0" Grid.ColumnSpan="2" Margin="0 3 0 0" Style="{StaticResource StGroupBox4th}">
                             <Grid>
                                 <Grid.RowDefinitions>
                                     <RowDefinition />
                                 </Grid.RowDefinitions>
-                                <mah:ToggleSwitch Grid.Row="0" HorizontalAlignment="Center" FontSize="10" FontWeight="Bold"
+                                <mah:ToggleSwitch Grid.Row="0" HorizontalAlignment="Center" FontSize="12" FontWeight="Bold"
                                                   IsOn="{Binding IsObjectSelectAll}"
                                                   OffContent="Selected Object"
                                                   OnContent="All Object"/>
 
                             </Grid>
+                            
+                            
                         </GroupBox>
-                        <GroupBox Header="가공 Select" Grid.Row="1" Grid.Column="1"  Margin="0 3 0 0" Style="{StaticResource StGroupBox4th}">
+                        <GroupBox Header="가공 Select" Grid.Row="2" Grid.Column="0" Grid.ColumnSpan="2" Margin="0 3 0 0" Style="{StaticResource StGroupBox4th}">
                             <Grid>
                                 <Grid.RowDefinitions>
-                                    <RowDefinition />
+                                    <RowDefinition Height="auto"/>
+                                    <RowDefinition Height="auto"/>
+                                    <RowDefinition Height="auto"/>
+                                    <RowDefinition Height="auto"/>
                                 </Grid.RowDefinitions>
+
                                 <!-- MOTF 대면적 가공 토글 -->
-                                <mah:ToggleSwitch Grid.Row="0" HorizontalAlignment="Center" FontSize="10" FontWeight="Bold"
+                                <mah:ToggleSwitch Grid.Row="0" HorizontalAlignment="Center" FontSize="12" FontWeight="Bold"
                           IsOn="{Binding IsUseLargeMOTF}"
                           OffContent="일반 가공"
                           OnContent="MOTF 대면적 가공"/>
 
-                            </Grid>
-                        </GroupBox>
-                        <GroupBox  Grid.Row="2" Grid.Column="0" Grid.ColumnSpan="2" Margin="0 3 0 0" Style="{StaticResource StGroupBox4th}">
-                            <Grid>
-                                <Grid.RowDefinitions>
-                                    <RowDefinition Height="auto"/>
-                                    <RowDefinition Height="auto"/>
-                                    <RowDefinition Height="auto"/>
-                                </Grid.RowDefinitions>
                                 <!-- 페이지 N개 설정 -->
-                                <Grid Grid.Row="0" Margin="0 4 0 0" IsEnabled="{Binding IsUseLargeMOTF}">
+                                <Grid Grid.Row="1" Margin="0 4 0 0" IsEnabled="{Binding IsUseLargeMOTF}">
                                     <Grid.ColumnDefinitions>
                                         <ColumnDefinition Width="auto"/>
                                         <ColumnDefinition Width="50"/>
@@ -181,7 +178,7 @@
                                 </Grid>
 
                                 <!-- Start Set / End Set -->
-                                <Grid Grid.Row="1" Height="40" Margin="0 4 0 0" IsEnabled="{Binding IsUseLargeMOTF}">
+                                <Grid Grid.Row="2" Height="40" Margin="0 4 0 0" IsEnabled="{Binding IsUseLargeMOTF}">
                                     <Grid.ColumnDefinitions>
                                         <ColumnDefinition Width="1*"/>
                                         <ColumnDefinition Width="1*"/>
@@ -199,7 +196,7 @@
                                 </Grid>
 
                                 <!-- Offset X / Y -->
-                                <Grid Grid.Row="2" Margin="0 4 0 0" IsEnabled="{Binding IsUseLargeMOTF}">
+                                <Grid Grid.Row="3" Margin="0 4 0 0" IsEnabled="{Binding IsUseLargeMOTF}">
                                     <Grid.ColumnDefinitions>
                                         <ColumnDefinition Width="1*"/>
                                         <ColumnDefinition Width="1*"/>

WeldingComponents/WeldingCommon/Views/Recipes/UCScannerObjectTeachingControlBoxViewModel.cs

@@ -125,11 +125,10 @@ namespace WeldingCommon.Views
         //private readonly EquipmentInfo _EquipmentInfo;
 
         private readonly Scanner _Scanner;
-        #region To Do : 26.04.15 해당 _Laser와 _IODevice 와 _LaserConfig 전부 걷어내고 _Scanner로 동작하도록 수정해야한다.
         private readonly Laser _Laser;
         private readonly IODevice _IODevice;
         private readonly LaserConfig _LaserConfig;
-        #endregion
+
         private ISequence _SeqScoutNormal;
         private bool _IsSequenceRunning_ScoutNormal;
         public bool IsSequenceRunning_ScoutNormal { get => _IsSequenceRunning_ScoutNormal; set => SetProperty(ref _IsSequenceRunning_ScoutNormal, value); }
@@ -417,26 +416,20 @@ namespace WeldingCommon.Views
         private void OnMonitoring(object sender, EventArgs e)
         {
             // TODO: Laser Device 에 구현된 내용에 따르면, 일부 Laser Device 는 구현이 되어 있지 않은 상태. 항상 false
-            if (_Laser.GetPilotLaserStatus())
+            if (_Laser.GetPilotLaserStatus()) {
-            {
                 IsGuidBeam = true;
-            }
+            } else {
-            else
-            {
                 IsGuidBeam = false;
             }
 
-            if (_Laser.GetLaserReady())
+            if (_Laser.GetLaserReady()) {
-            {
                 IsLaserReady = true;
 
                 // TODO: PRIBAT_L1, PRIBAT_L2 는 IO에 LaserOnLamp 를 켜고 끄는게 필요함.
                 // TODO: 우선 주석 처리 해 둠. 레이저 Type 별로 달라서 그런건지 확인하고, 어떻게 공통으로 구현할지를 생각해서 추가해 두자
                 //_iODevice._iOUnit.WriteDoBit(Convert.ToInt32(ePDOAddress.LaserOnLampOn), true);
 
-            }
+            } else {
-            else
-            {
                 IsLaserReady = false;
                 // TODO: PRIBAT_L1, PRIBAT_L2 는 IO에 LaserOnLamp 를 켜고 끄는게 필요함.
                 // TODO: 우선 주석 처리 해 둠. 레이저 Type 별로 달라서 그런건지 확인하고, 어떻게 공통으로 구현할지를 생각해서 추가해 두자
@@ -446,15 +439,7 @@ namespace WeldingCommon.Views
             // TODO: PRIBAT_L1, PRIBAT_L2 는 Blow 의 상태 check 가 들어 있음. 장비 한정이므로 이를 check 하는 것을 modelItem 이나 setting 으로 빼서 진행되도록 함.
 
             #region
-            // 26.04.15 NDY Scanner ACS 변수로 IsLaserReady 모니터링
+            // 26.04.09 NDY [Stage X Jog] OnMonitoring 내부 - X축 위치 갱신
-            // 26.04.15 NDY Gun → Scanner 변경: RTC5 ReadStatus 비트7로 레이저 상태 모니터링
-            //if (_Scanner != null && _Scanner.IsActivated)
-            //{
-            //    uint status = _Scanner.ReadStatus();
-            //    IsLaserReady = (status & (1 << 7)) != 0;
-            //}
-
-            // 26.04.09 NDY [Stage X Jog] X축 위치 갱신
             if (_MotorX != null && _MotorX.IsActivated)
             {
                 StageXPos = _MotorX.GetActualPos();