using Aurora; using Aurora.Api; using Aurora.Api.Devices; 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.Runtime.Remoting.Lifetime; using System.Security.RightsManagement; using System.Text; using System.Threading; using System.Threading.Tasks; using VisionCommon; using WeldingCommon.Alarm; using WeldingCommon.Data; using WeldingCommon.Settings; using WeldingCommon.Utils; namespace WeldingCommon.Sequences { public 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 Laser _Laser; private LaserPowerCalParam _LaserPowerCalParam; 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 static int _CenterRingRatio; // Center Ring의 파워 비율 private static float _LaserPowerRatio; // Laser에서 출력 파워 비율 private static SeqUploadWeldingList_OutParam result; const int ROTATION_DEGREE = 15; // 15도 설정, 하나의 지그가 30도 이므로, 15도부터 돌도록 설정됨. private ScannerParam _ScannerParam; private static SequenceSetting _SequenceSetting; 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 _SequenceSetting = context.Settings[CommonSettingIds.Sequence] as SequenceSetting; if (result == null) result = new SeqUploadWeldingList_OutParam(); result.Clear(); 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); _FlyOffsetX = 0; _FlyOffsetY = 0; return true; } private void InitDev(SequenceContext context) { //Device Init _Scanner = context.GetLaserScanner(); _Laser = context.GetLaser(); } 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); } // SetLaserTiming 테스트 IDrawObject firstObject = _InitParam.SelectedDrawObjectList[0] as IDrawObject; int firstObjectScannerNo = firstObject.ScannerParamID - 1; _ScannerParam = ScannerCanvasUserCtrl.ScannerParams[firstObjectScannerNo]; _Scanner.SetLaserTiming((uint)_ScannerParam.LaserFrequency, (_ScannerParam.LaserPulseDuration), (_ScannerParam.LaserPulseDuration)); Log.D(string.Format($"[SetLaserTiming] LaserFrequency : {_ScannerParam.LaserFrequency}, LaserPulseDuration : {_ScannerParam.LaserPulseDuration}")); 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) { // 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(ROTATION_DEGREE, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); // +15도 회전 } // 3. 원하는 용접 시작 각도 올 때까지 기다리기. double 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; // 첫번째 Object의 파라미터만 넣어주자? var scanParam = getScannerParameter(_InitParam.SelectedDrawObjectList.First()); if (scanParam != null) { result.SettingPower = scanParam.LaserPower1 + scanParam.LaserPower2; result.SettingVelocity = scanParam.MarkSpeed; } //ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; int drawObjectCount = FuncLoadDrawObjectScannerParam(_InitParam.SelectedDrawObjectList); //var weldingData = Status.GetProcessingWeldingData(); //weldingData.UploadDatas[eUploadData.LaserWeldingRecipeNo].Value = context.Recipes.ActivatedRecipe().Id; //weldingData.UploadDatas[eUploadData.PreWeldingPointCount].Value = drawObjectCount; //if (_PageNo == 1) { // weldingData.UploadDatas[eUploadData.CommonLaserDrawSpeed].Value = _ScannerParam.MarkSpeed; // weldingData.UploadDatas[eUploadData.CommonLaserJumpSpeed].Value = _ScannerParam.JumpSpeed; // weldingData.UploadDatas[eUploadData.CommonLaserMainPowerCore].Value = _ScannerParam.LaserPower1; // weldingData.UploadDatas[eUploadData.CommonLaserMainPowerRing].Value = _ScannerParam.LaserPower2; // weldingData.UploadDatas[eUploadData.CommonLaserRampingPower_Starting].Value = _ScannerParam.RampingStartPower; // weldingData.UploadDatas[eUploadData.CommonLaserRampingLength_Starting].Value = _ScannerParam.RampingStartDist; // weldingData.UploadDatas[eUploadData.CommonLaserRampingPower_OverPath].Value = _ScannerParam.RampingEndPower; // weldingData.UploadDatas[eUploadData.CommonLaserRampingLength_OverPath].Value = _ScannerParam.RampingEndDist; //} else { // weldingData.UploadDatas[eUploadData.CathodeLaserDrawSpeed].Value = _ScannerParam.MarkSpeed; // weldingData.UploadDatas[eUploadData.CathodeLaserJumpSpeed].Value = _ScannerParam.JumpSpeed; // weldingData.UploadDatas[eUploadData.CathodeLaserMainPowerCore].Value = _ScannerParam.LaserPower1; // weldingData.UploadDatas[eUploadData.CathodeLaserMainPowerRing].Value = _ScannerParam.LaserPower2; // weldingData.UploadDatas[eUploadData.CathodeLaserRampingPower_Starting].Value = _ScannerParam.RampingStartPower; // weldingData.UploadDatas[eUploadData.CathodeLaserRampingLength_Starting].Value = _ScannerParam.RampingStartDist; // weldingData.UploadDatas[eUploadData.CathodeLaserRampingPower_OverPath].Value = _ScannerParam.RampingEndPower; // weldingData.UploadDatas[eUploadData.CathodeLaserRampingLength_OverPath].Value = _ScannerParam.RampingEndDist; //} return SequenceAction.Ok(); } private int FuncLoadDrawObjectScannerParam(List objects) { int drawObjectCount = 0; foreach (IDrawObject obj in objects) { drawObjectCount += FuncLoadDrawObjectScannerParamSelected(obj); } return drawObjectCount; } private int LoadGroupScannerParam(Group obj) { int count = 0; if (_SequenceSetting.GroupRamingUse == true) { count = GroupRampingScannerParam(obj); } else { //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) { if (!obj.Enabled) return 0; uint repeatCount = getScannerParameter(obj).NumberOfCount; if (repeatCount <= 0) repeatCount = 1; int count = 0; for (int i = 0; i < repeatCount; i++) { // 같은 obj를 두 번째 이상 반복할 때는 // _LastX/_LastY를 깨서 항상 시작점으로 Jump 하도록 유도 if (i > 0) { _LastX = double.NaN; _LastY = double.NaN; } 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) { Arc arcObj = (Arc)obj; if (arcObj.UseHatching) { // 해칭 리스트 가져오기 var hatchObjects = arcObj.GetHatchObjects(); // 액션, 외곽선(원) 업로드 Action uploadOutline = () => { LoadArcScannerParam(arcObj); count++; }; // 액션, 해칭 업로드 Action uploadHatch = () => { foreach (var hatchItem in hatchObjects) { // HatchOnly 모드일 때, 외각선(원) 업로드 제외 if (arcObj.HatchMarkType == Arc.eHatchMarkType.Hatch_Only) { if (hatchItem is Arc inner && inner.InnerArcFlag == Arc.FLAG_INNER_ARC) { continue; } } // 해칭 선이나 외각선(원)을 다시 이 함수로 보내서 업로드 count += FuncLoadDrawObjectScannerParamSelected(hatchItem); } }; switch (arcObj.HatchMarkType) { case Arc.eHatchMarkType.Outline_and_Hatch: uploadOutline(); uploadHatch(); break; case Arc.eHatchMarkType.Hatch_and_Outline: uploadHatch(); uploadOutline(); break; case Arc.eHatchMarkType.Hatch_Only: uploadHatch(); break; } } // 해칭 미사용시 아크만 업로드 else { LoadArcScannerParam(arcObj); count++; } 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 int GroupRampingScannerParam(Group obj) { int count = 0; // 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); // 시작 위치로 점프 _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(obj.SubObjects[0].PF1.X + xOffset, obj.SubObjects[0].PF1.Y + yOffset, eFunctionType.LIST); _LastX = obj.SubObjects[0].PF1.X + xOffset; _LastY = obj.SubObjects[0].PF1.Y + yOffset; double groupTotalLength = 0.0; foreach (var subObj in obj.SubObjects) { if (subObj is Line) groupTotalLength += ((Line)subObj).Distance; else if (subObj is Arc) groupTotalLength += ((Arc)subObj).Length; } double length = param.ArcRampingInterval; if (length <= 0) length = 0.001; // 미설정(0) 방어용 최소값 double risingLen = param.RampingStartDist; double fallingLen = param.RampingEndDist; float startPower1 = percentLaser1 * (float)param.RampingStartPower / 100f; float endPower1 = percentLaser1 * (float)param.RampingEndPower / 100f; float startPower2 = percentLaser2 * (float)param.RampingStartPower / 100f; float endPower2 = percentLaser2 * (float)param.RampingEndPower / 100f; double currentTotalDist = 0.0; double residualLength = 0.0; // 이전 객체에서 다음 포인트까지 남은 거리 foreach (var subObj in obj.SubObjects) { double segLen = (subObj is Line line) ? line.Distance : (subObj is Arc arc ? arc.Length : 0); if (segLen <= 0) continue; // 객체 간 연결 확인 (멀리 떨어져 있으면 점프) double startX, startY; if (subObj is Line l) { startX = l.P1.X; startY = l.P1.Y; } else if (subObj is Arc a) { startX = a.PF1.X; startY = a.PF1.Y; } else { startX = 0; startY = 0; } if (Math.Abs(_LastX - (startX + xOffset)) > 0.01 || Math.Abs(_LastY - (startY + yOffset)) > 0.01) { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.JumpAbs(startX + xOffset, startY + yOffset); residualLength = 0; // 점프 시 잔여 거리 초기화 _LastX = startX + xOffset; _LastY = startY + yOffset; } double distInSeg = (residualLength == 0) ? length : (length - residualLength); if (subObj is Line lineObj) { double ux = (lineObj.P2.X - lineObj.P1.X) / segLen; double uy = (lineObj.P2.Y - lineObj.P1.Y) / segLen; while (distInSeg <= segLen + 0.000001) { double s = currentTotalDist + distInSeg; float p1 = CalculateRampingPower((float)s, (float)groupTotalLength, (float)risingLen, (float)fallingLen, startPower1, percentLaser1, endPower1); float p2 = CalculateRampingPower((float)s, (float)groupTotalLength, (float)risingLen, (float)fallingLen, startPower2, percentLaser2, endPower2); double posX = lineObj.P1.X + ux * distInSeg; double posY = lineObj.P1.Y + uy * distInSeg; _Scanner.WriteDA((uint)eAnalogPortOut.DA1, p1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, p2, eFunctionType.LIST); _Scanner.MarkAbs(posX + xOffset, posY + yOffset); _LastX = posX + xOffset; _LastY = posY + yOffset; distInSeg += length; } residualLength = segLen - (distInSeg - length); } else if (subObj is Arc arcObj) { double radius = Math.Sqrt(Math.Pow(arcObj.CenterPointF.X - arcObj.PF1.X, 2) + Math.Pow(arcObj.CenterPointF.Y - arcObj.PF1.Y, 2)); double startAngle = Math.Atan2(arcObj.PF1.Y - arcObj.CenterPointF.Y, arcObj.PF1.X - arcObj.CenterPointF.X) * (180.0 / Math.PI); while (distInSeg <= segLen + 0.000001) { double s = currentTotalDist + distInSeg; float p1 = CalculateRampingPower((float)s, (float)groupTotalLength, (float)risingLen, (float)fallingLen, startPower1, percentLaser1, endPower1); float p2 = CalculateRampingPower((float)s, (float)groupTotalLength, (float)risingLen, (float)fallingLen, startPower2, percentLaser2, endPower2); double sweepAngle = (distInSeg / radius) * (180.0 / Math.PI); if (arcObj.Direction == Arc.eDirection.CW) sweepAngle = -sweepAngle; double currentAngle = (startAngle + sweepAngle) * (Math.PI / 180.0); double posX = arcObj.CenterPointF.X + radius * Math.Cos(currentAngle); double posY = arcObj.CenterPointF.Y + radius * Math.Sin(currentAngle); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, p1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, p2, eFunctionType.LIST); _Scanner.MarkAbs(posX + xOffset, posY + yOffset); _LastX = posX + xOffset; _LastY = posY + yOffset; distInSeg += length; } residualLength = segLen - (distInSeg - length); } currentTotalDist += segLen; } _Scanner.WriteDA((uint)eAnalogPortOut.DA1, endPower1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, endPower2, eFunctionType.LIST); return count; } private float CalculateRampingPower( float s, float totalLen, float risingLen, float fallingLen, float startPower, float steadyPower, float endPower) { // Rising if (s < risingLen) { float ratio = s / risingLen; return startPower + (steadyPower - startPower) * ratio; } // Falling if (s > totalLen - fallingLen) { float ratio = (totalLen - s) / fallingLen; if (ratio < 0) ratio = 0; return endPower + (steadyPower - endPower) * ratio; } // Constant return steadyPower; } public ScannerParam getScannerParameter(IDrawObject obj) { ScannerParam ret = null; if (obj is Line line) ret = ScannerCanvasUserCtrl.ScannerParams[line.ScannerParamNo]; else if ( obj is Dot dot) ret = ScannerCanvasUserCtrl.ScannerParams[dot.ScannerParamNo]; else if ( obj is Spline spline) ret = ScannerCanvasUserCtrl.ScannerParams[spline.ScannerParamNo]; else if ( obj is SnowMan snowM) ret = ScannerCanvasUserCtrl.ScannerParams[snowM.ScannerParamNo]; else if (obj is Arc arc) ret = ScannerCanvasUserCtrl.ScannerParams[arc.ScannerParamNo]; else if ( obj is Arc3Point acr3) ret = ScannerCanvasUserCtrl.ScannerParams[acr3.ScannerParamNo]; else if ( obj is ZigZag zz) ret = ScannerCanvasUserCtrl.ScannerParams[zz.ScannerParamNo]; else if( obj is Group group) ret = ScannerCanvasUserCtrl.ScannerParams[group.ScannerParamNo]; return ret; } 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 if (param.LaserPower1 == 0 && param.LaserPower2 == 0) _CenterRingRatio = 100; else _CenterRingRatio = (int)Math.Round((double)(100 * param.LaserPower1) / (double)(param.LaserPower1 + param.LaserPower2), 0); // Discrete 한 값이라서 Ring은 오차 발생 if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberS) { // TruFiberS Type은 비율 제어 if (_CenterRingRatio == 0) { // Center가 0인경우 //percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent((double)param.LaserPower2, (uint)eAnalogPortOut.DA1); percentLaser1 = (float)(_LaserPowerCalParam.CalibrateWattToMeasuredVoltage((double)param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Center)); percentLaser1 = percentLaser1 * 10; // 스캐너에 입렵하기 위한 연산 ( 1V : 10 ~~ 10V : 100 ) } else { //percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent((double)param.LaserPower1 / (double)_CenterRingRatio * 100.0, (uint)eAnalogPortOut.DA1); percentLaser1 = (float)(_LaserPowerCalParam.CalibrateWattToMeasuredVoltage((double)param.LaserPower1 / (double)_CenterRingRatio * 100.0, (uint)LaserPowerCalParam.beamMode.Center)); percentLaser1 = percentLaser1 * 10; // 스캐너에 입렵하기 위한 연산 ( 1V : 10 ~~ 10V : 100 ) } percentLaser2 = 0; Log.D(string.Format("TruFiber S Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2,percentLaser1,percentLaser2,_CenterRingRatio)); } else if (_Laser.Config.TruFiberType == eTruFiberType.TruFiberP) { // Power제어 percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower1, (uint)LaserPowerCalParam.beamMode.Center) * 10; ; percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Ring) * 10; ; Log.D(string.Format("TruFiber P Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio)); } else if (_Laser.Config.TruFiberType == eTruFiberType.CalPercentToMeasuredVoltage) { percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower1, (uint)LaserPowerCalParam.beamMode.Center) * 10; percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToMeasuredVoltage(param.LaserPower2, (uint)LaserPowerCalParam.beamMode.Ring) * 10; Log.D(string.Format("CalPercentToMeasuredVoltage Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio)); } else { percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1); percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower2, (uint)eAnalogPortOut.DA2); Log.D(string.Format("Normal Models:: Original Power1 : {0}; Original Power2 : {1}; Calibrated Percent1 :{2:0.000}; Calibrated Percent2 :{3:0.000}; CenterRingRatio :{4:0.000}", param.LaserPower1, param.LaserPower2, percentLaser1, percentLaser2, _CenterRingRatio)); } _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); // 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]; 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})")); // 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); } // 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, PowerProfile, Ramping을 사용하지 않는 일반적인 경우 이쪽으로 들어옴 // 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 #warning 251211 Laser Off Delay가 다 수행되기 전에 power를 0으로 해버려서, Laser OffDelay 동작을 안하는 현상 //_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($"[Line Weld] Jump ({obj.PF1.X},{obj.PF1.Y})")); } // END- Jump(Line Shot) // START- Mark if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && obj.MadebyRCC) { // RCC Ramping 의 경우 // RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다. // Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다. // ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다. float powerratio = obj.RCC_PowerRatio; if (powerratio < 0) { powerratio = 0; } else if (powerratio > 1) { powerratio = 1; } float analogPercentLaserPower1 = percentLaser1 * powerratio; // center laser float analogPercentLaserPower2 = percentLaser2 * powerratio; // ring laser _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, analogPercentLaserPower1, eFunctionType.LIST); // 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다. // 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다. _Scanner.WriteDA((uint)eAnalogPortOut.DA2, analogPercentLaserPower2, eFunctionType.LIST); _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); Log.I(string.Format($"[RCC Subpath Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})")); } else if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && (param.RampingEndDist + param.RampingStartDist <= obj.Distance)) { // RCC 가 아닌 경우 _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0); _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0); double x = 0; double y = 0; if (param.RampingStartDist > 0) { _Scanner.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingStartPower * 0.01f); // Start Ramping이 있는 경우, Start Ramping 끝지점 위치 계산 x = param.RampingStartDist * (obj.P2.X - obj.P1.X) / obj.Distance + obj.P1.X; y = param.RampingStartDist * (obj.P2.Y - obj.P1.Y) / obj.Distance + obj.P1.Y; if (param.RampingStartSlopeMode) { _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1); } else { _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1 * (float)param.RampingStartPower * 0.01f); _Scanner.ParaMarkRel(0, 0, percentLaser1); } } else { _Scanner.ParaMarkRel(0, 0, percentLaser1); } if (param.RampingEndDist > 0) { // End Ramping이 있는 경우, End Ramping 시작지점 위치 계산 x = param.RampingEndDist * (obj.P1.X - obj.P2.X) / obj.Distance + obj.P2.X; y = param.RampingEndDist * (obj.P1.Y - obj.P2.Y) / obj.Distance + obj.P2.Y; _Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1); //Ramping End 끝지점 까지 if (param.RampingEndSlopeMode) { _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f); } else { _Scanner.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingEndPower * 0.01f); _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f); } } else { _Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1); } _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay); _Scanner.SetVectorControl((uint)eAutoControlParameter.NoUse, 0); Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})")); } else { // Ramping 이 없는 경우 _Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0); //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, 0, 0); //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1); //_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay); //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); //_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); //_scanner._scannerObj.ParaMarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset, percentLaser1); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); _Scanner.SetVectorControl((uint)eAutoControlParameter.NoUse, 0); Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})")); } // END- Mark } _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; Log.I(string.Format($"[Line Weld] Mark Start/End Point (Start Point : {obj.PF1.X},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})")); } private void LoadDotScannerParam(Dot obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1. 스캐너 가공 조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; float percentLaser1 = 0.0f; float percentLaser2 = 0.0f; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[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($"[Point Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})")); //// 2.2. Mark(Point Shot) //_Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000)); // @deprecated 해당 코드는 사용에 주의가 필요 함.. 만약 사용시 원복할 필요가 있음.. // 이후 공정에 영향을 미치는 인자이므로 // _Scanner.SetStandby(10, 0); _Scanner.SetScannerDelay(param.JumpDelay, 0, 0); _Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST); //_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1); // 위치 이동 없이 Power만 변경 // Laser On Time 만큼 레이저 On 실행 _Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay); _Scanner.LaserOnList(param.SpotShotTime); Log.I(string.Format($"[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, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape); 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})")); // 2. 스캐너 가공 작업 int pointCount = obj.P1.Count; switch (obj.DrawWay) { case Spline.DrawWayType.OUT_OUT: { //P1 OUT에서 시작 _Scanner.JumpAbs(obj.P1[pointCount - 1].X + xOffset, obj.P1[pointCount - 1].Y + yOffset, eFunctionType.LIST); for (int i = obj.P1.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 OUT에서 시작 _Scanner.JumpAbs(obj.P2[pointCount - 1].X + xOffset, obj.P2[pointCount - 1].Y + yOffset, eFunctionType.LIST); for (int i = obj.P2.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } } } break; case Spline.DrawWayType.OUT_IN: { //P1 OUT에서 시작 _Scanner.JumpAbs(obj.P1[pointCount - 1].X + xOffset, obj.P1[pointCount - 1].Y + yOffset, eFunctionType.LIST); for (int i = obj.P1.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 IN에서 시작 _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST); for (int i = 1; i < obj.P2.Count; i++) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } } } break; case Spline.DrawWayType.IN_OUT: { //P1 IN에서 시작 _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST); for (int i = 1; i < obj.P1.Count; i++) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 OUT에서 시작 _Scanner.JumpAbs(obj.P2[pointCount - 1].X + xOffset, obj.P2[pointCount - 1].Y + yOffset, eFunctionType.LIST); for (int i = obj.P2.Count - 2; i >= 0; i--) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } } } break; case Spline.DrawWayType.IN_IN: { //P1 IN에서 시작 _Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST); for (int i = 1; i < obj.P1.Count; i++) { _Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset); } //tornado 의 경우 P2까지 if (obj.SplineTornado) { //P2 IN에서 시작 _Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST); for (int i = 1; i < obj.P2.Count; i++) { _Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset); } } } break; } Log.I(string.Format($"[Spline Weld] Draw Way : {obj.DrawWay}, Tornado 사용 : {obj.SplineTornado})")); _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; Log.I(string.Format($"[Spline Weld] Mark Start/End Point (Start Point : {obj.PF1.X},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})")); } private void LoadSnowManScannerParam(SnowMan obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; // 1.스캐너 가공조건 설정 ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo]; float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[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.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); _Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset); Log.I(string.Format($"[Line Weld] Set Mark StartPoint/EndPoint(SP:{obj.PF1.X},{obj.PF1.Y},EP:{obj.PF2.X},{obj.PF2.Y})")); // 확인 2025.03.06, SnowMan 을 사용하지 않기 때문에 저장 해 놓지 않음. (Line 에서 와블은 SnowMan 사용) // 여기는 LastX, LastY 저장이 불필요 } private void LoadArcScannerParam(Arc obj) { // 카메라 오프셋 + Object의 Vision Offset + Fly 오프셋 double xOffset = _FlyOffsetX + _ExternalCommandOffset.X; double yOffset = _FlyOffsetY + _ExternalCommandOffset.Y; Log.I($"[Arc Weld] Offset Value : {xOffset},{yOffset}"); // 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($"[Arc Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); // 2. 스캐너 가공 작업 // 2.1. Wobbel 관련 설정 // Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행 if (!param.SnowManEnable) { if (param.WobbelEnable) { // Wobbel 각도 설정 _Scanner.SetWobbelDirection(0, 0); // Wobbel 모드 설정 _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape); Log.I(string.Format($"[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._scannerObj.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.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X},{obj.PF1.Y})")); } } else { int dx = 0; int dy = 0; double radian = (param.TiltingAngle - 90) * Math.PI / 180; dx = (int)(Math.Cos(radian) * 100); dy = (int)(Math.Sin(radian) * 100); _Scanner.SetWobbelDirection(dx, dy); // Wobbel 모드 설정 _Scanner.SetWobbelMode(true, 1, 1, 1, 2); // Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); //period=0은 초기화 List dTrans = new List(); List dLong = new List(); param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0); } param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0); } // 서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 //_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST); if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) { //점프 안함 } else { _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X},{obj.PF1.Y})")); } } // 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.ArcRampingInterval; // 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))) { //&& !param.WobbelEnable && !param.SnowManEnable) { // 기존 코드 유지 // @SMW/LHS Wobbel 사용 시 Lamping도 사용 할 수 있도록 조건문 수정 및 Ring빔도 Ramping 가능하도록 수정 // 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 int risingEdgeCount = (int)(param.RampingStartDist / length); int fallingEdgeCount = (int)(param.RampingEndDist / length); //int totalCount = (int)(Math.Abs(obj.SweepAngle) / theta); int totalCount = (int)(Math.Abs(obj.SweepAngle / theta)); // 2.2.2.1. Rising Edge 시작 파워 설정 float startingPercentLaser1 = percentLaser1 * (float)param.RampingStartPower / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower / 100 : 100; float risingEdgePercentLaser1 = 0; float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower / 100 : 100; float risingEdgePercentLaser2 = 0; // 2.2.2.2. Rising Edge 구간 파워 및 위치 변경 for (int iter = 0; iter < risingEdgeCount; iter++) { risingEdgePercentLaser1 = (percentLaser1 - startingPercentLaser1) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser1; risingEdgePercentLaser2 = (percentLaser2 - startingPercentLaser2) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser2; _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 endingPercentLaser1 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower / 100 : 100; float fallingEdgePercentLaser1 = 0; float endingPercentLaser2 = percentLaser2 * (float)param.RampingEndPower / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower / 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)) fallingEdgePercentLaser1 = (endingPercentLaser1 - percentLaser1) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser1; fallingEdgePercentLaser2 = (endingPercentLaser2 - percentLaser2) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser2; _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.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle); } _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; if (obj.MadebyRCC) { Log.I(string.Format($"[RCC SubPath Arc Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), Sweep angle : ({obj.SweepAngle})")); } else { Log.I(string.Format($"[Arc Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), 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]; float percentLaser1 = 0; float percentLaser2 = 0; SetScannerProcessCondition(param, out percentLaser1, out percentLaser2); Log.I(string.Format($"[Arc3P Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})")); // 2. 스캐너 가공 작업 // 2.1. Wobbel 관련 설정 // Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행 if (!param.SnowManEnable) { if (param.WobbelEnable) { // Wobbel 각도 설정 _Scanner.SetWobbelDirection(0, 0); // Wobbel 모드 설정 _Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape); Log.I(string.Format($"[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.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X},{obj.PF1.Y})")); } } else { int dx = 0; int dy = 0; double radian = (param.TiltingAngle - 90) * Math.PI / 180; dx = (int)(Math.Cos(radian) * 100); dy = (int)(Math.Sin(radian) * 100); _Scanner.SetWobbelDirection(dx, dy); // Wobbel 모드 설정 _Scanner.SetWobbelMode(true, 1, 1, 1, 2); //Wobbel Vector 리스트 초기화 _Scanner.SetWobbelVector(0, 0, 0, 0); //period=0은 초기화 List dTrans = new List(); List dLong = new List(); param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0); } param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor); for (int i = 0; i < dTrans.Count; i++) { _Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0); } // 서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함 _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) { //점프 안함 } else { _Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X},{obj.PF1.Y})")); } } // 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.ArcRampingInterval; // 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 { // 기존 코드 유지 // @SMW/LHS Wobbel 사용 시 Lamping도 사용 할 수 있도록 조건문 수정 및 Ring빔도 Ramping 가능하도록 수정 // 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 int risingEdgeCount = (int)(param.RampingStartDist / length); int fallingEdgeCount = (int)(param.RampingEndDist / length); //int totalCount = (int)(Math.Abs(obj.SweepAngle) / theta); int totalCount = (int)(Math.Abs(obj.SweepAngle / theta)); // 2.2.2.1. Rising Edge 시작 파워 설정 float startingPercentLaser1 = percentLaser1 * (float)param.RampingStartPower / 100 <= 100 ? percentLaser1 * (float)param.RampingStartPower / 100 : 100; float risingEdgePercentLaser1 = 0; float startingPercentLaser2 = percentLaser2 * (float)param.RampingStartPower / 100 <= 100 ? percentLaser2 * (float)param.RampingStartPower / 100 : 100; float risingEdgePercentLaser2 = 0; // 2.2. Rising Edge 구간 파워 및 위치 변경 for (int iter = 0; iter < risingEdgeCount; iter++) { risingEdgePercentLaser1 = (percentLaser1 - startingPercentLaser1) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser1; risingEdgePercentLaser2 = (percentLaser2 - startingPercentLaser2) / (float)(risingEdgeCount) * (float)(iter) + startingPercentLaser2; _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 endingPercentLaser1 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ? percentLaser1 * (float)param.RampingEndPower / 100 : 100; float fallingEdgePercentLaser1 = 0; float endingPercentLaser2 = percentLaser2 * (float)param.RampingEndPower / 100 <= 100 ? percentLaser2 * (float)param.RampingEndPower / 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)) fallingEdgePercentLaser1 = (endingPercentLaser1 - percentLaser1) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser1; fallingEdgePercentLaser2 = (endingPercentLaser2 - percentLaser2) / (float)(fallingEdgeCount) * (float)(iter - (totalCount - fallingEdgeCount - 1)) + percentLaser2; _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); } } _LastX = obj.PF2.X + xOffset; _LastY = obj.PF2.Y + yOffset; if (obj.MadebyRCC) { Log.I(string.Format($"[RCC SubPath Arc3P Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), Sweep angle : ({obj.SweepAngle})")); } else { Log.I(string.Format($"[Arc3P Weld] Arc center ({obj.CenterPointF.X},{obj.CenterPointF.Y}), 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.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST); } // 2. Ramping 설정 // 지그재그는 아직 Ramping 구현 안됨 // 3. 지그재그 순서대로 마킹 for (int i = 0; i < obj.ZigZagCount; i++) { _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},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})")); } private SequenceActionResult MarkingOnTheFlyOff(SequenceContext context, string id, SequenceActionResult param) { 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(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) _Scanner.StoreEncoder(1); _Scanner.SaveAndRestartTimer(); } 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($"[SeqUploadWeldingList] UploadWeldingList Complete Time : {_UploadSpanTime.TotalMilliseconds}")); context.TryGetValue(ContextKey.KEY_SEQUENCE_RESULT, out bool seqResult); //SeqUploadWeldingList_OutParam result = new SeqUploadWeldingList_OutParam() { Success = seqResult }; result.Success = seqResult; if (seqResult == false) { AlarmManager.Alarm(AlarmCode.ALARM_SEQUENCE_UploadWeldingList_ResultFailed); } Log.D("UploadWeldingList Sequence Complete"); return SequenceAction.Ok(result); } private bool RestoreDeviceStatus() { if (_InitParam.IncludeListStartEnd) { _Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST); _Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST); _Scanner.SetEndList(); } Log.I(string.Format($"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 class SeqUploadWeldingList_OutParam : OutParam { public double SettingPower { get; set; } public double SettingVelocity { get; set; } public override void Clear() { base.Clear(); SettingPower = 0.0; SettingVelocity = 0.0; } } }