using Aurora.Api; using Aurora.Api.Devices; using Aurora.View; using AuroraLaser; using AuroraLaserScanner; using CoreUnit.Control.UserControl.Canvas; using CoreUnit.Scanner.UserControl.ScannerCanvas; using DB; using Hermes; using Matrox.MatroxImagingLibrary; using Newtonsoft.Json; using System; using System.Collections.Generic; using System.Configuration; using System.Diagnostics; using System.Drawing; using System.IO; using System.Linq; using System.Runtime.Remoting.Contexts; using System.Security.RightsManagement; using System.Text; using System.Threading; using System.Threading.Tasks; using System.Web.UI.WebControls.WebParts; using VisionCommon; using WeldingCommon.Alarm; using WeldingCommon.Data; using WeldingCommon.Models; using WeldingCommon.Settings; using WeldingCommon.Utils; using static CoreUnit.Common.UtilUnit; namespace WeldingCommon.Sequences { class SeqUploadWeldingList { static readonly Logger Log = new Logger("SeqUploadWeldingList"); const string SEQ_ENTER = "[SeqUploadWeldingList] SEQ_ENTER"; // inputParam 으로 받자. const string SEQ_CHECK_INIT_CONDITION = "[SeqUploadWeldingList] Check Init Condition"; // Check Init Condition const string SEQ_MARKING_ON_THE_FLY_ON = "[SeqUploadWeldingList] Marking OnTheFly On"; const string SEQ_RECORD_SIGNAL_ON = "[SeqUploadWeldingList] Record Signal On"; const string SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM = "[SeqUploadWeldingList] Load DrawObjectScannerParam"; const string SEQ_MARKING_ON_THE_FLY_OFF = "[SeqUploadWeldingList] Marking OnTheFly Off"; const string SEQ_RECORD_SIGNAL_OFF = "[SeqUploadWeldingList] Record Signal Off"; const string SEQ_SAVE_RESULT_DATA = "[SeqUploadWeldingList] Save Result Data"; const string SEQ_WRITE_COMPLETION_PLC_BIT = "[SeqUploadWeldingList] Write Completion PLC Bit"; const string SEQ_COMPLETE = "[SeqUploadWeldingList] SEQ_COMPLETE"; // 완료 static class ContextKey { public const string KEY_SEQUENCE_RESULT = "KEY_SEQUENCE_RESULT_SeqUploadWeldingList"; public const string KEY_SEQUENCE_START_TIME = "KEY_SEQUENCE_START_TIME_SeqUploadWeldingList"; } private SeqUploadWeldingList_InitParam _InitParam; private Scanner _Scanner; private LaserPowerCalParam _LaserPowerCalParam; private SystemParameter _SystemParameter; private double _LastX = 0; private double _LastY = 0; private double _FlyOffsetX; private double _FlyOffsetY; private PointF _ExternalCommandOffset = new PointF(0, 0); private static DateTime _UploadstartTime; private static TimeSpan _UploadSpanTime; private double Rotation_Degree = 0; public SequenceBuilder Builder() { var sb = new SequenceBuilder(1000, true); ////var sb = new SequenceBuilder(1000, false); // With log //MOTF와 RecordSignal이 동시 수행 가능한지 모르니깐 우선 순차적으로 실행될 수 있도록 LASA와 동일하게 구성.. //동시 수행 가능하면 Fork로 구성해도 될 듯 sb.AddAction(SEQ_ENTER, Sequence_Enter); sb.AddDecision(SEQ_CHECK_INIT_CONDITION, CheckInitCondition); //분기 sb.AddAction(SEQ_MARKING_ON_THE_FLY_ON, MarkingOnTheFlyOn); sb.AddAction(SEQ_RECORD_SIGNAL_ON, RecordSignalOn); sb.AddAction(SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM, LoadDrawObjectScannerParam); sb.AddAction(SEQ_MARKING_ON_THE_FLY_OFF, MarkingOnTheFlyOff); sb.AddAction(SEQ_RECORD_SIGNAL_OFF, RecordSignalOff); sb.AddAction(SEQ_SAVE_RESULT_DATA, SaveResultData); // 해당 공정의 정보를 기록 함. sb.AddAction(SEQ_WRITE_COMPLETION_PLC_BIT, WriteCompletionPLCBit); // 정상적으로 종료 되면, complete bit write sb.AddAction(SEQ_COMPLETE, Complete); sb.Flows(sb.Init > sb[SEQ_ENTER] > sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_MARKING_ON_THE_FLY_ON] > sb[SEQ_RECORD_SIGNAL_ON] > sb[SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM] > sb[SEQ_MARKING_ON_THE_FLY_OFF] > sb[SEQ_RECORD_SIGNAL_OFF] > sb[SEQ_SAVE_RESULT_DATA] > sb[SEQ_WRITE_COMPLETION_PLC_BIT] > sb[SEQ_COMPLETE]); sb.Flows(sb[SEQ_CHECK_INIT_CONDITION] > sb[SEQ_COMPLETE] > sb.Final); sb.OnStopped(OnStopped); sb.OnForceError(OnForceError); //sb.Draw("SeqUploadWeldingList.pdf"); return sb; } private SequenceActionResult Sequence_Enter(SequenceContext context, string id, SequenceActionResult param) { Log.I("SeqUploadWeldingList Start"); _InitParam = param.Param as SeqUploadWeldingList_InitParam; _LaserPowerCalParam = context.GetSetting(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함 _SystemParameter = context.GetSetting(CommonSettingIds.SystemParameter); InitDev(context); if (!CheckDeviceReady(context)) { //Check Device AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_DeviceNotReady); Log.E("The devices are not active."); return null; } if (InitSequenceVariable(context) == false) { AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_InitVariableError); return null; } // ian0513, 이게 여기 있어야 할까??, 무엇을 측정 하기 위한건지 명확히 알고 실제 공정이면 다른 밑의 Node 로 변경 _UploadstartTime = DateTime.Now; return SequenceAction.Ok(); } private bool InitSequenceVariable(SequenceContext context) { //laserPowerCalParam 초기화(CSV 파일 불러오기) _LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile); Rotation_Degree = _InitParam.Rotation_Degree; _FlyOffsetX = 0; _FlyOffsetY = 0; return true; } private void InitDev(SequenceContext context) { //Device Init _Scanner = context.GetLaserScanner(); } private bool CheckDeviceReady(SequenceContext context) { List deviceListToCheck = new List() { CommonDeviceIds.Scanner }; bool isAllDeviceActivated = true; foreach (string item in deviceListToCheck) { if (!context.Devices[item].IsActivated) { isAllDeviceActivated = isAllDeviceActivated && false; } } return isAllDeviceActivated; } private bool CheckCondition() { if (CheckCondition_Interlock()) { if (InitializeDeviceStatus()) { return true; } } return false; } private bool CheckCondition_Interlock() { // PLC, Data, IO 등 Interlock checking return true; } private bool InitializeDeviceStatus() { if (_InitParam.IncludeListStartEnd) { _Scanner.SetStartList(_InitParam.WeldingScannerListNo); } return true; } private string CheckInitCondition(SequenceContext context, string id, ICollection branches, SequenceActionResult param) { if (!CheckCondition()) { AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_CheckInitCondition); Log.E("Condition is not in state to start sequence."); context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, false); return SEQ_COMPLETE; } var startTime = DateTime.Now; context.PutValue(ContextKey.KEY_SEQUENCE_START_TIME, startTime); Log.D("UploadWeldingList Sequence CheckInitCondition"); return SEQ_MARKING_ON_THE_FLY_ON; } private SequenceActionResult MarkingOnTheFlyOn(SequenceContext context, string id, SequenceActionResult param) { if (_Scanner.Config.UseMarkingOnTheFly) { if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) { //CIT의 경우 Disk Motor의 Encoder값이라 변환이 필요하다. if (_SystemParameter.MachineType == eMachineName.CIT) { //CIT Disk Motor의 직경 double diameter = 563; _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionRotate, diameter); //CIT는 원형 모터를 사용하면서 MOTF동작의 Coodinate는 X,Y로 하고 X만 사용 한다. //그래서 endcoder resolution x, y에 어떤 값이든 넣어야 아래 함수에서 에러가 발생 하지 않음 _Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX); _FlyOffsetX = _Scanner.Config.MarkingOntheFlyOffsetX; _FlyOffsetY = _Scanner.Config.MarkingOntheFlyOffsetY; } else { // 1. Linear Track OTF 활성화 및 엔코더 초기화 _Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX); // 2. 엔코더 특정 위치갈 때까지 대기 _Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX); _FlyOffsetX = _Scanner.Config.MarkingOntheFlyOffsetX; _FlyOffsetY = _Scanner.Config.MarkingOntheFlyOffsetY; } } else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) { Log.I(string.Format("MOTF 사용, Rotate 보상")); // 1. 엔코더 값이 들어오면 바로 X(Rotary) Encoder 리셋 _Scanner.SetFlyRotate(_Scanner.Config.MarkingOnTheFlyEncoderResolutionRotate); // 2. 일괄 회전.(OTW 세팅시, Encoder가 0부터 시작하므로) foreach (IDrawObject obj in _InitParam.SelectedDrawObjectList) { obj.Rotate((float)Rotation_Degree, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); // +15도 회전 } // 3. 원하는 용접 시작 각도 올 때까지 기다리기. double weldingAngle = 0.0; if (_SystemParameter.MachineType == eMachineName.CIT) { weldingAngle = _Scanner.Config.MarkingRangeMinRotate; } else { weldingAngle = _Scanner.Config.MarkingRangeMinRotate + Rotation_Degree; } _Scanner.WaitForEncoderRotateX(weldingAngle); // -5도부터 용접시작하고 싶으면 10도 넣으면 됨 // _FlyOffsetX, _FlyOffsetY 값 설정 불필요, 0-0 이면 됨. } // 엔코더 기록(용접 시작) _Scanner.StoreEncoder(0); _Scanner.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함 } return SequenceAction.Ok(); } private SequenceActionResult RecordSignalOn(SequenceContext context, string id, SequenceActionResult param) { if (_Scanner.Config.UseRecordSignal) { _Scanner.SaveAndRestartTimer(); _Scanner.SetTrigger(_Scanner.Config.RecordPeriod, _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2, _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4); } return SequenceAction.Ok(); } private SequenceActionResult LoadDrawObjectScannerParam(SequenceContext context, string id, SequenceActionResult param) { //객체에 대한 파라미터 Load 전 _LastX,Y를 현재 스캐너 위치로 받아옴 _Scanner.GetXYPos(out _LastX, out _LastY); _ExternalCommandOffset.X = (float)_InitParam.CellMeasureCenterOffsetX; _ExternalCommandOffset.Y = (float)_InitParam.CellMeasureCenterOffsetY; int drawObjectCount = FuncLoadDrawObjectScannerParam(_InitParam.SelectedDrawObjectList); return SequenceAction.Ok(); } private int FuncLoadDrawObjectScannerParam(List objects) { int drawObjectCount = 0; foreach (IDrawObject obj in objects) { drawObjectCount += FuncLoadDrawObjectScannerParamSelected(obj); } Debug.WriteLine($"Scanner Space Check({_Scanner.GetListSpace()})"); return drawObjectCount; } private int LoadGroupScannerParam(Group obj) { int count = 0; //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 for (uint i = 0; i < obj.MarkingCount; i++) { foreach (IDrawObject subObj in obj.SubObjects) { //Group객체내 포함된 DrawTools에 대한 용접 작업 count += FuncLoadDrawObjectScannerParamSelected(subObj); } } return count; } private int FuncLoadDrawObjectScannerParamSelected(IDrawObject obj) { int count = 0; if (obj.Enabled == true) { if (obj is Line) { LoadLineScannerParam((Line)obj); count++; } else if (obj is Dot) { LoadDotScannerParam((Dot)obj); count++; } else if (obj is Spline) { LoadSplineScannerParam((Spline)obj); count++; } else if (obj is SnowMan) { LoadSnowManScannerParam((SnowMan)obj); count++; } else if (obj is Arc) { LoadArcScannerParam((Arc)obj); count++; } else if (obj is Arc3Point) { LoadArc3PScannerParam((Arc3Point)obj); count++; } else if (obj is ZigZag) { LoadZigzagScannerParam((ZigZag)obj); count++; } else if (obj is Group) { count += LoadGroupScannerParam((Group)obj); } } return count; } private void SetScannerProcessCondition(ScannerParam param, out float percentLaser1, out float percentLaser2) { //TrumpLaser의 경우 SetLaserTiming 함수로 Gate 신호를 살려줘야 함 //우선 무조건 셋팅하는 것으로 쓰고 Trump_IO Class 만들면 _laser type이 Trump의 경우에만 셋팅해주는 것으로 변경하자 //LaserFrequency = 10, LaserPulseDuration = 0.1로 셋팅하면 출사 되는 것 확인_241025 if (_InitParam.NeedSetLaserTiming) { _Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000)); Log.D(string.Format($"[SetLaserTiming] LaserFrequency : {param.LaserFrequency}, LaserPulseDuration : {param.LaserPulseDuration}")); } // 1.레이저 ON/OFF delay 설정 _Scanner.SetLaesrDelay(param.LaserOnDelay, param.LaserOffDelay); // 2.Mark delay 설정 _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay); // 3.DA(레이저 파워값) 설정 percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1); percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower2, (uint)eAnalogPortOut.DA2); // AnalogPower는 안전하게 Jump전 0, Mark전 파워 셋팅해주는 것으로 한다. //_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); //_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.점프 및 마크 속도 설정 _Scanner.SetJumpSpeed(param.JumpSpeed); _Scanner.SetMarkSpeed(param.MarkSpeed); } private PowerProfilesList ReadPowerProfile(int powerProfileID) { //추후 경로 변경 필요 // TODO: ian0513.kim, DataPath 를 설정해서 경로를 빼주자 var json = File.ReadAllText("PowerProfileTest.json"); var root = JsonConvert.DeserializeObject(json); PowerProfilesList powerProfile = new PowerProfilesList(); for (int i = 0; i < root.PowerProfilesLists[powerProfileID].PowerProfiles.Count; i++) { PowerProfile profile = new PowerProfile(); profile.PowerProfileParams.Add(new PowerProfileParam()); profile.PowerProfileParams[0].Copy(root.PowerProfilesLists[powerProfileID].PowerProfiles[i].PowerProfileParams[0]); powerProfile.PowerProfiles.Add(profile); } return powerProfile; } private void LoadLineScannerParam(Line obj) { //m_scannerToCameraReferenceOffsets은 SystemParameter에서 설정된 값, Cal하고나면 해당 Offset은 현재 필요없는거같은데 확인 필요, 필요시 Camera setting에 추가해주면됨 //m_externalCommandOffset은 AutoRun시 PLC에서 받아오는 offset임, 현재 LASA에서 BhAutoRun 클래스에 CCW라인에서만 사용하던데 실제 사용하는지 확인 필요 // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1. 스캐너 가공 조건 설정 // TODO: ScannerCanvasUserCtrl 의 값이 제대로 가져와 지는지 확인 필요함. mainPage 로 접근해서 가져와야 할 것인데. ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; var laserLog = new ActualProcessUnit(); float percentLaser1 = 0.0f; float percentLaser2 = 0.0f; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[Line Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); //CSV Laser Log 추가 laserLog.Date = DateTime.Now; laserLog.WeldType = "Line"; laserLog.WeldCondition = param.No + 1; laserLog.LaserOnDelay = param.LaserOnDelay; laserLog.LaserOffDelay = param.LaserOffDelay; laserLog.JumpDelay = param.JumpDelay; laserLog.MarkDelay = param.MarkDelay; laserLog.PolygonDelay = param.PolygonDelay; laserLog.Power = param.LaserPower1; laserLog.JumpSpeed = param.JumpSpeed; laserLog.MarkSpeed = param.MarkSpeed; // 2. 스캐너 가공 작업 // 2.1. Wobbel 관련 설정 if (param.WobbelEnable) { // SnowMan 와블인 경우 if (param.SnowManEnable) { int dx = 0; int dy = 0; double radian = (param.TiltingAngle - 90) * Math.PI / 180; dx = (int)(Math.Cos(radian) * 100); dy = (int)(Math.Sin(radian) * 100); _Scanner.SetWobbelDirection(dx, dy); _Scanner.SetWobbelDirection(0, 0); // Wobbel 모드 설정 _Scanner.SetWobbelMode(true, 1, 1, 1, 2); //Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); List dTrans = new List(); List dLong = new List(); param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0); } param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0); } } // Zigzag 와블인 경우 if (param.ZigzagWobbelEnable) { // Wobbel 모드 설정 _Scanner.SetWobbelDirection(0, 0); _Scanner.SetWobbelMode(true, 1, 1, 1, 2); //Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); List dTrans = new List(); List dLong = new List(); param.CreateWobbelVectorForZigzagPointList(); _Scanner.SetMarkSpeed(param.zigzagTotalSpeed); param.LoadZigZagWobbelVector(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.m_zigzagPeriod[i + 1], 0); } } // 일반적인 와블인 경우 if (!param.SnowManEnable && !param.ZigzagWobbelEnable) { _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape); } Log.I(string.Format($"[Line Weld] Item No({obj.No + 1}) Wobbel Setting : Use({param.WobbelEnable}), Transversal({param.WobbelTransversal}), Longitudinal({param.WobbelLongditudinal}), Frequency({param.WobbelFrequency}), WobbelShape({param.WobbelShape})")); } else { //_Scanner.SetWobbelDirection(0, 0); //_Scanner.SetWobbelVector(0, 0, 0, 0); //_Scanner.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, 0); _Scanner.SetWobbelDirection(0, 0); _Scanner.SetWobbelVector(0, 0, 0, 0); _Scanner.SetWobbelMode(false, 0, 0, 0, 0); } #region 2.2. Ramping & PowerProfile 관련 설정 // 2.2. Ramping & PowerProfile 관련 설정 //if (param.UsePowerProfile) { // PowerProfilesList powerProfile = ReadPowerProfile(param.PowerProfileID); // // START- 시작위치 점프 관련 설정 // if (powerProfile.PowerProfiles.Count != 0) { // float power = percentLaser1 * (float)powerProfile.PowerProfiles[0].PowerProfileParams[0].StartPowerPercent * 0.01f; // //Param 명령을 주기 위해서는 Polygon Delay 를 0으로 한다. // _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0); // // 지그재그는 벡터 기반 컨트롤 // _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, (uint)eAutoControlParameter.AnalogOut1); // if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) { // //같은 위치인 경우 점프 딜레이 0으로 현재 위치(상대 위치 0,0)으로 점프 실행줘야 한다. --> Para함수는 Write_da 함수가 적용되지 않고, 마지막 Para 함수의 파워값으로 설정되기 때 // _Scanner.SetScannerDelay(0, param.MarkDelay, 0); // _Scanner.ParaJumpRel(0, 0, power); // } else { // _Scanner.ParaJumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, power); // } // //첫번째 Profile Param // double totalTime = powerProfile.PowerProfiles[0].PowerProfileParams[0].Time; // double speed = param.ZigzagWobbelEnable ? param.zigzagTotalSpeed : param.MarkSpeed; // double profileDistance = totalTime * speed * 0.001f; // double x = profileDistance * (obj.P2.X - obj.P1.X) / obj.Distance + obj.P1.X; // double y = profileDistance * (obj.P2.Y - obj.P1.Y) / obj.Distance + obj.P1.Y; // power = percentLaser1 * (float)powerProfile.PowerProfiles[0].PowerProfileParams[0].EndPowerPercent * 0.01f; // _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, power); // if (powerProfile.PowerProfiles.Count > 1) { // for (int i = 1; i < powerProfile.PowerProfiles.Count; i++) { // totalTime += powerProfile.PowerProfiles[i].PowerProfileParams[0].Time; // profileDistance = totalTime * speed * 0.001f; // if (profileDistance < obj.Distance) { // power = percentLaser1 * (float)powerProfile.PowerProfiles[i].PowerProfileParams[0].StartPowerPercent * 0.01f; // _Scanner.SetScannerDelay(0, param.MarkDelay, 0); // _Scanner.ParaJumpRel(0, 0, power); // x = profileDistance * (obj.P2.X - obj.P1.X) / obj.Distance + obj.P1.X; // y = profileDistance * (obj.P2.Y - obj.P1.Y) / obj.Distance + obj.P1.Y; // power = percentLaser1 * (float)powerProfile.PowerProfiles[i].PowerProfileParams[0].EndPowerPercent * 0.01f; // _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, power); // } else { // break; // } // } // } // if (profileDistance < obj.Distance) { // _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, power); // } // } else { // if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) { // // 점프 안함 // } else { // _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); // } // //Write_da 함수는 시작점으로 점프한 이후 Mark 명령 직전에 해준다. // _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); // _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); // } // // END- 시작위치 점프 관련 설정 //} else { // Wobble, PowerProfile을 사용하지 않는 일반적인 경우 이쪽으로 들어옴 #endregion // START- Jump(Line Shot) // @deprecated 굉장히 위험한 코드임. 충분히 검증하고 다시 코드 구현할 것. 첫번째 item의 경우 무조건 Jump 명령을 날려줘야 함. // 안그러면 초기 위치를 0에서 시작 하기 때문에 위험함. // RCC 검증을 위해 일단 주석 해제 if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) { // 점프 안함 } else { // Jump 할 때는 Analog Out 값을 0으로 변경 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Line Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); //CSV Laser Log 추가 laserLog.JumpX = obj.PF1.X + xOffset; laserLog.JumpY = obj.PF1.Y + yOffset; } // END- Jump(Line Shot) // START- Mark if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && obj.MadebyRCC) { // RCC Ramping 의 경우 // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다. // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다. // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다. float powerratio = obj.RCC_PowerRatio; if (powerratio < 0) { powerratio = 0; } else if (powerratio > 1) { powerratio = 1; } float analogPercentLaserPower1 = percentLaser1 * powerratio; // center laser float analogPercentLaserPower2 = percentLaser2 * powerratio; // ring laser //_Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, analogPercentLaserPower1, eFunctionType.LIST); // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다. // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다. _Scanner.WriteDA((uint)eAnalogPortOut.DA2, analogPercentLaserPower2, eFunctionType.LIST); _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); Log.I(string.Format($"[RCC Subpath Line Weld] Mark(Ramping) ({obj.PF2.X + xOffset},{obj.PF2.Y + yOffset})")); } else if ((param.RampingStartADist > 0 || param.RampingStartDist > 0 || param.RampingEndDist > 0) && ((param.RampingStartDist + param.RampingEndDist + param.RampingStartADist) <= 100.0)) { double length = param.RampingInterval; double FirstDistance = obj.Distance * (param.RampingStartADist / 100); double StartDistance = obj.Distance * ((param.RampingStartDist) / 100); double EndDistance = obj.Distance * (param.RampingEndDist / 100); int firstCount = (int)(FirstDistance / length); int risingCount = (int)(StartDistance / length); int fallingCount = (int)(EndDistance / length); int totalCount = (int)(obj.Distance / length); Log.I($"Ramping count >> firstCount({firstCount}) / risingCount({risingCount}) / fallingCount({fallingCount}) / totalCount({totalCount})"); // Power1 A -> Start Power, B -> End Power float firstPower_A1 = percentLaser1 * (float)param.RampingStartAPower1 / 100; // Ramping First Power 1 float firstPower_B1 = percentLaser1 * (float)param.RampingStartAPower2 / 100; // Ramping First Power 2 float startPower_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100; // Ramping Start Power 1 float startPower_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100; // Ramping Start Power 3 float endPower_A1 = percentLaser1 * (float)param.RampingEndPower1 / 100; // Ramping End Power 1 float endPower_B1 = percentLaser1 * (float)param.RampingEndPower2 / 100; // Ramping End Power 3 // Power2 A -> Start Power, B -> End Power float firstPower_A2 = percentLaser2 * (float)param.RampingStartAPower1 / 100; // Ramping First Power 1 float firstPower_B2 = percentLaser2 * (float)param.RampingStartAPower2 / 100; // Ramping First Power 2 float startPower_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100; // Ramping Start Power 1 float startPower_B2 = percentLaser2 * (float)param.RampingStartPower2 / 100; // Ramping Start Power 3 float endPower_A2 = percentLaser2 * (float)param.RampingEndPower1 / 100; // Ramping End Power 1 float endPower_B2 = percentLaser2 * (float)param.RampingEndPower2 / 100; // Ramping End Power 3 double dx = (obj.P2.X - obj.P1.X) / obj.Distance * length; double dy = (obj.P2.Y - obj.P1.Y) / obj.Distance * length; double curX = obj.P1.X; double curY = obj.P1.Y; Log.I($"[Line Weld] Ramping Condition No({obj.No + 1}), Line Length : {obj.Distance}" + $"(Start_A:{param.RampingStartADist}%, Dist {FirstDistance}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " + $"(Start_B:{param.RampingStartDist}%, Dist {StartDistance}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower2}%) " + $"(End:{param.RampingEndDist}%, Dist {EndDistance}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)"); for (int iter = 0; iter < totalCount + 1; iter++) { float power1 = percentLaser1; float power2 = percentLaser2; if (iter <= (risingCount + firstCount)) { if (iter <= firstCount) { if (iter == 0 || firstCount == 0) { power1 = firstPower_A1; power2 = firstPower_A2; } else { power1 = firstPower_A1 + (firstPower_B1 - firstPower_A1) * (iter / (float)firstCount); power2 = firstPower_A2 + (firstPower_B2 - firstPower_A2) * (iter / (float)firstCount); } } else if ((iter - firstCount) <= risingCount) { if (risingCount == 0) { power1 = startPower_B1; power2 = startPower_B2; } else { power1 = startPower_A1 + (startPower_B1 - startPower_A1) * ((iter - firstCount) / (float)risingCount); power2 = startPower_A2 + (startPower_B2 - startPower_A2) * ((iter - firstCount) / (float)risingCount); } } } else if (iter >= totalCount - fallingCount) { if (fallingCount == 0) { power1 = endPower_A1; power2 = endPower_A2; } else { power1 = endPower_B1 + (endPower_A1 - endPower_B1) * (totalCount - iter) / (float)fallingCount; power2 = endPower_B2 + (endPower_A2 - endPower_B2) * (totalCount - iter) / (float)fallingCount; } } else { power1 = startPower_B1; power2 = startPower_B2; } _Scanner.WriteDA((uint)eAnalogPortOut.DA1, power1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, power2, eFunctionType.LIST); _Scanner.MarkAbs(curX + xOffset, curY + yOffset); curX += dx; curY += dy; } Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})")); } else { // Ramping 이 없는 경우 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); //_Scanner.SetVectorControl((uint)eAutoControlParameter.NoUse, 0); Log.I(string.Format($"[Line Weld] Mark ({obj.PF2.X + xOffset},{obj.PF2.Y + yOffset})")); } // END- Mark //} _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; Log.I(string.Format($"[Line Weld] Mark Start/End Point (Start Point : {obj.PF1.X},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})")); //CSV Laser Log 추가 laserLog.StartPointX = obj.PF1.X; laserLog.StartPointY = obj.PF1.Y; laserLog.EndPointX = obj.PF2.X; laserLog.EndPointY = obj.PF2.Y; laserLog.LotID = Status.GetProcessingWeldingData().WorkLotId; laserLog.CellID = Status.GetProcessingWeldingData().WorkCellId; laserLog.HeadNo = Status.GetProcessingWeldingData().WeldingJigNo; Status.GetProcessingWeldingData().APD.Add(laserLog); } private void LoadDotScannerParam(Dot obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1. 스캐너 가공 조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; float percentLaser1 = 0.0f; float percentLaser2 = 0.0f; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[Point Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); // 2. 스캐너 가공 작업 // 2.1. Jump(Point Shot) // Jump 할 때는 Analog Out 값을 0으로 변경 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Point Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); // 2.2. Mark(Point Shot) _Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000)); // @deprecated 해당 코드는 사용에 주의가 필요 함.. 만약 사용시 원복할 필요가 있음.. // 이후 공정에 영향을 미치는 인자이므로 _Scanner.SetStandby(10, 0); //_Scanner.SetScannerDelay(param.JumpDelay, 0, 0); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); //_Scanner.ParaMarkRel(0, 0, percentLaser1); // 위치 이동 없이 Power만 변경 // Laser On Time 만큼 레이저 On 실행 _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay); _Scanner.LaserOnList(param.SpotShotTime); Log.I(string.Format($"[Point Weld] Mark ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); //Dot도 Last값 추가 _LastX = obj.PF1.X + xOffset; _LastY = obj.PF1.Y + yOffset; } private void LoadSplineScannerParam(Spline obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1.스캐너 가공조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); // Spline 의 경우 Wobbel 해제 _Scanner.SetWobbelMode(false, 0, 0, 0, 0); Log.I(string.Format($"[Spline Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); // 1. Ramping을 위한 변수 설정 // totalCount를 전체 Count에서 Mark가 시작하는 구간으로 2를 빼준다.. 아래수식에서 헷갈리지 않기 위해서.. int totalCountP1 = obj.P1.Count - 2; int totalCountP2 = obj.P2.Count - 2; // P1과 P2의 Rising, FallingEdgeCount는 동일하다고 본다 double RampingStartDist = param.RampingStartDist; double RampingEndDist = param.RampingEndDist; double cumulativeDistanceForRising = 0; double cumulativeDistanceForFalling = 0; int risingEdgeCount = 0; int fallingEdgeCount = 0; for (int i = 0; i < obj.P1.Count - 1; i++) { double segmentLength = HitUtil.Distance(obj.P1[i], obj.P1[i + 1]); cumulativeDistanceForRising += segmentLength; if (cumulativeDistanceForRising >= RampingStartDist) { // Ramping 시작 지점을 찾았을 때, 해당 지점까지의 점 개수를 계산 risingEdgeCount = i + 1; // i는 이전 점까지의 거리를 포함하므로 i+1이 현재 점까지의 거리를 포함 Log.I(string.Format($"[Spline Weld] RisingEdgeCount : {risingEdgeCount}, cumulativeDistanceForRising : {cumulativeDistanceForRising})")); break; } } for (int i = obj.P1.Count - 2; i >= 0; i--) { double segmentLength = HitUtil.Distance(obj.P1[i], obj.P1[i + 1]); cumulativeDistanceForFalling += segmentLength; if (cumulativeDistanceForFalling >= RampingEndDist) { // Ramping End 지점을 찾았을 때, 해당 지점까지의 점 개수를 계산 fallingEdgeCount = obj.P1.Count - 1 - i; Log.I(string.Format($"[Spline Weld] fallingEdgeCount : {fallingEdgeCount}, cumulativeDistanceForFalling : {cumulativeDistanceForFalling})")); break; } } #region Spline_Ramping if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (risingEdgeCount + fallingEdgeCount < totalCountP1)) { // 2. Rising/Falling Edge 시작파워 설정 //float startingPercentLaser1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? // percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower2 / 100 : 100; float risingEdgePercentLaser1 = 0; float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower2 / 100 : 100; float risingEdgePercentLaser2 = 0; //float endingPercentLaser1 = percentLaser1 * (float)param.RampingEndPower1 / 100 <= 100 ? // percentLaser1 * (float)param.RampingEndPower1 / 100 : 100; float endingPercentLaser_A1 = percentLaser1 * (float)param.RampingEndPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower1 / 100 : 100; float endingPercentLaser_B1 = percentLaser1 * (float)param.RampingEndPower3 / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower3 / 100 : 100; float fallingEdgePercentLaser1 = 0; float endingPercentLaser2 = percentLaser2 * (float)param.RampingEndPower2 / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower2 / 100 : 100; float fallingEdgePercentLaser2 = 0; switch (obj.DrawWay) { case Spline.DrawWayType.OUT_OUT: //P1 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[totalCountP1 + 1].X + xOffset, obj.P1[totalCountP1 + 1].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = totalCountP1; iter > totalCountP1 - risingEdgeCount; iter--) { int currentStep = totalCountP1 - iter; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = totalCountP1 - risingEdgeCount; iter > fallingEdgeCount; iter--) { _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = fallingEdgeCount; iter >= 0; iter--) { int currentStep = fallingEdgeCount - iter + 1; //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } _LastX = obj.P1[0].X + xOffset; _LastY = obj.P1[0].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[totalCountP2 - 1].X + xOffset, obj.P2[totalCountP2 - 1].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = totalCountP2; iter > totalCountP2 - risingEdgeCount; iter--) { int currentStep = totalCountP2 - iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = totalCountP2 - risingEdgeCount; iter > fallingEdgeCount; iter--) { _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = fallingEdgeCount; iter >= 0; iter--) { int currentStep = fallingEdgeCount - iter + 1; //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } _LastX = obj.P2[0].X + xOffset; _LastY = obj.P2[0].Y + yOffset; } break; case Spline.DrawWayType.OUT_IN: //P1 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[totalCountP1 + 1].X + xOffset, obj.P1[totalCountP1 + 1].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = totalCountP1; iter > totalCountP1 - risingEdgeCount; iter--) { int currentStep = totalCountP1 - iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = totalCountP1 - risingEdgeCount; iter > fallingEdgeCount; iter--) { _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = fallingEdgeCount; iter >= 0; iter--) { int currentStep = fallingEdgeCount - iter + 1; //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } _LastX = obj.P1[0].X + xOffset; _LastY = obj.P1[0].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = 1; iter < risingEdgeCount; iter++) { int currentStep = iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = risingEdgeCount; iter < (totalCountP2 + 1) - fallingEdgeCount; iter++) { _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = (totalCountP2 + 1) - fallingEdgeCount; iter <= (totalCountP2 + 1); iter++) { int currentStep = iter - ((totalCountP2 + 1) - fallingEdgeCount - 1); //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } _LastX = obj.P2[totalCountP2 + 1].X + xOffset; _LastY = obj.P2[totalCountP2 + 1].Y + yOffset; } break; case Spline.DrawWayType.IN_OUT: //P1 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = 1; iter < risingEdgeCount; iter++) { int currentStep = iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = risingEdgeCount; iter < (totalCountP1 + 1) - fallingEdgeCount; iter++) { _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = (totalCountP1 + 1) - fallingEdgeCount; iter <= (totalCountP1 + 1); iter++) { int currentStep = iter - ((totalCountP1 + 1) - fallingEdgeCount - 1); //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } _LastX = obj.P1[totalCountP1 + 1].X + xOffset; _LastY = obj.P1[totalCountP1 + 1].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[totalCountP2 - 1].X + xOffset, obj.P2[totalCountP2 - 1].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = totalCountP2; iter > totalCountP2 - risingEdgeCount; iter--) { int currentStep = totalCountP2 - iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = totalCountP2 - risingEdgeCount; iter > fallingEdgeCount; iter--) { _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = fallingEdgeCount; iter >= 0; iter--) { int currentStep = fallingEdgeCount - iter + 1; //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } _LastX = obj.P2[0].X + xOffset; _LastY = obj.P2[0].Y + yOffset; } break; case Spline.DrawWayType.IN_IN: //P1 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = 1; iter < risingEdgeCount; iter++) { int currentStep = iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = risingEdgeCount; iter < (totalCountP1 + 1) - fallingEdgeCount; iter++) { _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = (totalCountP1 + 1) - fallingEdgeCount; iter <= (totalCountP1 + 1); iter++) { int currentStep = iter - ((totalCountP1 + 1) - fallingEdgeCount - 1); //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P1[iter].X + xOffset, obj.P1[iter].Y + yOffset); } _LastX = obj.P1[totalCountP1 + 1].X + xOffset; _LastY = obj.P1[totalCountP1 + 1].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST); // 3. Rising Edge 구간 for (int iter = 1; iter < risingEdgeCount; iter++) { int currentStep = iter; //risingEdgePercentLaser1 = ((percentLaser1 - startingPercentLaser1) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser1; risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)risingEdgeCount * (float)(currentStep) + startingPercentLaser_A1; risingEdgePercentLaser2 = ((percentLaser2 - startingPercentLaser2) / (float)risingEdgeCount) * (float)(currentStep) + startingPercentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 4.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 4.2. Constant Range 구간 위치 변경 for (int iter = risingEdgeCount; iter < (totalCountP2 + 1) - fallingEdgeCount; iter++) { _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } // 5. Falling Edge 구간 for (int iter = (totalCountP2 + 1) - fallingEdgeCount; iter <= (totalCountP2 + 1); iter++) { int currentStep = iter - ((totalCountP2 + 1) - fallingEdgeCount - 1); //fallingEdgePercentLaser1 = ((endingPercentLaser1 - percentLaser1) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser1; fallingEdgePercentLaser1 = ((endingPercentLaser_B1 - endingPercentLaser_A1) / (float)fallingEdgeCount) * (float)(currentStep) + endingPercentLaser_A1; fallingEdgePercentLaser2 = ((endingPercentLaser2 - percentLaser2) / (float)fallingEdgeCount) * (float)(currentStep) + percentLaser2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.P2[iter].X + xOffset, obj.P2[iter].Y + yOffset); } _LastX = obj.P2[totalCountP2 + 1].X + xOffset; _LastY = obj.P2[totalCountP2 + 1].Y + yOffset; } break; } } #endregion else { #region 2. Ramping 미사용 스캐너 가공 int pointCount = obj.P1.Count; switch (obj.DrawWay) { case Spline.DrawWayType.OUT_OUT: //P1 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[pointCount - 1].X + xOffset, obj.P1[pointCount - 1].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = obj.P1.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } _LastX = obj.P1[0].X + xOffset; _LastY = obj.P1[0].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[pointCount - 1].X + xOffset, obj.P2[pointCount - 1].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = obj.P2.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } _LastX = obj.P2[0].X + xOffset; _LastY = obj.P2[0].Y + yOffset; } break; case Spline.DrawWayType.OUT_IN: //P1 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[pointCount - 1].X + xOffset, obj.P1[pointCount - 1].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = obj.P1.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } _LastX = obj.P1[0].X + xOffset; _LastY = obj.P1[0].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = 1; i < obj.P2.Count; i++) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } _LastX = obj.P2[obj.P2.Count - 1].X + xOffset; _LastY = obj.P2[obj.P2.Count - 1].Y + yOffset; } break; case Spline.DrawWayType.IN_OUT: //P1 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = 1; i < obj.P1.Count; i++) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } _LastX = obj.P1[obj.P1.Count - 1].X + xOffset; _LastY = obj.P1[obj.P1.Count - 1].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 OUT에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[pointCount - 1].X + xOffset, obj.P2[pointCount - 1].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = obj.P2.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } _LastX = obj.P2[0].X + xOffset; _LastY = obj.P2[0].Y + yOffset; } break; case Spline.DrawWayType.IN_IN: //P1 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = 1; i < obj.P1.Count; i++) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } _LastX = obj.P1[obj.P1.Count - 1].X + xOffset; _LastY = obj.P1[obj.P1.Count - 1].Y + yOffset; //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 IN에서 시작 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = 1; i < obj.P2.Count; i++) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } _LastX = obj.P2[obj.P2.Count - 1].X + xOffset; _LastY = obj.P2[obj.P2.Count - 1].Y + yOffset; } break; } #endregion } Log.I(string.Format($"[Spline Weld] Draw Way : {obj.DrawWay}, Tornado 사용 : {obj.SplineTornado})")); } private void LoadSnowManScannerParam(SnowMan obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1.스캐너 가공조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[SnowMan Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); // 2. 스캐너 가공 작업 // SnowMan 로드 시작 Math.Cos(obj.TiltingAngle * Math.PI / 180); // Wobbel 각도 설정 _Scanner.SetWobbelDirection((int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100), (int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100)); // Wobbel 모드 설정 _Scanner.SetWobbelMode(true, 1, 1, 1, 2); // Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); // period=0은 초기화 List dTrans = new List(); List dLong = new List(); // 확인 2025.03.06, SnowMan 을 사용하지 않기 때문에 해당 함수 확인 불필요 (LoadLineScannerParam() 에서는 param 으로 부터 설정을 하는데, 여기서는 obj 로 부터 설정) obj.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.HeadPeriod, 0); } obj.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.BodyPeriod, 0); } //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); Log.I(string.Format($"[SnowMan Weld] Set Mark StartPoint/EndPoint(SP:{obj.PF1.X + xOffset},{obj.PF1.Y + yOffset},EP:{obj.PF2.X + xOffset},{obj.PF2.Y + yOffset})")); // 확인 2025.03.06, SnowMan 을 사용하지 않기 때문에 저장 해 놓지 않음. (Line 에서 와블은 SnowMan 사용) // 여기는 LastX, LastY 저장이 불필요 } private void LoadArcScannerParam(Arc obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1.스캐너 가공조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; var laserLog = new ActualProcessUnit(); float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[Arc Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); //CSV Laser Log 추가 laserLog.Date = DateTime.Now; laserLog.WeldType = "Arc"; laserLog.WeldCondition = param.No + 1; laserLog.LaserOnDelay = param.LaserOnDelay; laserLog.LaserOffDelay = param.LaserOffDelay; laserLog.JumpDelay = param.JumpDelay; laserLog.MarkDelay = param.MarkDelay; laserLog.PolygonDelay = param.PolygonDelay; laserLog.Power = param.LaserPower1; laserLog.JumpSpeed = param.JumpSpeed; laserLog.MarkSpeed = param.MarkSpeed; // 2. 스캐너 가공 작업 // 2.1. Wobbel 관련 설정 // Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행 if (!param.SnowManEnable) { if (param.WobbelEnable) { // Wobbel 각도 설정 _Scanner.SetWobbelDirection(0, 0); // Wobbel 모드 설정 _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape); Log.I(string.Format($"[Arc Weld] Item No({obj.No + 1}) Wobbel Setting : Use({param.WobbelEnable}), Transversal({param.WobbelTransversal}), Longitudinal({param.WobbelLongditudinal}), Frequency({param.WobbelFrequency}), WobbelShape({param.WobbelShape})")); } else { _Scanner.SetWobbelDirection(0, 0); _Scanner.SetWobbelVector(0, 0, 0, 0); _Scanner.SetWobbelMode(false, 0, 0, 0, 0); } //서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 //_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); // @deprecated 해당코드 검증 필요 !! if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) { //점프 안함 } else { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); } } else { int dx = 0; int dy = 0; double radian = (param.TiltingAngle - 90) * Math.PI / 180; dx = (int)(Math.Cos(radian) * 100); dy = (int)(Math.Sin(radian) * 100); _Scanner.SetWobbelDirection(dx, dy); // Wobbel 모드 설정 _Scanner.SetWobbelMode(true, 1, 1, 1, 2); // Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); //period=0은 초기화 List dTrans = new List(); List dLong = new List(); param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0); } param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0); } // 서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 //_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) { //점프 안함 } else { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); } } // 2.2 Ramping 설정 double radius = Math.Sqrt((obj.CenterPointF.X - obj.PF1.X) * (obj.CenterPointF.X - obj.PF1.X) + (obj.CenterPointF.Y - obj.PF1.Y) * (obj.CenterPointF.Y - obj.PF1.Y)); double length = param.RampingInterval; // ArcRamping 간격 추가 double theta = 0; // 2.2.0. Sweep 방향에 따른 회전 방향 설정 if (obj.Direction == Arc.eDirection.CCW) { theta = (length / radius) * (180 / Math.PI); } if (obj.Direction == Arc.eDirection.CW) { theta = (-length / radius) * (180 / Math.PI); } if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && obj.MadebyRCC) { // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다. // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다. // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다. float powerratio = obj.RCC_PowerRatio; if (powerratio < 0) { powerratio = 0; } else if (powerratio > 1) { powerratio = 1; } float analogPercentLaserPower1 = percentLaser1 * powerratio; // center laser float analogPercentLaserPower2 = percentLaser2 * powerratio; // ring laser _Scanner.WriteDA((uint)eAnalogPortOut.DA1, analogPercentLaserPower1, eFunctionType.LIST); // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다. // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다. _Scanner.WriteDA((uint)eAnalogPortOut.DA2, analogPercentLaserPower2, eFunctionType.LIST); //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전 _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle); } else if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingStartDist + param.RampingEndDist < radius * Math.Abs(obj.SweepAngle))) { // 2.2.1.1. 데이터테이블 기준으로 파워 동작 //percentLaser1 = (float)_laserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1); // 2.2.1.2. Ramping을 위한 변수 설정 double FirstAngle = obj.Length * (param.RampingStartADist / 100); double StartAngle = obj.Length * ((param.RampingStartDist) / 100); double EndAngle = obj.Length * (param.RampingEndDist / 100); int firstEdgeCount = (int)(FirstAngle / length); int risingEdgeCount = (int)(StartAngle / length); int fallingEdgeCount = (int)(EndAngle / length); //int totalCount = (int)(Math.Abs(obj.SweepAngle) / theta); int totalCount = (int)(Math.Abs(obj.Length / theta)); // 2.2.2.1. Rising Edge 시작 파워 설정 float firstPercentLaser_A1 = percentLaser1 * (float)param.RampingStartAPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartAPower1 / 100 : 100; float firstPercentLaser_B1 = percentLaser1 * (float)param.RampingStartAPower2 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartAPower2 / 100 : 100; float firstPercentLaser_A2 = percentLaser2 * (float)param.RampingStartAPower1 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartAPower1 / 100 : 100; float firstPercentLaser_B2 = percentLaser2 * (float)param.RampingStartAPower2/ 100 <= 100 ? percentLaser2 * (float)param.RampingStartAPower2/ 100 : 100; float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower2 / 100 : 100; float startingPercentLaser_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower1 / 100 : 100; float startingPercentLaser_B2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower2 / 100 : 100; float risingEdgePercentLaser1 = 0; float risingEdgePercentLaser2 = 0; Log.I($"[Arc Weld] Ramping Condition No({obj.No + 1}), Arc Length : {obj.Length}, Arc Angle : {obj.SweepAngle} " + $"(Start_A:{param.RampingStartADist}%, Dist {FirstAngle}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " + $"(Start_B:{param.RampingStartDist}%, Dist {StartAngle}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower2}%) " + $"(End:{param.RampingEndDist}%, Dist {EndAngle}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)"); // 2.2.2.2. Rising Edge 구간 파워 및 위치 변경 for (int iter = 0; iter < risingEdgeCount + firstEdgeCount; iter++) { // A1에서 B1으로 간다. if (iter < firstEdgeCount - 1) { risingEdgePercentLaser1 = (firstPercentLaser_B1 - firstPercentLaser_A1) / (float)(firstEdgeCount - 1) * (float)(iter) + firstPercentLaser_A1; risingEdgePercentLaser2 = (firstPercentLaser_B2 - firstPercentLaser_A2) / (float)(firstEdgeCount - 1) * (float)(iter) + firstPercentLaser_A2; } else { risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)(risingEdgeCount - 1) * (float)(iter - firstEdgeCount) + startingPercentLaser_A1; risingEdgePercentLaser2 = (startingPercentLaser_B2 - startingPercentLaser_A2) / (float)(risingEdgeCount - 1) * (float)(iter - firstEdgeCount) + startingPercentLaser_A2; } _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta); } // 2.2.3.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 2.2.3.2. Constant Range 구간 위치 변경 for (int iter = risingEdgeCount+firstEdgeCount; iter < totalCount - fallingEdgeCount; iter++) { _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta); } // 2.2.4.1. Falling Edge 마지막 파워 설정 float endingPercentLaser_A1 = percentLaser1 * (float)param.RampingEndPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower1 / 100 : 100; float endingPercentLaser_B1 = percentLaser1 * (float)param.RampingEndPower3 / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower3 / 100 : 100; float fallingEdgePercentLaser1 = 0; float endingPercentLaser_A2 = percentLaser2 * (float)param.RampingEndPower1 / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower1 / 100 : 100; float endingPercentLaser_B2 = percentLaser2 * (float)param.RampingEndPower3 / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower3 / 100 : 100; float fallingEdgePercentLaser2 = 0; // 2.2.4.2. Falling Edge 구간 파워 및 위치 변경 for (int iter = totalCount - fallingEdgeCount; iter < totalCount; iter++) { // Falling Edge 구간 시작하는 순간부터 Power 변경 원하므로 (iter - (totalCount - fallingEdgeCount - 1)) // B1에서 A1으로 간다. fallingEdgePercentLaser1 = (endingPercentLaser_B1 - endingPercentLaser_A1) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + endingPercentLaser_A1; fallingEdgePercentLaser2 = (endingPercentLaser_B2 - endingPercentLaser_A2) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + endingPercentLaser_A2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta); } //// 2.2.5. 마지막 위치까지 이동해줌. //double lastSweep = obj.SweepAngle - (totalCount * theta); //_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, lastSweep); } else { //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle); } _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; //CSV Laser Log 추가 laserLog.StartPointX = obj.PF1.X; laserLog.StartPointY = obj.PF1.Y; laserLog.EndPointX = obj.PF2.X; laserLog.EndPointY = obj.PF2.Y; laserLog.LotID = Status.GetProcessingWeldingData().WorkLotId; laserLog.CellID = Status.GetProcessingWeldingData().WorkCellId; Status.GetProcessingWeldingData().APD.Add(laserLog); if (obj.MadebyRCC) { Log.I(string.Format($"[RCC SubPath Arc Weld] Arc center ({obj.CenterPointF.X + xOffset},{obj.CenterPointF.Y + yOffset}), Sweep angle : ({obj.SweepAngle})")); } else { Log.I(string.Format($"[Arc Weld] Arc center ({obj.CenterPointF.X + xOffset},{obj.CenterPointF.Y + yOffset}), Sweep angle : ({obj.SweepAngle})")); } } private void LoadArc3PScannerParam(Arc3Point obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1.스캐너 가공조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; var laserLog = new ActualProcessUnit(); float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[Arc3P Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); //CSV Laser Log 추가 laserLog.Date = DateTime.Now; laserLog.WeldType = "Arc3"; laserLog.WeldCondition = param.No + 1; laserLog.LaserOnDelay = param.LaserOnDelay; laserLog.LaserOffDelay = param.LaserOffDelay; laserLog.JumpDelay = param.JumpDelay; laserLog.MarkDelay = param.MarkDelay; laserLog.PolygonDelay = param.PolygonDelay; laserLog.Power = param.LaserPower1; laserLog.JumpSpeed = param.JumpSpeed; laserLog.MarkSpeed = param.MarkSpeed; // 2. 스캐너 가공 작업 // 2.1. Wobbel 관련 설정 // Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행 if (!param.SnowManEnable) { if (param.WobbelEnable) { // Wobbel 각도 설정 _Scanner.SetWobbelDirection(0, 0); // Wobbel 모드 설정 _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape); Log.I(string.Format($"[Arc3P Weld] Item No({obj.No + 1}) Wobbel Setting : Use({param.WobbelEnable}), Transversal({param.WobbelTransversal}), Longitudinal({param.WobbelLongditudinal}), Frequency({param.WobbelFrequency}), WobbelShape({param.WobbelShape})")); } else { _Scanner.SetWobbelDirection(0, 0); _Scanner.SetWobbelVector(0, 0, 0, 0); _Scanner.SetWobbelMode(false, 0, 0, 0, 0); } // 서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) { //점프 안함 } else { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); } } else { int dx = 0; int dy = 0; double radian = (param.TiltingAngle - 90) * Math.PI / 180; dx = (int)(Math.Cos(radian) * 100); dy = (int)(Math.Sin(radian) * 100); _Scanner.SetWobbelDirection(dx, dy); // Wobbel 모드 설정 _Scanner.SetWobbelMode(true, 1, 1, 1, 2); //Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); //period=0은 초기화 List dTrans = new List(); List dLong = new List(); param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0); } param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0); } // 서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) { //점프 안함 } else { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); } } // 2.2. Ramping 설정 double radius = Math.Sqrt((obj.CenterPointF.X - obj.PF1.X) * (obj.CenterPointF.X - obj.PF1.X) + (obj.CenterPointF.Y - obj.PF1.Y) * (obj.CenterPointF.Y - obj.PF1.Y)); double length = param.RampingInterval; // ArcRamping 간격 추가 double theta = 0; // 2.2.0. Sweep 방향에 따른 회전 방향 설정 if (obj.Direction == Arc3Point.eDirection.CCW) { theta = (length / radius) * (180 / Math.PI); } if (obj.Direction == Arc3Point.eDirection.CW) { theta = (-length / radius) * (180 / Math.PI); } if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingStartDist + param.RampingEndDist < radius * Math.Abs(obj.SweepAngle))) { //&& !param.WobbelEnable && !param.SnowManEnable) if (obj.MadebyRCC) { // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다. // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다. // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다. float powerratio = obj.RCC_PowerRatio; if (powerratio < 0) { powerratio = 0; } else if (powerratio > 1) { powerratio = 1; } float analogPercentLaserPower1 = percentLaser1 * powerratio; // center laser float analogPercentLaserPower2 = percentLaser2 * powerratio; // ring laser _Scanner.WriteDA((uint)eAnalogPortOut.DA1, analogPercentLaserPower1, eFunctionType.LIST); // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다. // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다. _Scanner.WriteDA((uint)eAnalogPortOut.DA2, analogPercentLaserPower2, eFunctionType.LIST); //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전 _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle); } else { // 2.2.1.2. Ramping을 위한 변수 설정 double FirstAngle = obj.SweepAngle * (param.RampingStartADist / 100); double StartAngle = obj.SweepAngle * ((param.RampingStartDist) / 100); double EndAngle = obj.SweepAngle * (param.RampingEndDist / 100); int firstEdgeCount = (int)(FirstAngle / length); int risingEdgeCount = (int)(StartAngle / length); int fallingEdgeCount = (int)(EndAngle / length); int totalCount = (int)Math.Abs(obj.SweepAngle / theta); // 2.2.2.1. Rising Edge 시작 파워 설정 float firstPercentLaser_A1 = percentLaser1 * (float)param.RampingStartAPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartAPower1 / 100 : 100; float firstPercentLaser_B1 = percentLaser1 * (float)param.RampingStartAPower2 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartAPower2 / 100 : 100; float firstPercentLaser_A2 = percentLaser2 * (float)param.RampingStartAPower1 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartAPower1 / 100 : 100; float firstPercentLaser_B2 = percentLaser2 * (float)param.RampingStartAPower2 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartAPower2 / 100 : 100; float startingPercentLaser_A1 = percentLaser1 * (float)param.RampingStartPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower1 / 100 : 100; float startingPercentLaser_B1 = percentLaser1 * (float)param.RampingStartPower2 / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower2 / 100 : 100; float startingPercentLaser_A2 = percentLaser2 * (float)param.RampingStartPower1 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower1 / 100 : 100; float startingPercentLaser_B2 = percentLaser2 * (float)param.RampingStartPower2 / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower2 / 100 : 100; float risingEdgePercentLaser1 = 0; float risingEdgePercentLaser2 = 0; Log.I($"[Arc3P Weld] Ramping Condition No({obj.No + 1}), Arc Angle : {obj.SweepAngle} " + $"(Start_A:{param.RampingStartADist}%, Dist {FirstAngle}mm {(float)param.RampingStartAPower1}% -> {(float)param.RampingStartAPower2}%) " + $"(Start_B:{param.RampingStartDist}%, Dist {StartAngle}mm {(float)param.RampingStartPower1}% -> {(float)param.RampingStartPower2}%) " + $"(End:{param.RampingEndDist}%, Dist {EndAngle}mm {(float)param.RampingEndPower1}% -> {(float)param.RampingEndPower3}%)"); // 2.2.2.2. Rising Edge 구간 파워 및 위치 변경 for (int iter = 0; iter < risingEdgeCount + firstEdgeCount; iter++) { // A1에서 B1으로 간다. if (iter < firstEdgeCount - 1) { risingEdgePercentLaser1 = (firstPercentLaser_B1 - firstPercentLaser_A1) / (float)(firstEdgeCount - 1) * (float)(iter) + firstPercentLaser_A1; risingEdgePercentLaser2 = (firstPercentLaser_B2 - firstPercentLaser_A2) / (float)(firstEdgeCount - 1) * (float)(iter) + firstPercentLaser_A2; } else { risingEdgePercentLaser1 = (startingPercentLaser_B1 - startingPercentLaser_A1) / (float)(risingEdgeCount - 1) * (float)(iter - firstEdgeCount) + startingPercentLaser_A1; risingEdgePercentLaser2 = (startingPercentLaser_B2 - startingPercentLaser_A2) / (float)(risingEdgeCount - 1) * (float)(iter - firstEdgeCount) + startingPercentLaser_A2; } _Scanner.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta); } // 2.2.3.1. Constant Range 파워 설정 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 2.2.3.2. Constant Range 구간 위치 변경 for (int iter = risingEdgeCount; iter < totalCount - fallingEdgeCount; iter++) { _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta); } // 2.2.4.1. Falling Edge 마지막 파워 설정 float endingPercentLaser_A1 = percentLaser1 * (float)param.RampingEndPower1 / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower1 / 100 : 100; float endingPercentLaser_B1 = percentLaser1 * (float)param.RampingEndPower3 / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower3 / 100 : 100; float fallingEdgePercentLaser1 = 0; float endingPercentLaser_A2 = percentLaser2 * (float)param.RampingEndPower1 / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower1 / 100 : 100; float endingPercentLaser_B2 = percentLaser2 * (float)param.RampingEndPower3 / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower3 / 100 : 100; float fallingEdgePercentLaser2 = 0; // 2.2.4.2. Falling Edge 구간 파워 및 위치 변경 for (int iter = totalCount - fallingEdgeCount; iter < totalCount; iter++) { fallingEdgePercentLaser1 = (endingPercentLaser_B1 - endingPercentLaser_A1) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + endingPercentLaser_A1; fallingEdgePercentLaser2 = (endingPercentLaser_B2 - endingPercentLaser_A2) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + endingPercentLaser_A2; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta); } // 2.2.5. 마지막 위치까지 이동해줌. double lastSweep = obj.SweepAngle - (totalCount * theta); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, lastSweep); } } else { //Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); _Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle); } _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; //CSV Laser Log 추가 laserLog.StartPointX = obj.PF1.X; laserLog.StartPointY = obj.PF1.Y; laserLog.EndPointX = obj.PF2.X; laserLog.EndPointY = obj.PF2.Y; laserLog.LotID = Status.GetProcessingWeldingData().WorkLotId; laserLog.CellID = Status.GetProcessingWeldingData().WorkCellId; Status.GetProcessingWeldingData().APD.Add(laserLog); if (obj.MadebyRCC) { Log.I(string.Format($"[RCC SubPath Arc3P Weld] Arc center ({obj.CenterPointF.X + xOffset},{obj.CenterPointF.Y + yOffset}), Sweep angle : ({obj.SweepAngle})")); } else { Log.I(string.Format($"[Arc3P Weld] Arc center ({obj.CenterPointF.X + xOffset},{obj.CenterPointF.Y + yOffset}), Sweep angle : ({obj.SweepAngle})")); } } private void LoadZigzagScannerParam(ZigZag obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1.스캐너 가공조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[Zigzag Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); // 1. 시작 위치로 점프 if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) { //점프 안함 } else { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); } // 2. Ramping 설정 #region Ramping Zigzag // === 전체 길이 및 파트 정보 계산 === if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingStartDist + param.RampingEndDist < obj.TotalLength)) { var sw = Stopwatch.StartNew(); var totalLength = 0.0; List partInfoList = new List(); for (int setIdx = 0; setIdx < obj.LineStartPoints.Count; setIdx++) { // 1. 첫 번째 Line { double dx = obj.ArcStartPoints[setIdx].X - obj.LineStartPoints[setIdx].X; double dy = obj.ArcStartPoints[setIdx].Y - obj.LineStartPoints[setIdx].Y; double length = Math.Sqrt(dx * dx + dy * dy); int count = (int)Math.Round(length / param.RampingInterval); partInfoList.Add(new PartInfo { IsArc = false, Length = length, Count = count, DxPerStep = dx / count, DyPerStep = dy / count, ThetaPerStep = 0, SetIndex = setIdx, PartIndex = 0 }); totalLength += length; } // 2. Arc { double dxArc = obj.ArcCenterPoints[setIdx].X - obj.ArcStartPoints[setIdx].X; double dyArc = obj.ArcCenterPoints[setIdx].Y - obj.ArcStartPoints[setIdx].Y; double radius = Math.Sqrt(dxArc * dxArc + dyArc * dyArc); float startAngle = (float)HitUtil.RadiansToDegrees( HitUtil.LineAngleR(obj.ArcCenterPoints[setIdx], obj.ArcStartPoints[setIdx], 0)); float endAngle = (float)HitUtil.RadiansToDegrees( HitUtil.LineAngleR(obj.ArcCenterPoints[setIdx], obj.ArcEndPoints[setIdx], 0)); // ZigZag DrawDirection이 Left이면 SweepAngle 계산을 CW -> CCW -> CW 순서, Right면 CCW -> CW -> CCW 순서로 해야함 float sweepAngle; bool isEvenSet = (setIdx % 2 == 0); if (obj.DrawDirection == ZigZag.eDrawDirection.Left) { if (isEvenSet) { // CW sweepAngle = (-1) * Math.Abs(startAngle - endAngle); if (sweepAngle < -180) sweepAngle = (360 + sweepAngle) * (-1); } else { // CCW sweepAngle = Math.Abs(startAngle - endAngle); if (sweepAngle > 180) sweepAngle = (360 - sweepAngle); } } else { // Right if (isEvenSet) { // CCW sweepAngle = Math.Abs(startAngle - endAngle); if (sweepAngle > 180) sweepAngle = (360 - sweepAngle); } else { // CW sweepAngle = (-1) * Math.Abs(startAngle - endAngle); if (sweepAngle < -180) sweepAngle = (360 + sweepAngle) * (-1); } } double length = Math.Abs(sweepAngle) * (radius * Math.PI / 180); int count = (int)Math.Round(length / param.RampingInterval); double thetaPerStep = sweepAngle / count; partInfoList.Add(new PartInfo { IsArc = true, Length = length, Count = count, DxPerStep = 0, DyPerStep = 0, ThetaPerStep = thetaPerStep, SetIndex = setIdx, PartIndex = 1 }); totalLength += length; } // 3. 두 번째 Line { double dx = obj.LineEndPoints[setIdx].X - obj.ArcEndPoints[setIdx].X; double dy = obj.LineEndPoints[setIdx].Y - obj.ArcEndPoints[setIdx].Y; double length = Math.Sqrt(dx * dx + dy * dy); int count = (int)Math.Round(length / param.RampingInterval); partInfoList.Add(new PartInfo { IsArc = false, Length = length, Count = count, DxPerStep = dx / count, DyPerStep = dy / count, ThetaPerStep = 0, SetIndex = setIdx, PartIndex = 2 }); totalLength += length; } } // === StartRampingDist / EndRampingDist 인덱스 찾기 === bool useStart = param.RampingStartDist > 0; bool useEnd = param.RampingEndDist > 0; int startPartIndex = -1; int endPartIndex = -1; double cumulative = 0.0; for (int i = 0; i < partInfoList.Count; i++) { cumulative += partInfoList[i].Length; if (useStart && startPartIndex == -1 && cumulative >= param.RampingStartDist) { startPartIndex = i; } if (useEnd) { if (endPartIndex == -1 && cumulative >= (totalLength - param.RampingEndDist)) { endPartIndex = i; break; } } else { endPartIndex = partInfoList.Count; } } // === Rising/Falling 전체 카운트 계산 === int risingCount = useStart ? (int)Math.Round(param.RampingStartDist / param.RampingInterval) : 0; int fallingCount = useEnd ? (int)Math.Round(param.RampingEndDist / param.RampingInterval) : 0; // === Rising 구간 === double curX = obj.P1.X; double curY = obj.P1.Y; if (useStart) { int rampStep = 0; int lastRampPartIdx = 0; int lastRampCountInPart = 0; // A -> Start Power, B -> End Power float startingPercentLaser_A1 = Math.Min(percentLaser1 * (float)param.RampingStartPower1 / 100, 100); float startingPercentLaser_B1 = Math.Min(percentLaser1 * (float)param.RampingStartPower2 / 100, 100); // 2170은 Power를 사용하지 않는다. float startingPercentLaser2 = 0; // Math.Min(percentLaser2 * (float)param.RampingStartPower2 / 100, 100); for (int i = 0; i <= startPartIndex; i++) { var part = partInfoList[i]; int repeatCount = part.Count; for (int c = 0; c < repeatCount; c++) { // power1은 startPower_A1 에서 startPower_B1 까지 변한다 float rampPercent1 = startingPercentLaser_A1 + (startingPercentLaser_B1 - startingPercentLaser_A1) * (rampStep / (float)risingCount); float rampPercent2 = startingPercentLaser2 + (percentLaser2 - startingPercentLaser2) * (rampStep / (float)risingCount); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, rampPercent1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, rampPercent2, eFunctionType.LIST); if (!part.IsArc) { curX += part.DxPerStep; curY += part.DyPerStep; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { _Scanner.ArcAbs(obj.ArcCenterPoints[part.SetIndex].X + xOffset, obj.ArcCenterPoints[part.SetIndex].Y + yOffset, part.ThetaPerStep); if (c == repeatCount - 1) { // Arc가 끝날 때 Line의 현재위치를 Arc 끝점으로 만들어줌 curX += (obj.ArcEndPoints[part.SetIndex].X - obj.ArcStartPoints[part.SetIndex].X) + xOffset; curY += (obj.ArcEndPoints[part.SetIndex].Y - obj.ArcStartPoints[part.SetIndex].Y) + yOffset; } } rampStep++; // 현재 PartIdx에서 Rising이 끝난 시점을 알고 있어야, Continuous 구간 시작 시 PartIdx가 동일한 파워로 마무리 될 수 있도록 함 lastRampPartIdx = i; lastRampCountInPart = c + 1; if (rampStep >= risingCount) { // Arc에서 끝난 경우 curX,Y 좌표를 Arc의 끝점으로 업데이트 해줘야함 if (part.PartIndex % 3 == 1) { curX += (obj.ArcEndPoints[part.SetIndex].X - obj.ArcStartPoints[part.SetIndex].X) + xOffset; curY += (obj.ArcEndPoints[part.SetIndex].Y - obj.ArcStartPoints[part.SetIndex].Y) + yOffset; } break; } } if (rampStep >= risingCount) break; } // === Continuous 구간 === // 1. RisingEdge 남은 파트 처리 { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); var part = partInfoList[lastRampPartIdx]; int remainingCount = part.Count - lastRampCountInPart; if (!part.IsArc) { curX += part.DxPerStep * remainingCount; curY += part.DyPerStep * remainingCount; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { // Arc는 각도 누적 double totalTheta = part.ThetaPerStep * remainingCount; _Scanner.ArcAbs(obj.ArcCenterPoints[part.SetIndex].X + xOffset, obj.ArcCenterPoints[part.SetIndex].Y + yOffset, totalTheta); } } // Continuous 구간: EndRamping 시작 전까지 // EndRamping 미사용일 경우 endPartIndex가 partInfoList이기 때문에 해당 부분까지만 continuous 구간으로 생각해주면 됨 for (int i = lastRampPartIdx + 1; i < endPartIndex; i++) { var part = partInfoList[i]; if (!part.IsArc) { curX += part.DxPerStep * part.Count; curY += part.DyPerStep * part.Count; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { // Arc는 각도 누적 double totalTheta = part.ThetaPerStep * part.Count; _Scanner.ArcAbs(obj.ArcCenterPoints[part.SetIndex].X + xOffset, obj.ArcCenterPoints[part.SetIndex].Y + yOffset, totalTheta); curX += (obj.ArcEndPoints[part.SetIndex].X - obj.ArcStartPoints[part.SetIndex].X) + xOffset; curY += (obj.ArcEndPoints[part.SetIndex].Y - obj.ArcStartPoints[part.SetIndex].Y) + yOffset; } } } else { // StartRamping 미사용 → 처음부터 Continuous _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); for (int i = 0; i < endPartIndex; i++) { var part = partInfoList[i]; if (!part.IsArc) { curX += part.DxPerStep * part.Count; curY += part.DyPerStep * part.Count; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { _Scanner.ArcAbs(obj.ArcCenterPoints[part.SetIndex].X + xOffset, obj.ArcCenterPoints[part.SetIndex].Y + yOffset, part.ThetaPerStep * part.Count); curX += (obj.ArcEndPoints[part.SetIndex].X - obj.ArcStartPoints[part.SetIndex].X) + xOffset; curY += (obj.ArcEndPoints[part.SetIndex].Y - obj.ArcStartPoints[part.SetIndex].Y) + yOffset; } } } if (useEnd) { // Falling 구간 시작 전 해당 객체에서 앞에 남는 길이만큼은 continuos를 유지해줘야 함 PartInfo endPart = partInfoList[endPartIndex]; int remainCount = 0; // EndRamping 시작 전 Continuous 처리 스텝 수 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); { double distFromEndStart = totalLength - param.RampingEndDist; double partStartDist = 0.0; for (int j = 0; j < endPartIndex; j++) { partStartDist += partInfoList[j].Length; } double remainLength = distFromEndStart - partStartDist; // 해당 파트에서 Continuous로 처리할 길이 remainCount = (int)Math.Round(remainLength / param.RampingInterval); if (!endPart.IsArc) { curX += endPart.DxPerStep * remainCount; curY += endPart.DyPerStep * remainCount; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { // Arc는 각도 누적 double totalTheta = endPart.ThetaPerStep * remainCount; _Scanner.ArcAbs(obj.ArcCenterPoints[endPart.SetIndex].X + xOffset, obj.ArcCenterPoints[endPart.SetIndex].Y + yOffset, totalTheta); } } // Falling 구간: remainCount 이후부터 int endRampStep = 0; // A -> Start Power, B -> End Power float endingPercentLaser_A1 = Math.Min(percentLaser1 * (float)param.RampingEndPower1 / 100, 100); float endingPercentLaser_B1 = Math.Min(percentLaser1 * (float)param.RampingEndPower3 / 100, 100); // 2170은 Power를 사용하지 않는다. float endingPercentLaser2 = 0; // Math.Min(percentLaser2 * (float)param.RampingEndPower2 / 100, 100); for (int c = remainCount; c < endPart.Count; c++) { // power1은 endPower_A1 에서 endPower_B1 까지 변한다 float rampPercent1 = endingPercentLaser_A1 - (endingPercentLaser_B1 - endingPercentLaser_A1) * (endRampStep / (float)fallingCount); float rampPercent2 = percentLaser2 - (percentLaser2 - endingPercentLaser2) * (endRampStep / (float)fallingCount); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, rampPercent1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, rampPercent2, eFunctionType.LIST); if (!endPart.IsArc) { curX += endPart.DxPerStep; curY += endPart.DyPerStep; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { _Scanner.ArcAbs(obj.ArcCenterPoints[endPart.SetIndex].X + xOffset, obj.ArcCenterPoints[endPart.SetIndex].Y + yOffset, endPart.ThetaPerStep); if (c == endPart.Count - 1) { curX += (obj.ArcEndPoints[endPart.SetIndex].X - obj.ArcStartPoints[endPart.SetIndex].X) + xOffset; curY += (obj.ArcEndPoints[endPart.SetIndex].Y - obj.ArcStartPoints[endPart.SetIndex].Y) + yOffset; } } endRampStep++; } // 이후 endPartIndex+1 부터 나머지 파트는 기존 Falling 로직 그대로 for (int i = endPartIndex + 1; i < partInfoList.Count; i++) { var p = partInfoList[i]; for (int c = 0; c < p.Count; c++) { float rampPercent1 = endingPercentLaser_A1 - (endingPercentLaser_A1 - endingPercentLaser_B1) * (endRampStep / (float)fallingCount); float rampPercent2 = percentLaser2 - (percentLaser2 - endingPercentLaser2) * (endRampStep / (float)fallingCount); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, rampPercent1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, rampPercent2, eFunctionType.LIST); if (!p.IsArc) { curX += p.DxPerStep; curY += p.DyPerStep; _Scanner.MarkAbs(curX + xOffset, curY + yOffset); } else { _Scanner.ArcAbs(obj.ArcCenterPoints[p.SetIndex].X + xOffset, obj.ArcCenterPoints[p.SetIndex].Y + yOffset, p.ThetaPerStep); if (c == p.Count - 1) { curX += (obj.ArcEndPoints[p.SetIndex].X - obj.ArcStartPoints[p.SetIndex].X) + xOffset; curY += (obj.ArcEndPoints[p.SetIndex].Y - obj.ArcStartPoints[p.SetIndex].Y) + yOffset; } } endRampStep++; if (endRampStep >= fallingCount) break; } if (endRampStep >= fallingCount) break; } } sw.Stop(); Log.I(string.Format($"[Zigzag Weld] Ramping UploadWeldingList time : {sw.ElapsedMilliseconds} msec")); } #endregion else { // 3. 지그재그 순서대로 마킹 for (int i = 0; i < obj.ZigZagCount; i++) { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.ArcStartPoints[i].X + xOffset, obj.ArcStartPoints[i].Y + yOffset); float startAngle = (float)HitUtil.RadiansToDegrees(HitUtil.LineAngleR(obj.ArcCenterPoints[i], obj.ArcStartPoints[i], 0)); float endAngle = (float)HitUtil.RadiansToDegrees(HitUtil.LineAngleR(obj.ArcCenterPoints[i], obj.ArcEndPoints[i], 0)); float sweepAngle = 0; if (i % 2 == 0) { if (obj.DrawDirection == ZigZag.eDrawDirection.Left) { sweepAngle = (-1) * Math.Abs(startAngle - endAngle); if (sweepAngle < -180) { sweepAngle = (360 + sweepAngle) * (-1); } _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle); } else { sweepAngle = Math.Abs(startAngle - endAngle); if (sweepAngle > 180) { sweepAngle = (360 - sweepAngle); } _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle); } } else { if (obj.DrawDirection == ZigZag.eDrawDirection.Right) { sweepAngle = (-1) * Math.Abs(startAngle - endAngle); if (sweepAngle < -180) { sweepAngle = (360 + sweepAngle) * (-1); } _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle); } else { sweepAngle = Math.Abs(startAngle - endAngle); if (sweepAngle > 180) { sweepAngle = (360 - sweepAngle); } _Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle); } } _Scanner.MarkAbs(obj.LineEndPoints[i].X + xOffset, obj.LineEndPoints[i].Y + yOffset); } } _LastX = obj.LineEndPoints[obj.ZigZagCount - 1].X + xOffset; _LastY = obj.LineEndPoints[obj.ZigZagCount - 1].Y + yOffset; Log.I(string.Format($"[Zigzag Weld] Mark Start/End Point (Start Point : {obj.PF1.X + xOffset},{obj.PF1.Y + yOffset}, End Point : {obj.PF2.X + xOffset},{obj.PF2.Y + yOffset})")); } private SequenceActionResult MarkingOnTheFlyOff(SequenceContext context, string id, SequenceActionResult param) { _Scanner.StoreEncoder(1); _Scanner.SaveAndRestartTimer(); if (_Scanner.Config.UseMarkingOnTheFly) { if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) { // Linear OTW의 경우, 각 Draw Tool에서 좌표 오프셋을 해 주고 있음 } else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) { // 여기서 원래 레시피로 돌려주기 foreach (IDrawObject obj in _InitParam.SelectedDrawObjectList) { obj.Rotate((float)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 _Scanner.Fly_Return(_Scanner.Config.MarkingOntheFlyParkingPositionX, _Scanner.Config.MarkingOntheFlyParkingPositionY); // 엔코더 기록(용접 완료) } return SequenceAction.Ok(); } private SequenceActionResult RecordSignalOff(SequenceContext context, string id, SequenceActionResult param) { if (_Scanner.Config.UseRecordSignal) { _Scanner.SaveAndRestartTimer(); _Scanner.SetTrigger(0, _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2, _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4); } return SequenceAction.Ok(); } private SequenceActionResult SaveResultData(SequenceContext context, string id, SequenceActionResult param) { // 결과 Data 를 업데이트 함. context.PutValue(ContextKey.KEY_SEQUENCE_RESULT, true); return SequenceAction.Ok(); } private SequenceActionResult WriteCompletionPLCBit(SequenceContext context, string id, SequenceActionResult param) { // 완료 비트 write 하는 Node 추가 필요. format 유지, SeqScoutNormal 없음 Log.D("UploadWeldingList Sequence WriteCompletionPLCBit"); return SequenceAction.Ok(); } private SequenceActionResult Complete(SequenceContext context, string id, SequenceActionResult param) { RestoreDeviceStatus(); Log.I("UploadWeldingList Complete"); _UploadSpanTime = DateTime.Now.Subtract(_UploadstartTime); Log.D(string.Format($"[SeqUploadWeldingList] UploadWeldingList Complete Time : {_UploadSpanTime.TotalMilliseconds}")); context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult); SeqUploadWeldingList_OutParam result = new SeqUploadWeldingList_OutParam() { Success = seqResult }; if (seqResult == false) { AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed); } Log.D("UploadWeldingList Sequence Complete"); return SequenceAction.Ok(result); } private bool RestoreDeviceStatus() { if (_InitParam.IncludeListStartEnd) { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.SetEndList(); } Log.I(string.Format($"SetEndList")); return true; } private void OnForceError(SequenceContext arg1, string arg2) { Log.I("SequenceAction Ok : OnForceError"); } private void OnStopped(SequenceContext obj) { Log.I("SequenceAction Ok : OnStopped"); } } public class SeqUploadWeldingList_InitParam : InitParam { public bool NeedSetLaserTiming { get; set; } // eLaserType.Trumpf_IO, eLaserType.Coherent_Arm_IO ==> true public bool IncludeListStartEnd { get; set; } public double CellMeasureCenterOffsetX { get; set; } public double CellMeasureCenterOffsetY { get; set; } public List SelectedDrawObjectList { get; set; } public eListNo WeldingScannerListNo { get; set; } public double Rotation_Degree { get; set; } } public class SeqUploadWeldingList_OutParam : OutParam { } public class PartInfo { public bool IsArc; public double Length; public int Count; public double DxPerStep; public double DyPerStep; public double ThetaPerStep; public int SetIndex; // 어떤 세트에 속하는지 public int PartIndex; // 세트 내 파트 인덱스 (0=Line1, 1=Arc, 2=Line2) } }