diff --git a/Machines/ILSOS_PrismaticRD_PTOP/ILSOS_PrismaticRD_PTOP.csproj b/Machines/ILSOS_PrismaticRD_PTOP/ILSOS_PrismaticRD_PTOP.csproj
index 79bba3b..876db8c 100644
--- a/Machines/ILSOS_PrismaticRD_PTOP/ILSOS_PrismaticRD_PTOP.csproj
+++ b/Machines/ILSOS_PrismaticRD_PTOP/ILSOS_PrismaticRD_PTOP.csproj
@@ -106,6 +106,7 @@
+
diff --git a/Machines/ILSOS_PrismaticRD_PTOP/Sequences/LaserAngleOffsetSelector.cs b/Machines/ILSOS_PrismaticRD_PTOP/Sequences/LaserAngleOffsetSelector.cs
new file mode 100644
index 0000000..91145aa
--- /dev/null
+++ b/Machines/ILSOS_PrismaticRD_PTOP/Sequences/LaserAngleOffsetSelector.cs
@@ -0,0 +1,46 @@
+using Aurora.Api;
+using ILSOS_PrismaticRD_PTOP.Device;
+using ILSOS_PrismaticRD_PTOP.Settings;
+using static ILSOS_PrismaticRD_PTOP.Device.PLCControllerPTOP;
+using SystemParameter = WeldingCommon.Settings.SystemParameter;
+
+namespace ILSOS_PrismaticRD_PTOP.Sequences
+{
+ // 카메라 헤드 각도(D70510)에 따라 Front/Down 발진 offset 을 선택한다.
+ // thetaDeg = D70510 / PlcScale 가 (Front angle + Down angle)/2 보다 크면 Down, 아니면 Front.
+ // PLC 미연결/미활성으로 각도를 못 읽으면 Front offset 적용(fallback).
+ internal static class LaserAngleOffsetSelector
+ {
+ public static (double x, double y) Select(
+ PLCControllerPTOP plc, SystemParameter sp, LaserInterlockSetting setting, Logger log, string tag)
+ {
+ double frontAngle = setting != null ? setting.HeadThetaFront : 0;
+ double downAngle = setting != null ? setting.HeadThetaDown : 90;
+ double avg = (frontAngle + downAngle) / 2.0;
+ double scale = (setting != null && setting.HeadThetaPlcScale != 0) ? setting.HeadThetaPlcScale : 1;
+
+ bool useDown = false;
+ double thetaDeg = double.NaN;
+ if (plc != null && plc.IsActivated)
+ {
+ short raw = plc.ReadWord(eWordInput.HEAD_THETA_POSITION).data; // D70510
+ thetaDeg = raw / scale;
+ useDown = thetaDeg > avg; // 평균보다 높으면 Down
+ }
+ else
+ {
+ log.W($"[{tag}] 각도 offset: PLC 미연결/미활성 → Front offset 적용(fallback)");
+ }
+
+ double selX = useDown ? sp.DownOffsetX : sp.FrontOffsetX;
+ double selY = useDown ? sp.DownOffsetY : sp.FrontOffsetY;
+
+ log.I($"[{tag}] 각도 offset 선택: D70510={thetaDeg:F1}deg, avg={avg:F1} " +
+ $"(FrontAngle={frontAngle}, DownAngle={downAngle}) → {(useDown ? "Down" : "Front")} 적용 | " +
+ $"FrontOffset=({sp.FrontOffsetX},{sp.FrontOffsetY}) DownOffset=({sp.DownOffsetX},{sp.DownOffsetY}) " +
+ $"→ 적용=({selX},{selY})");
+
+ return (selX, selY);
+ }
+ }
+}
diff --git a/Machines/ILSOS_PrismaticRD_PTOP/Sequences/Manual/SeqComponentTeachingRun.cs b/Machines/ILSOS_PrismaticRD_PTOP/Sequences/Manual/SeqComponentTeachingRun.cs
index 0c95add..ca1b89e 100644
--- a/Machines/ILSOS_PrismaticRD_PTOP/Sequences/Manual/SeqComponentTeachingRun.cs
+++ b/Machines/ILSOS_PrismaticRD_PTOP/Sequences/Manual/SeqComponentTeachingRun.cs
@@ -17,6 +17,7 @@ using GUI;
using Hermes;
using ILSOS_PrismaticRD_PTOP.Device;
using ILSOS_PrismaticRD_PTOP.Device.IO;
+using ILSOS_PrismaticRD_PTOP.Settings;
using Matrox.MatroxImagingLibrary;
using OpenCvSharp.Dnn;
using System;
@@ -502,21 +503,23 @@ namespace ILSOS_PrismaticRD_PTOP.Sequences
{
Status.SetWorkingPosition(eWorkingPosition.UPLOADING_WELD_LIST);
+ // 각도(D70510) 기반 Front/Down offset 선택 (기존 단일 CellCenterOffset 대체)
+ var thetaOffsetSetting = context.GetSetting(SettingIds.LaserInterlock);
+ var (angleOffX, angleOffY) = LaserAngleOffsetSelector.Select(_plc, _SystemParameter, thetaOffsetSetting, Log, "ComponentTeachingRun");
+
// TeachingRun에는 용접 시퀀스만 정의해서 Auto Run에서도 사용하므로 Offset 넣어줘야 함
SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam() {
NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
IncludeListStartEnd = true,
- CellMeasureCenterOffsetX = _SystemParameter.CellPosMeasureCenterOffsetX + _InitParam.CellCenterOffsetX,
- CellMeasureCenterOffsetY = _SystemParameter.CellPosMeasureCenterOffsetY + _InitParam.CellCenterOffsetY,
+ CellMeasureCenterOffsetX = angleOffX + _InitParam.CellCenterOffsetX,
+ CellMeasureCenterOffsetY = angleOffY + _InitParam.CellCenterOffsetY,
SelectedDrawObjectList = _DivideObjectsQueue.Peek(),
WeldingScannerListNo = _WeldingScannerListNo,
};
var _PageNo = _SequenceSetting.LastPageNo;
- Log.W($"page {_PageNo}({Status.GetProcessingWeldingData().CellId}) : Cell Offset Value Check ; X : {_SystemParameter.CellPosMeasureCenterOffsetX} + {_InitParam.CellCenterOffsetX} ; Y : {_SystemParameter.CellPosMeasureCenterOffsetY} + {_InitParam.CellCenterOffsetY}");
-
- Log.D(string.Format($"[ComponentTeachingRun] Set UploadWelindList Seq Param"));
+ Log.D(string.Format($"[ComponentTeachingRun] Set UploadWelindList Seq Param (page {_PageNo}, Cell {Status.GetProcessingWeldingData().CellId})"));
return SequenceAction.Ok(seqParams);
}
diff --git a/Machines/ILSOS_PrismaticRD_PTOP/Sequences/SeqAutoRunPTOP.cs b/Machines/ILSOS_PrismaticRD_PTOP/Sequences/SeqAutoRunPTOP.cs
index 0138773..4a132b0 100644
--- a/Machines/ILSOS_PrismaticRD_PTOP/Sequences/SeqAutoRunPTOP.cs
+++ b/Machines/ILSOS_PrismaticRD_PTOP/Sequences/SeqAutoRunPTOP.cs
@@ -636,14 +636,17 @@ namespace ILSOS_PrismaticRD_PTOP.Sequences
}
#endregion
- // TeachingRun 에서는 CellMeasureCenterOffset 사용하지 않음. 0 으로 넘기자
+ // 각도(D70510) 기반 Front/Down offset 선택 (기존 단일 CellCenterOffset 대체)
+ var thetaOffsetSetting = Application.Current.AuroraEnv().SettingEntry[SettingIds.LaserInterlock] as LaserInterlockSetting;
+ var (angleOffX, angleOffY) = LaserAngleOffsetSelector.Select(_PLC, _SystemParameter, thetaOffsetSetting, Log, "ExecuteWelding");
+
SeqUploadWeldingList_InitParam seqParams = new SeqUploadWeldingList_InitParam()
{
NeedSetLaserTiming = _InitParam.NeedSetLaserTiming,
IncludeListStartEnd = true,
- CellMeasureCenterOffsetX = _SystemParameter.CellPosMeasureCenterOffsetX + _InitParam.CellCenterOffsetX,
- CellMeasureCenterOffsetY = _SystemParameter.CellPosMeasureCenterOffsetY + _InitParam.CellCenterOffsetY,
- SelectedDrawObjectList = _SelectedObjectList, // 이게 중요 포인트
+ CellMeasureCenterOffsetX = angleOffX + _InitParam.CellCenterOffsetX,
+ CellMeasureCenterOffsetY = angleOffY + _InitParam.CellCenterOffsetY,
+ SelectedDrawObjectList = _SelectedObjectList, // 이게 중요 포인트
WeldingScannerListNo = _WeldingScannerListNo,
};
@@ -761,12 +764,12 @@ namespace ILSOS_PrismaticRD_PTOP.Sequences
short thetaRaw = _PLC.ReadWord(eWordInput.HEAD_THETA_POSITION).data;
double scale = thetaSetting.HeadThetaPlcScale != 0 ? thetaSetting.HeadThetaPlcScale : 1; // 0 가드
double thetaDeg = thetaRaw / scale;
- bool okH = Math.Abs(thetaDeg - thetaSetting.HeadThetaHorizontal) <= thetaSetting.HeadThetaTolerance;
- bool okV = Math.Abs(thetaDeg - thetaSetting.HeadThetaVertical) <= thetaSetting.HeadThetaTolerance;
- Log.I($"[ExecuteWelding] HeadTheta raw={thetaRaw}, deg={thetaDeg:F1} (H={thetaSetting.HeadThetaHorizontal}/V={thetaSetting.HeadThetaVertical}/±{thetaSetting.HeadThetaTolerance})");
- if (!okH && !okV)
+ bool okFront = Math.Abs(thetaDeg - thetaSetting.HeadThetaFront) <= thetaSetting.HeadThetaTolerance;
+ bool okDown = Math.Abs(thetaDeg - thetaSetting.HeadThetaDown) <= thetaSetting.HeadThetaTolerance;
+ Log.I($"[ExecuteWelding] HeadTheta raw={thetaRaw}, deg={thetaDeg:F1} (Front={thetaSetting.HeadThetaFront}/Down={thetaSetting.HeadThetaDown}/±{thetaSetting.HeadThetaTolerance})");
+ if (!okFront && !okDown)
{
- Log.W($"[ExecuteWelding] HeadTheta 인터락 → 수평/수직 ±{thetaSetting.HeadThetaTolerance}° 벗어남(deg={thetaDeg:F1}) → 발진 차단");
+ Log.W($"[ExecuteWelding] HeadTheta 인터락 → Front/Down ±{thetaSetting.HeadThetaTolerance}° 벗어남(deg={thetaDeg:F1}) → 발진 차단");
blocked = true;
}
}
diff --git a/Machines/ILSOS_PrismaticRD_PTOP/Settings/LaserInterlockSetting.cs b/Machines/ILSOS_PrismaticRD_PTOP/Settings/LaserInterlockSetting.cs
index 7fd46c2..cbaa34d 100644
--- a/Machines/ILSOS_PrismaticRD_PTOP/Settings/LaserInterlockSetting.cs
+++ b/Machines/ILSOS_PrismaticRD_PTOP/Settings/LaserInterlockSetting.cs
@@ -16,14 +16,14 @@ namespace ILSOS_PrismaticRD_PTOP.Settings
[Browsable(true)]
[ReadOnly(false)]
[Category("Head Theta Interlock")]
- [DisplayName("Horizontal Angle (deg)")]
- public double HeadThetaHorizontal { get; set; } = 0;
+ [DisplayName("Front Angle (deg)")]
+ public double HeadThetaFront { get; set; } = 0;
[Browsable(true)]
[ReadOnly(false)]
[Category("Head Theta Interlock")]
- [DisplayName("Vertical Angle (deg)")]
- public double HeadThetaVertical { get; set; } = 90;
+ [DisplayName("Down Angle (deg)")]
+ public double HeadThetaDown { get; set; } = 90;
[Browsable(true)]
[ReadOnly(false)]
diff --git a/WeldingComponents/WeldingCommon/Settings/SystemParameter.cs b/WeldingComponents/WeldingCommon/Settings/SystemParameter.cs
index 7ea33a7..a86b39c 100644
--- a/WeldingComponents/WeldingCommon/Settings/SystemParameter.cs
+++ b/WeldingComponents/WeldingCommon/Settings/SystemParameter.cs
@@ -387,13 +387,23 @@ namespace WeldingCommon.Settings
[Browsable(true)]
[ReadOnly(false)]
[Category("CellPosMeasure")]
- [DisplayName("CellCenterOffsetX")]
- public double CellPosMeasureCenterOffsetX { get; set; } = 0;
+ [DisplayName("Front Offset X")]
+ public double FrontOffsetX { get; set; } = 0;
[Browsable(true)]
[ReadOnly(false)]
[Category("CellPosMeasure")]
- [DisplayName("CellCenterOffsetY")]
- public double CellPosMeasureCenterOffsetY { get; set; } = 0;
+ [DisplayName("Front Offset Y")]
+ public double FrontOffsetY { get; set; } = 0;
+ [Browsable(true)]
+ [ReadOnly(false)]
+ [Category("CellPosMeasure")]
+ [DisplayName("Down Offset X")]
+ public double DownOffsetX { get; set; } = 0;
+ [Browsable(true)]
+ [ReadOnly(false)]
+ [Category("CellPosMeasure")]
+ [DisplayName("Down Offset Y")]
+ public double DownOffsetY { get; set; } = 0;
[Category("Transfer")]
[ReadOnly(false)]
diff --git a/docs/작업일지/2026_06_24.md b/docs/작업일지/2026_06_24.md
new file mode 100644
index 0000000..0ee4599
--- /dev/null
+++ b/docs/작업일지/2026_06_24.md
@@ -0,0 +1,18 @@
+# 작업일지 — 2026-06-24
+
+## 각도(D70510) 기반 Laser 발진 Offset 분기 구현
+
+- **배경**: D70510(카메라 헤드 각도, Head_Theta_Position)에 따라 Laser 발진 위치가 달라지는데, 기존엔 단일 Cell center offset 하나만 적용해 각도 변화 시 위치가 어긋남. → 각도에 따라 Front/Down 두 벌의 offset을 자동 선택 적용하도록 변경.
+- **선택 로직**: `thetaDeg = D70510 / HeadThetaPlcScale` vs `avg = (Front angle + Down angle)/2`.
+ - `thetaDeg > avg` → **Down offset**, 이하 → **Front offset** 적용.
+ - PLC 미연결/미활성으로 각도 못 읽으면 **Front offset** 적용(fallback) + 경고 로그.
+- **적용 범위**: 자동(`SeqAutoRunPTOP.SetUploadWeldingList_SeqParams`)·수동(`SeqComponentTeachingRun.SetUploadWeldingList_SeqParams`) 발진 모두. 발진 offset = `선택 Front/Down offset + 비전 offset(_InitParam.CellCenterOffset)` — 기존 SystemParameter 단일 offset을 **대체**.
+- **변경 파일**:
+ - `Settings/LaserInterlockSetting.cs`: `HeadThetaHorizontal/Vertical` → `HeadThetaFront/Down` (DisplayName "Front/Down Angle (deg)")
+ - `WeldingCommon/Settings/SystemParameter.cs`: `CellPosMeasureCenterOffsetX/Y`(2개) → `FrontOffsetX/Y` + `DownOffsetX/Y`(4개)
+ - `Sequences/LaserAngleOffsetSelector.cs`(신규): 각도 비교 → offset 선택 + 로그 헬퍼
+ - `Sequences/SeqAutoRunPTOP.cs` / `Sequences/Manual/SeqComponentTeachingRun.cs`: 헬퍼 호출로 offset 대체. (자동 인터락 참조·로그 라벨도 Horizontal/Vertical → Front/Down)
+ - `ILSOS_PrismaticRD_PTOP.csproj`: 신규 헬퍼 Compile Include 등록
+- **LOG**: 발진 시 Front/Down angle, Front/Down offset(x,y), 선택 결과를 한 줄로 기록.
+- **검증**: Debug|x64 컴파일 통과. sub agent 점검 완료(Critical 없음, 옛 이름 잔존 참조 0건, 공유 모듈 부작용 없음).
+- **⚠ 배포 전 주의**: 설정 클래스 프로퍼티명 rename으로 **기존 저장 설정값이 자동 이관되지 않음**(Front/Down offset·angle 기본값으로 리셋). 현장 적용 전 기존 보정값을 신규 Front/Down 필드에 **수동 재입력** 필요.