1520 lines
90 KiB
C#
1520 lines
90 KiB
C#
using Aurora.Api;
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using AuroraLaser;
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using AuroraLaserScanner;
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using CoreUnit.Control.UserControl.Canvas;
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using CoreUnit.Scanner.UserControl.ScannerCanvas;
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.IO;
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using WeldingCommon.Data;
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using WeldingCommon.Settings;
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using eLaserType = AuroraLaser.eLaserType;
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namespace WeldingCommon.Sequences
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{
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public class SeqUploadWeldingList_Old
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{
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static readonly Logger Log = new Logger("SeqUploadWeldingList_Old");
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#region SequenceID
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public const string SEQ_SET_START_LIST = "SetStartList";
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public const string SEQ_MARKING_ON_THE_FLY_ON = "MarkingOnTheFlyOn";
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public const string SEQ_RECORD_SIGNAL_ON = "RecordSignalOn";
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public const string SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM = "LoadDrawObjectScannerParam";
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public const string SEQ_MARKING_ON_THE_FLY_OFF = "MarkingOnTheFlyOff";
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public const string SEQ_RECORD_SIGNAL_OFF = "RecordSignalOff";
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public const string SEQ_SET_END_LIST = "SetEndList";
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#endregion
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#region Property
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private static double _LastX = 0;
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private static double _LastY = 0;
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//private static int _LastScannerParamNo = -1;
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private static double _FlyOffsetX;
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private static double _FlyOffsetY;
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private static int _DrawObjectCount;
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private static bool _IncludeListStartEnd;
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private static Scanner _Scanner;
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private static Laser _Laser;
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private static LaserPowerCalParam _LaserPowerCalParam;
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//용접할 drawing객체에 대한 리스트
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//public static List<IDrawObject> m_selectedDrawObjects = new List<IDrawObject>();
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//public static List<IDrawObject> SelectedDrawObjects {
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// get { return m_selectedDrawObjects; }
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// set { m_selectedDrawObjects = value; }
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//}
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private static List<IDrawObject> _SelectedDrawObjects = new List<IDrawObject>();
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private static PointF _ScannerToCameraReferenceOffsets;
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// TODO: ExternalCommandOffset??, 아래 delegate 와 연결 되어 있나??, 사용 하는 부분이 없는데 확인 필요
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static PointF m_externalCommandOffset = new PointF(0, 0);
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public static PointF ExternalCommandOffset {
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get { return m_externalCommandOffset; }
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set { m_externalCommandOffset = value; }
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}
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// Model Type 별 setting 값이 다르게 적용해야 할때 사용, 이해 완료 후 주석 삭제
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public delegate void ExternalCommandOffsetDelegate(SequenceContext context, out float offsetX, out float offsetY);
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public static ExternalCommandOffsetDelegate OffsetDelegate;
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// OffsetDelegate 로 대체됨, 향후 이해 완료 후, 주석 삭제
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//private static SystemParameter _SystemParameter;
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//private static LHSModel _ModelItem;
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private static DateTime _UploadstartTime;
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private static TimeSpan _UploadSpanTime;
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#endregion
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public static SequenceBuilder Builder()
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{
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SequenceBuilder sb = new SequenceBuilder(1000);
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//MOTF와 RecordSignal이 동시 수행 가능한지 모르니깐 우선 순차적으로 실행될 수 있도록 LASA와 동일하게 구성..
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//동시 수행 가능하면 Fork로 구성해도 될 듯
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sb.AddAction(SEQ_SET_START_LIST, SetStartList);
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sb.AddAction(SEQ_MARKING_ON_THE_FLY_ON, MarkingOnTheFlyOn);
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sb.AddAction(SEQ_RECORD_SIGNAL_ON, RecordSignalOn);
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sb.AddAction(SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM, LoadDrawObjectScannerParam);
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sb.AddAction(SEQ_MARKING_ON_THE_FLY_OFF, MarkingOnTheFlyOff);
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sb.AddAction(SEQ_RECORD_SIGNAL_OFF, RecordSignalOff);
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sb.AddAction(SEQ_SET_END_LIST, SetEndList);
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sb.Flows(sb.Init > sb[SEQ_SET_START_LIST] > sb[SEQ_MARKING_ON_THE_FLY_ON] > sb[SEQ_RECORD_SIGNAL_ON] > sb[SEQ_LOAD_DRAW_OBJECT_SCANNER_PARAM]
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> sb[SEQ_MARKING_ON_THE_FLY_OFF] > sb[SEQ_RECORD_SIGNAL_OFF] > sb[SEQ_SET_END_LIST] > sb.Final);
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//sb.Draw("SeqUploadWeldingList_Old.pdf");
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return sb;
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}
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private static SequenceActionResult SetStartList(SequenceContext context, string id, SequenceActionResult param)
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{
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_UploadstartTime = DateTime.Now;
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_Scanner = context.GetLaserScanner();
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_Laser = context.GetLaser();
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_LaserPowerCalParam = context.GetSetting<LaserPowerCalParam>(CommonSettingIds.LaserPowerCalParam);//우선 AuroraRecipe로 상속받아서 함수 사용하도록 함
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eListNo m_weldingScannerListNo = Status.GetProcessingWeldingData().WeldingScannerListNo;
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//SelectedDrawObjects = context.GetValue<List<IDrawObject>>(SELECTED_DRAW_OBJECTS);
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_SelectedDrawObjects = Status.GetProcessingWeldingData().SelectedDrawObjectList;
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//AutoRunMPAbw에서는 메인시퀀스에서 LoadList로 List 불러오기 때문에 UploadWeldingList의 SetStartList를 하지 않음, IncludeListStartEnd를 false로 넘겨 주면됨
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_IncludeListStartEnd = Status.GetProcessingWeldingData().IncludeListStartEnd;
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//laserPowerCalParam 초기화(CSV 파일 불러오기)
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_LaserPowerCalParam.Initialize(_LaserPowerCalParam.PowerCalibrationCenterBeamCSVFile, _LaserPowerCalParam.PowerCalibrationRingBeamCSVFile);
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if (_IncludeListStartEnd) {
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//_scanner._scannerObj.SetStartList(m_weldingScannerListNo);
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_Scanner.SetStartList(m_weldingScannerListNo);
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}
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return SequenceAction.Ok();
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}
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private static SequenceActionResult MarkingOnTheFlyOn(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_Scanner.Config.UseMarkingOnTheFly) {
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if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
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// 1. Linear Track OTF 활성화 및 엔코더 초기화
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//_scanner._scannerObj.SetFlyX(_scanner.Config.MarkingOnTheFlyEncoderResolutionX);
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_Scanner.SetFlyX(_Scanner.Config.MarkingOnTheFlyEncoderResolutionX);
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_FlyOffsetX = _Scanner.Config.MarkingOntheFlyOffsetX;
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_FlyOffsetY = _Scanner.Config.MarkingOntheFlyOffsetY;
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// 2. 엔코더 특정 위치갈 때까지 대기
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//_scanner._scannerObj.WaitForEncoderX(_scanner.Config.MarkingStartEncoderPositionX);
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_Scanner.WaitForEncoderX(_Scanner.Config.MarkingStartEncoderPositionX);
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} else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) {
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Log.I(string.Format("MOTF 사용, Rotate 보상"));
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// 1. 엔코더 값이 들어오면 바로 X(Rotary) Encoder 리셋
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//_scanner._scannerObj.SetFlyRotate(_scanner.Config.MarkingOnTheFlyEncoderResolutionRotate);
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_Scanner.SetFlyRotate(_Scanner.Config.MarkingOnTheFlyEncoderResolutionRotate);
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// 2. 일괄 회전.(OTW 세팅시, Encoder가 0부터 시작하므로)
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foreach (IDrawObject obj in _SelectedDrawObjects) {
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obj.Rotate(15, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); // +15도 회전
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}
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// 3. 원하는 용접 시작 각도 올 때까지 기다리기.
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double weldingAngle = _Scanner.Config.MarkingRangeMinRotate + 15;
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//_scanner._scannerObj.WaitForEncoderRotateX(weldingAngle); // -5도부터 용접시작하고 싶으면 10도 넣으면 됨
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_Scanner.WaitForEncoderRotateX(weldingAngle); // -5도부터 용접시작하고 싶으면 10도 넣으면 됨
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}
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// 엔코더 기록(용접 시작)
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//_scanner._scannerObj.StoreEncoder(0);
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//_scanner._scannerObj.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함
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_Scanner.StoreEncoder(0);
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_Scanner.SaveAndRestartTimer(); // 이전 용접의 T/T을 가져가고 싶으면 여기서 Reset 하기 전에 GetTime으로 읽어가야 함
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} else {
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_FlyOffsetX = 0;
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_FlyOffsetY = 0;
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}
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return SequenceAction.Ok();
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}
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private static SequenceActionResult RecordSignalOn(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_Scanner.Config.UseRecordSignal) {
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//_scanner._scannerObj.SaveAndRestartTimer();
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//_scanner._scannerObj.SetTrigger(_scanner.Config.RecordPeriod, _scanner.Config.RecordSignalType1, _scanner.Config.RecordSignalType2, _scanner.Config.RecordSignalType3, _scanner.Config.RecordSignalType4);
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_Scanner.SaveAndRestartTimer();
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_Scanner.SetTrigger(_Scanner.Config.RecordPeriod, _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2, _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4);
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}
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return SequenceAction.Ok();
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}
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private static SequenceActionResult LoadDrawObjectScannerParam(SequenceContext context, string id, SequenceActionResult param)
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{
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//객체에 대한 파라미터 Load 전 lastX,Y를 현재 스캐너 위치로 받아옴
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//_scanner._scannerObj.GetXYPos(out lastX, out lastY);
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_Scanner.GetXYPos(out _LastX, out _LastY);
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// 현재는 SMW의 AutorunCellPositionMeasure에서 시퀀스 진행 시 Offset 값을 받오도록 되어있음
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// LHS는 모델에 등록된 값을 받아오도록 하자. 그럼 Autorun과 Teachingrun 모두 적용됨
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// CommandOffset로딩방식이 다른 장비. 정지명
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if (OffsetDelegate != null) {
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OffsetDelegate(context, out float offsetX, out float offsetY);
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m_externalCommandOffset.X = offsetX;
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m_externalCommandOffset.Y = offsetY;
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} else {
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m_externalCommandOffset.X = (float)Status.GetProcessingWeldingData().CellMeasureCenterOffsetX;
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m_externalCommandOffset.Y = (float)Status.GetProcessingWeldingData().CellMeasureCenterOffsetY;
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}
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FuncLoadDrawObjectScannerParam(_SelectedDrawObjects);
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return SequenceAction.Ok();
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}
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private static SequenceActionResult MarkingOnTheFlyOff(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_Scanner.Config.UseMarkingOnTheFly) {
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if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.XY) {
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// Linear OTW의 경우, 각 Draw Tool에서 좌표 오프셋을 해 주고 있음
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} else if (_Scanner.Config.OnTheFlyCoordinate == eOntheFlyCoordinate.Rotate) {
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// 여기서 원래 레시피로 돌려주기
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foreach (IDrawObject obj in _SelectedDrawObjects) {
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obj.Rotate(-15, new UnitPoint(_Scanner.Config.MarkingOnTheFlyRotateCenterX, _Scanner.Config.MarkingOnTheFlyRotateCenterY)); // -15도 회전
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}
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}
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// 추후, Parking Position 을 용접 시작 위치로 자동으로 계산되어 들어가게 개선 필요
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//_scanner._scannerObj.Fly_Return(_scanner.Config.MarkingOntheFlyParkingPositionX, _scanner.Config.MarkingOntheFlyParkingPositionY);
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_Scanner.Fly_Return(_Scanner.Config.MarkingOntheFlyParkingPositionX, _Scanner.Config.MarkingOntheFlyParkingPositionY);
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// 엔코더 기록(용접 완료)
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//_scanner._scannerObj.StoreEncoder(1);
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//_scanner._scannerObj.SaveAndRestartTimer();
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_Scanner.StoreEncoder(1);
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_Scanner.SaveAndRestartTimer();
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}
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return SequenceAction.Ok();
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}
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private static SequenceActionResult RecordSignalOff(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_Scanner.Config.UseRecordSignal) {
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//_scanner._scannerObj.SaveAndRestartTimer();
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//_scanner._scannerObj.SetTrigger(0, _scanner.Config.RecordSignalType1, _scanner.Config.RecordSignalType2, _scanner.Config.RecordSignalType3, _scanner.Config.RecordSignalType4);
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_Scanner.SaveAndRestartTimer();
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_Scanner.SetTrigger(0, _Scanner.Config.RecordSignalType1, _Scanner.Config.RecordSignalType2, _Scanner.Config.RecordSignalType3, _Scanner.Config.RecordSignalType4);
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}
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return SequenceAction.Ok();
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}
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private static SequenceActionResult SetEndList(SequenceContext context, string id, SequenceActionResult param)
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{
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if (_IncludeListStartEnd) {
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//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
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//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
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//_scanner._scannerObj.SetEndList();
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
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_Scanner.SetEndList();
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}
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_UploadSpanTime = DateTime.Now.Subtract(_UploadstartTime);
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Log.D(string.Format($"[SeqUploadWeldingList_Old] UploadWeldingList Complete Time : {_UploadSpanTime.TotalMilliseconds}"));
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return SequenceAction.Ok();
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}
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private static void FuncLoadDrawObjectScannerParam(List<IDrawObject> objects)
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{
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_DrawObjectCount = 0;
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foreach (IDrawObject obj in objects) {
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_DrawObjectCount += FuncLoadDrawObjectScannerParamSelec(obj);
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}
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}
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private static int FuncLoadDrawObjectScannerParamSelec(IDrawObject obj)
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{
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int count = 0;
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if (obj.Enabled == true) {
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if (obj is Line) {
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LoadLineScannerParam((Line)obj);
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count++;
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} else if (obj is Dot) {
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LoadDotScannerParam((Dot)obj);
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count++;
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} else if (obj is Spline) {
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LoadSplineScannerParam((Spline)obj);
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count++;
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} else if (obj is SnowMan) {
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LoadSnowManScannerParam((SnowMan)obj);
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count++;
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} else if (obj is Group) {
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count += LoadGroupScannerParam((Group)obj);
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} else if (obj is Arc) {
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LoadArcScannerParam((Arc)obj);
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count++;
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} else if (obj is ZigZag) {
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LoadZigzagScannerParam((ZigZag)obj);
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count++;
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} else if (obj is Arc3Point) {
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LoadArc3PScannerParam((Arc3Point)obj);
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count++;
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}
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}
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return count;
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}
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private static void SetScannerProcessCondition(ScannerParam param, out float percentLaser1, out float percentLaser2)
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{
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//TrumpLaser의 경우 SetLaserTiming 함수로 Gate 신호를 살려줘야 함
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//우선 무조건 셋팅하는 것으로 쓰고 Trump_IO Class 만들면 _laser type이 Trump의 경우에만 셋팅해주는 것으로 변경하자
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//LaserFrequency = 10, LaserPulseDuration = 0.1로 셋팅하면 출사 되는 것 확인_241025
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if (_Laser.Config.Type == eLaserType.Trumpf_IO || _Laser.Config.Type == eLaserType.Coherent_Arm_IO) {
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//_scanner._scannerObj.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
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_Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
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Log.D(string.Format($"[SetLaserTiming] LaserFrequency : {param.LaserFrequency}, LaserPulseDuration : {param.LaserPulseDuration}"));
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}
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//1.레이저 ON/OFF delay 설정
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//_scanner._scannerObj.SetLaesrDelay(param.LaserOnDelay, param.LaserOffDelay);
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_Scanner.SetLaesrDelay(param.LaserOnDelay, param.LaserOffDelay);
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//2.Mark delay 설정
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//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
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_Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
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//3.DA(레이저 파워값) 설정
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percentLaser1 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);
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percentLaser2 = (float)_LaserPowerCalParam.CalibrateWattToPercent(param.LaserPower2, (uint)eAnalogPortOut.DA2);
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//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
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//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
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_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
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//4.점프 및 마크 속도 설정
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//_scanner._scannerObj.SetJumpSpeed(param.JumpSpeed);
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//_scanner._scannerObj.SetMarkSpeed(param.MarkSpeed);
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_Scanner.SetJumpSpeed(param.JumpSpeed);
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_Scanner.SetMarkSpeed(param.MarkSpeed);
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}
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private static void LoadLineScannerParam(Line obj)
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{
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ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
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float percentLaser1 = 0.0f;
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float percentLaser2 = 0.0f;
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//5. Offset 설정(Camera Offset + Object의 Vision Offset)
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//m_scannerToCameraReferenceOffsets은 SystemParameter에서 설정된 값, Cal하고나면 해당 Offset은 현재 필요없는거같은데 확인 필요, 필요시 Camera setting에 추가해주면됨
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//m_externalCommandOffset은 AutoRun시 PLC에서 받아오는 offset임, 현재 LASA에서 BhAutoRun 클래스에 CCW라인에서만 사용하던데 실제 사용하는지 확인 필요
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double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
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double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
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#region 1. 스캐너 가공 조건 설정
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SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
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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})"));
|
|
#endregion
|
|
|
|
#region 2. 스캐너 가공 작업
|
|
#region 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._scannerObj.SetWobbelDirection(dx, dy);
|
|
//_scanner._scannerObj.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelDirection(dx, dy);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
|
|
//5.Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
|
|
_Scanner.SetWobbelMode(true, 1, 1, 1, 2);
|
|
|
|
|
|
//Wobbel Vector 리스트 초기화
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);
|
|
|
|
List<double> dTrans = new List<double>();
|
|
List<double> dLong = new List<double>();
|
|
|
|
param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
|
|
_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._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
|
|
}
|
|
|
|
}
|
|
|
|
//Zigzag 와블인 경우
|
|
if (param.ZigzagWobbelEnable) {
|
|
//5.Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelDirection(0, 0);
|
|
//_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelMode(true, 1, 1, 1, 2);
|
|
|
|
//Wobbel Vector 리스트 초기화
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);
|
|
|
|
List<double> dTrans = new List<double>();
|
|
List<double> dLong = new List<double>();
|
|
|
|
param.CreateWobbelVectorForZigzagPointList();
|
|
|
|
//_scanner._scannerObj.SetMarkSpeed(param.zigzagTotalSpeed);
|
|
_Scanner.SetMarkSpeed(param.zigzagTotalSpeed);
|
|
|
|
param.LoadZigZagWobbelVector(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.m_zigzagPeriod[i + 1], 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.m_zigzagPeriod[i + 1], 0);
|
|
}
|
|
|
|
}
|
|
|
|
//일반적인 와블인 경우
|
|
if (!param.SnowManEnable && !param.ZigzagWobbelEnable) {
|
|
//_scanner._scannerObj.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
|
|
_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._scannerObj.SetWobbelDirection(0, 0);
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
|
|
//_scanner._scannerObj.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, 0);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);
|
|
_Scanner.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, 0);
|
|
}
|
|
#endregion
|
|
|
|
#region Ramping & PowerProfile 관련 설정
|
|
if (param.UsePowerProfile) {
|
|
PowerProfilesList powerProfile = ReadPowerProfile(param.PowerProfileID);
|
|
#region 시작위치 점프 관련 설정
|
|
float power = 0;
|
|
|
|
if (powerProfile.PowerProfiles.Count != 0) {
|
|
power = percentLaser1 * (float)powerProfile.PowerProfiles[0].PowerProfileParams[0].StartPowerPercent * 0.01f;
|
|
|
|
//Param 명령을 주기 위해서는 Polygon Delay 를 0으로 한다.
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
|
|
_Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
|
|
|
|
// 지그재그는 벡터 기반 컨트롤
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, (uint)eAutoControlParameter.AnalogOut1);
|
|
_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._scannerObj.SetScannerDelay(0, param.MarkDelay, 0);
|
|
//_scanner._scannerObj.ParaJumpRel(0, 0, power);
|
|
_Scanner.SetScannerDelay(0, param.MarkDelay, 0);
|
|
_Scanner.ParaJumpRel(0, 0, power);
|
|
} else {
|
|
//_scanner._scannerObj.ParaJumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, power);
|
|
_Scanner.ParaJumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, power);
|
|
}
|
|
|
|
//첫번째 Profile Param
|
|
double x = 0;
|
|
double y = 0;
|
|
double totalTime = powerProfile.PowerProfiles[0].PowerProfileParams[0].Time;
|
|
|
|
double speed = param.ZigzagWobbelEnable ? param.zigzagTotalSpeed : param.MarkSpeed;
|
|
double profileDistance = totalTime * speed * 0.001f;
|
|
|
|
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[0].PowerProfileParams[0].EndPowerPercent * 0.01f;
|
|
//_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, power);
|
|
_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._scannerObj.SetScannerDelay(0, param.MarkDelay, 0);
|
|
//_scanner._scannerObj.ParaJumpRel(0, 0, power);
|
|
_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._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, power);
|
|
_Scanner.ParaMarkAbs(x + xOffset, y + yOffset, power);
|
|
} else {
|
|
break;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
if (profileDistance < obj.Distance) {
|
|
//_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, power);
|
|
_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._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
}
|
|
|
|
//Write_da 함수는 시작점으로 점프한 이후 Mark 명령 직전에 해준다.
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
|
|
//_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
|
|
_Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);
|
|
}
|
|
#endregion
|
|
} else { //Wobble, PowerProfile, Ramping을 사용하지 않는 일반적인 경우 이쪽으로 들어옴
|
|
|
|
#region 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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_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($"[Line Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
|
|
}
|
|
#endregion
|
|
|
|
#region Mark
|
|
if ((param.RampingStartDist > 0 || param.RampingEndDist > 0) && obj.MadebyRCC) {
|
|
// RCC Ramping 의 경우
|
|
|
|
// RCC 로 만들어진 object 는 경로정보가 여러개로 쪼개져 있기 때문에 기존의 ramping 구간을 사용하면 안된다.
|
|
// Ramping 에 대한 정보 자체를 RCC 인 경우에 한해 ratio 를 생성할때 같이 만들어줬다.
|
|
// ratio 는 0~1 의 값으로 되어 있다. 생성할때 interlock 처리했으나 여기서도 추가로 확인한다.
|
|
|
|
float powerratio = obj.RCC_PowerRatio;
|
|
if (powerratio < 0) {
|
|
powerratio = 0;
|
|
} else if (powerratio > 1) {
|
|
powerratio = 1;
|
|
}
|
|
|
|
float AnalogPercentLaserPower1 = percentLaser1 * powerratio; // center laser
|
|
float AnalogPercentLaserPower2 = percentLaser2 * powerratio; // ring laser
|
|
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
_Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
|
|
|
|
// 기존 방식은 SetScannerProcessCondition 함수에서 center, ring 모두 ratio 100% 로 설정한다음, ramping 할때는 Ch1 만 power ratio 를 조정하고 있었다.
|
|
// 여기에서도 center만 비율 조정하려면 아래 줄을 주석하면된다. 주석처리하지 않으면 center , ring 모두 ramping 거리 비율로 power 조정된다.
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
|
|
|
|
//_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
|
|
_Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);
|
|
|
|
Log.I(string.Format($"[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._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
|
|
_Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
_Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, 0);
|
|
|
|
double x = 0;
|
|
double y = 0;
|
|
|
|
if (0 < param.RampingStartDist) {
|
|
//_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingStartPower * 0.01f);
|
|
_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._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, percentLaser1);
|
|
_Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1);
|
|
} else {
|
|
//_scanner._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, percentLaser1 * (float)param.RampingStartPower * 0.01f);
|
|
//_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);
|
|
_Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1 * (float)param.RampingStartPower * 0.01f);
|
|
_Scanner.ParaMarkRel(0, 0, percentLaser1);
|
|
}
|
|
} else {
|
|
//_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);
|
|
_Scanner.ParaMarkRel(0, 0, percentLaser1);
|
|
}
|
|
|
|
if (0 < param.RampingEndDist) {
|
|
// 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._scannerObj.ParaMarkAbs(x + XOffset, y + YOffset, percentLaser1);
|
|
_Scanner.ParaMarkAbs(x + xOffset, y + yOffset, percentLaser1);
|
|
|
|
//Ramping End 끝지점 까지
|
|
if (param.RampingEndSlopeMode) {
|
|
//_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
|
|
_Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
|
|
} else {
|
|
//_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1 * (float)param.RampingEndPower * 0.01f);
|
|
//_scanner._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, percentLaser1 * (float)param.RampingEndPower * 0.01f);
|
|
_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._scannerObj.ParaMarkAbs(obj.P2.X + XOffset, obj.P2.Y + YOffset, percentLaser1);
|
|
_Scanner.ParaMarkAbs(obj.P2.X + xOffset, obj.P2.Y + yOffset, percentLaser1);
|
|
}
|
|
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);
|
|
_Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
|
|
_Scanner.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);
|
|
|
|
Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
|
|
|
|
} else {
|
|
// Ramping 이 없는 경우
|
|
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
_Scanner.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, 0, 0);
|
|
//_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1);
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.ParaMarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset, percentLaser1);
|
|
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
_Scanner.MarkAbs(obj.PF2.X + xOffset, obj.PF2.Y + yOffset);
|
|
|
|
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);
|
|
|
|
Log.I(string.Format($"[Line Weld] Mark(Ramping) ({obj.PF2.X},{obj.PF2.Y})"));
|
|
}
|
|
#endregion
|
|
}
|
|
#endregion
|
|
|
|
_LastX = obj.PF2.X + xOffset;
|
|
_LastY = obj.PF2.Y + yOffset;
|
|
|
|
Log.I(string.Format($"[Line Weld] Mark Start/End Point (Start Point : {obj.PF1.X},{obj.PF1.Y}, End Point : {obj.PF2.X},{obj.PF2.Y})"));
|
|
}
|
|
#endregion
|
|
private static PowerProfilesList ReadPowerProfile(int powerProfileID)
|
|
{
|
|
//추후 경로 변경 필요
|
|
var json = File.ReadAllText("PowerProfileTest.json");
|
|
var root = JsonConvert.DeserializeObject<TopRootObject>(json);
|
|
|
|
PowerProfilesList powerProfile = new PowerProfilesList();
|
|
|
|
for (int i = 0; i < root.PowerProfilesLists[powerProfileID].PowerProfiles.Count; i++) {
|
|
PowerProfile profile = new PowerProfile();
|
|
profile.PowerProfileParams.Add(new PowerProfileParam());
|
|
profile.PowerProfileParams[0].Copy(root.PowerProfilesLists[powerProfileID].PowerProfiles[i].PowerProfileParams[0]);
|
|
powerProfile.PowerProfiles.Add(profile);
|
|
}
|
|
return powerProfile;
|
|
}
|
|
|
|
private static void LoadDotScannerParam(Dot obj)
|
|
{
|
|
ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
|
|
float percentLaser1 = 0.0f;
|
|
float percentLaser2 = 0.0f;
|
|
#region 1. 스캐너 가공 조건 설정
|
|
SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
|
|
|
|
Log.I(string.Format($"[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})"));
|
|
#endregion
|
|
|
|
#region 2. 스캐너 가공 작업
|
|
//카메라 오프셋 + Object의 Vision Offset
|
|
double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
|
|
double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
|
|
|
|
#region Jump(Point Shot)
|
|
// Jump 할 때는 Analog Out 값을 0으로 변경
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, 0, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, 0, eFunctionType.LIST);
|
|
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
Log.I(string.Format($"[Point Weld] Jump ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})"));
|
|
#endregion
|
|
|
|
#region Mark(Point Shot)
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.AnalogOut1, 0);
|
|
//_scanner._scannerObj.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
|
|
_Scanner.SetLaserTiming((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000), (uint)(param.LaserPulseDuration * 1000));
|
|
|
|
// @deprecated 해당 코드는 사용에 주의가 필요 함.. 만약 사용시 원복할 필요가 있음..
|
|
// 이후 공정에 영향을 미치는 인자이므로
|
|
//_scanner._scannerObj.SetStandby((uint)param.LaserFrequency, (uint)(param.LaserPulseDuration * 1000));
|
|
//_scanner._scannerObj.SetStandby(10, 0);
|
|
_Scanner.SetStandby(10, 0);
|
|
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, 0, 0);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
_Scanner.SetScannerDelay(param.JumpDelay, 0, 0);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.ParaMarkRel(0, 0, percentLaser1); // 위치 이동 없이 Power만 변경
|
|
|
|
// Laser On Time 만큼 레이저 On 실행
|
|
//_scanner._scannerObj.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
|
|
//_scanner._scannerObj.LaserOnList(param.SpotShotTime);
|
|
_Scanner.SetScannerDelay(param.JumpDelay, param.MarkDelay, param.PolygonDelay);
|
|
_Scanner.LaserOnList(param.SpotShotTime);
|
|
|
|
//_scanner._scannerObj.SetVectorControl((uint)eAutoControlParameter.NoUse, 0);
|
|
|
|
Log.I(string.Format($"[Point Weld] Mark ({obj.PF1.X + xOffset},{obj.PF1.Y + yOffset})"));
|
|
#endregion
|
|
|
|
//Dot도 Last값 추가
|
|
_LastX = obj.PF1.X + xOffset;
|
|
_LastY = obj.PF1.Y + yOffset;
|
|
#endregion
|
|
}
|
|
|
|
private static void LoadSplineScannerParam(Spline obj)
|
|
{
|
|
ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
|
|
|
|
float percentLaser1 = 0;
|
|
float percentLaser2 = 0;
|
|
|
|
double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
|
|
double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
|
|
|
|
#region 1.스캐너 가공조건 설정
|
|
SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
|
|
|
|
//Spline 의 경우 Wobbel 해제
|
|
//_scanner._scannerObj.SetWobbelMode(false, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
|
|
_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})"));
|
|
#endregion
|
|
|
|
#region 2.스캐너 가공 작업
|
|
|
|
int pointCount = obj.P1.Count;
|
|
|
|
switch (obj.DrawWay) {
|
|
case Spline.DrawWayType.OUT_OUT: {
|
|
//P1 OUT에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P1[pointCount - 1].X + XOffset, obj.P1[pointCount - 1].Y + YOffset, eFunctionType.LIST);
|
|
_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._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
|
|
}
|
|
|
|
//tornado 의 경우 P2까지
|
|
if (obj.SplineTornado) {
|
|
//P2 OUT에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P2[pointCount - 1].X + XOffset, obj.P2[pointCount - 1].Y + YOffset, eFunctionType.LIST);
|
|
_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._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
|
|
}
|
|
|
|
}
|
|
}
|
|
break;
|
|
|
|
case Spline.DrawWayType.OUT_IN: {
|
|
//P1 OUT에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P1[pointCount - 1].X + XOffset, obj.P1[pointCount - 1].Y + YOffset, eFunctionType.LIST);
|
|
_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._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
|
|
}
|
|
|
|
//tornado 의 경우 P2까지
|
|
if (obj.SplineTornado) {
|
|
//P2 IN에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P2[0].X + XOffset, obj.P2[0].Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST);
|
|
|
|
for (int i = 1; i < obj.P2.Count; i++) {
|
|
//_scanner._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
|
|
}
|
|
|
|
}
|
|
}
|
|
break;
|
|
|
|
case Spline.DrawWayType.IN_OUT: {
|
|
//P1 IN에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P1[0].X + XOffset, obj.P1[0].Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST);
|
|
|
|
for (int i = 1; i < obj.P1.Count; i++) {
|
|
//_scanner._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
|
|
}
|
|
|
|
//tornado 의 경우 P2까지
|
|
if (obj.SplineTornado) {
|
|
//P2 OUT에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P2[pointCount - 1].X + XOffset, obj.P2[pointCount - 1].Y + YOffset, eFunctionType.LIST);
|
|
_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._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
|
|
}
|
|
|
|
}
|
|
}
|
|
break;
|
|
|
|
case Spline.DrawWayType.IN_IN: {
|
|
//P1 IN에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P1[0].X + XOffset, obj.P1[0].Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.P1[0].X + xOffset, obj.P1[0].Y + yOffset, eFunctionType.LIST);
|
|
|
|
for (int i = 1; i < obj.P1.Count; i++) {
|
|
//_scanner._scannerObj.MarkAbs(obj.P1[i].X + XOffset, obj.P1[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P1[i].X + xOffset, obj.P1[i].Y + yOffset);
|
|
}
|
|
|
|
//tornado 의 경우 P2까지
|
|
if (obj.SplineTornado) {
|
|
//P2 IN에서 시작
|
|
//_scanner._scannerObj.JumpAbs(obj.P2[0].X + XOffset, obj.P2[0].Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.P2[0].X + xOffset, obj.P2[0].Y + yOffset, eFunctionType.LIST);
|
|
|
|
for (int i = 1; i < obj.P2.Count; i++) {
|
|
//_scanner._scannerObj.MarkAbs(obj.P2[i].X + XOffset, obj.P2[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.P2[i].X + xOffset, obj.P2[i].Y + yOffset);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
#endregion
|
|
|
|
Log.I(string.Format($"[Spline Weld] Draw Way : {obj.DrawWay}, Tornado 사용 : {obj.SplineTornado})"));
|
|
}
|
|
|
|
private static void LoadSnowManScannerParam(SnowMan obj)
|
|
{
|
|
ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
|
|
|
|
float percentLaser1 = 0;
|
|
float percentLaser2 = 0;
|
|
double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
|
|
double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
|
|
|
|
#region 1.스캐너 가공조건 설정
|
|
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})"));
|
|
#endregion
|
|
|
|
#region 2. 스캐너 가공 작업
|
|
//SnowMan 로드 시작
|
|
Math.Cos(obj.TiltingAngle * Math.PI / 180);
|
|
//wobbel 각도 설정
|
|
//_scanner._scannerObj.SetWobbelDirection((int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100), (int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100));
|
|
_Scanner.SetWobbelDirection((int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100), (int)(Math.Cos(obj.TiltingAngle * Math.PI / 180) * 100));
|
|
|
|
//5.Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
|
|
_Scanner.SetWobbelMode(true, 1, 1, 1, 2);
|
|
|
|
//Wobbel Vector 리스트 초기화
|
|
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
|
|
|
|
List<double> dTrans = new List<double>();
|
|
List<double> dLong = new List<double>();
|
|
|
|
obj.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.HeadPeriod, 0);
|
|
_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._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.BodyPeriod, 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)obj.BodyPeriod, 0);
|
|
}
|
|
|
|
//서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
//_scanner._scannerObj.MarkAbs(obj.PF2.X + XOffset, obj.PF2.Y + YOffset);
|
|
_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})"));
|
|
#endregion
|
|
}
|
|
|
|
private static 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 += FuncLoadDrawObjectScannerParamSelec(subObj);
|
|
}
|
|
}
|
|
return count;
|
|
}
|
|
|
|
private static void LoadArcScannerParam(Arc obj)
|
|
{
|
|
ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
|
|
|
|
float percentLaser1 = 0;
|
|
float percentLaser2 = 0;
|
|
//카메라 오프셋 + Object의 Vision Offset
|
|
double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
|
|
double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
|
|
|
|
#region 스캐너 가공 조건 설정
|
|
SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
|
|
Log.I(string.Format($"[Arc Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
|
|
#endregion
|
|
|
|
#region Wobbel 관련 설정
|
|
//Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행
|
|
if (!param.SnowManEnable) {
|
|
if (param.WobbelEnable) {
|
|
//wobbel 각도 설정
|
|
//_scanner._scannerObj.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
|
|
//Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
|
|
_Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
|
|
|
|
//wobbel 모드 설정 로그 추가
|
|
Log.I(string.Format($"[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._scannerObj.SetWobbelDirection(0, 0);
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
|
|
//_scanner._scannerObj.SetWobbelMode(false, 0, 0, 0, 0);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);
|
|
_Scanner.SetWobbelMode(false, 0, 0, 0, 0);
|
|
}
|
|
//2.스캐너 가공 작업
|
|
//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._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
|
|
}
|
|
} else {
|
|
|
|
int dx = 0;
|
|
int dy = 0;
|
|
|
|
double radian = (param.TiltingAngle - 90) * Math.PI / 180;
|
|
|
|
dx = (int)(Math.Cos(radian) * 100); ;
|
|
dy = (int)(Math.Sin(radian) * 100);
|
|
|
|
//_scanner._scannerObj.SetWobbelDirection(dx, dy);
|
|
_Scanner.SetWobbelDirection(dx, dy);
|
|
|
|
//5.Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
|
|
_Scanner.SetWobbelMode(true, 1, 1, 1, 2);
|
|
|
|
//Wobbel Vector 리스트 초기화
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
|
|
|
|
List<double> dTrans = new List<double>();
|
|
List<double> dLong = new List<double>();
|
|
|
|
param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
|
|
}
|
|
|
|
param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
|
|
}
|
|
|
|
|
|
//2.스캐너 가공 작업
|
|
//서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
|
|
if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.02 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.02) {
|
|
//점프 안함
|
|
} else {
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
Log.I(string.Format($"[Arc Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region 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;
|
|
|
|
// 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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
|
|
_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._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
|
|
|
|
//Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
|
|
_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
|
|
|
|
// 1.1. 데이터테이블 기준으로 파워 동작
|
|
//percentLaser1 = (float)_laserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);
|
|
|
|
// 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));
|
|
|
|
// 2.1. 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 ?
|
|
percentLaser1 * (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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
|
|
_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);
|
|
}
|
|
|
|
// 3.1. Constant Range 파워 설정
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
|
|
// 3.2. Constant Range 구간 위치 변경
|
|
for (int iter = risingEdgeCount; iter < totalCount - fallingEdgeCount; iter++) {
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
|
|
_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
|
|
}
|
|
|
|
//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 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ?
|
|
percentLaser1 * (float)param.RampingEndPower / 100 : 100;
|
|
float fallingEdgePercentLaser2 = 0;
|
|
|
|
//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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
|
|
_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);
|
|
}
|
|
|
|
// 5. 마지막 위치까지 이동해줌.
|
|
double lastSweep = obj.SweepAngle - (totalCount * theta);
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, lastSweep);
|
|
_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, lastSweep);
|
|
|
|
|
|
} else {
|
|
//Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
|
|
_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle);
|
|
|
|
}
|
|
#endregion
|
|
|
|
_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 static void LoadArc3PScannerParam(Arc3Point obj)
|
|
{
|
|
ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
|
|
|
|
float percentLaser1 = 0;
|
|
float percentLaser2 = 0;
|
|
//카메라 오프셋 + Object의 Vision Offset
|
|
double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
|
|
double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
|
|
|
|
#region 스캐너 가공 조건 설정
|
|
SetScannerProcessCondition(param, out percentLaser1, out percentLaser2);
|
|
Log.I(string.Format($"[Arc3P Weld] Weld Condition(No:{param.No + 1}) Setting(LaserOnDelay:{param.LaserOnDelay},LaserOffDelay:{param.LaserOffDelay},JumpDelay:{param.JumpDelay},MarkDelay:{param.MarkDelay},PolygonDelay:{param.PolygonDelay},Power:{param.LaserPower1},JumpSpeed:{param.JumpSpeed},MarkSpeed:{param.MarkSpeed})"));
|
|
#endregion
|
|
|
|
#region Wobbel 관련 설정
|
|
//Snowman 사용 모드가 아닐 경우 Wobbel 모드 실행
|
|
if (!param.SnowManEnable) {
|
|
if (param.WobbelEnable) {
|
|
//wobbel 각도 설정
|
|
//_scanner._scannerObj.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
|
|
//Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
|
|
_Scanner.SetWobbelMode(param.WobbelEnable, param.WobbelTransversal, param.WobbelLongditudinal, param.WobbelFrequency, (int)param.WobbelShape);
|
|
|
|
//wobbel 모드 설정 로그 추가
|
|
Log.I(string.Format($"[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._scannerObj.SetWobbelDirection(0, 0);
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);
|
|
//_scanner._scannerObj.SetWobbelMode(false, 0, 0, 0, 0);
|
|
_Scanner.SetWobbelDirection(0, 0);
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);
|
|
_Scanner.SetWobbelMode(false, 0, 0, 0, 0);
|
|
}
|
|
//2.스캐너 가공 작업
|
|
//서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, 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._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
|
|
}
|
|
} else {
|
|
|
|
int dx = 0;
|
|
int dy = 0;
|
|
|
|
double radian = (param.TiltingAngle - 90) * Math.PI / 180;
|
|
|
|
dx = (int)(Math.Cos(radian) * 100); ;
|
|
dy = (int)(Math.Sin(radian) * 100);
|
|
|
|
//_scanner._scannerObj.SetWobbelDirection(dx, dy);
|
|
_Scanner.SetWobbelDirection(dx, dy);
|
|
|
|
//5.Wobbel 모드 설정
|
|
//_scanner._scannerObj.SetWobbelMode(true, 1, 1, 1, 2);
|
|
_Scanner.SetWobbelMode(true, 1, 1, 1, 2);
|
|
|
|
//Wobbel Vector 리스트 초기화
|
|
//_scanner._scannerObj.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
|
|
_Scanner.SetWobbelVector(0, 0, 0, 0);//period=0은 초기화
|
|
|
|
List<double> dTrans = new List<double>();
|
|
List<double> dLong = new List<double>();
|
|
|
|
param.LoadWobbelVectorForHead(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.HeadPeriod, 0);
|
|
}
|
|
|
|
param.LoadWobbelVectorForBody(out dTrans, out dLong, (int)_Scanner.Config.ScaleXYFactor);
|
|
|
|
for (int i = 0; i < dTrans.Count; i++) {
|
|
//_scanner._scannerObj.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
|
|
_Scanner.SetWobbelVector(dTrans[i], dLong[i], (uint)param.BodyPeriod, 0);
|
|
}
|
|
|
|
|
|
//2.스캐너 가공 작업
|
|
//서브객체인 경우에는 부모객체의 scanner parameter 조건으로 설정되어야 함
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
|
|
if (Math.Abs(_LastX - obj.PF1.X - xOffset) < 0.01 && Math.Abs(_LastY - obj.PF1.Y - yOffset) < 0.01) {
|
|
//점프 안함
|
|
} else {
|
|
//_scanner._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
Log.I(string.Format($"[Arc3P Weld] Jump ({obj.PF1.X},{obj.PF1.Y})"));
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region 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;
|
|
|
|
// 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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, AnalogPercentLaserPower1, eFunctionType.LIST);
|
|
_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._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, AnalogPercentLaserPower2, eFunctionType.LIST);
|
|
|
|
//Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
|
|
_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
|
|
|
|
// 1.1. 데이터테이블 기준으로 파워 동작
|
|
//percentLaser1 = (float)_laserPowerCalParam.CalibrateWattToPercent(param.LaserPower1, (uint)eAnalogPortOut.DA1);
|
|
|
|
// 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));
|
|
|
|
// 2.1. 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 ?
|
|
percentLaser1 * (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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, risingEdgePercentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, risingEdgePercentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
|
|
_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);
|
|
}
|
|
|
|
// 3.1. Constant Range 파워 설정
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA1, percentLaser1, eFunctionType.LIST);
|
|
_Scanner.WriteDA((uint)eAnalogPortOut.DA2, percentLaser2, eFunctionType.LIST);
|
|
|
|
// 3.2. Constant Range 구간 위치 변경
|
|
for (int iter = risingEdgeCount; iter < totalCount - fallingEdgeCount; iter++) {
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
|
|
_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, theta);
|
|
}
|
|
|
|
//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 = percentLaser1 * (float)param.RampingEndPower / 100 <= 100 ?
|
|
percentLaser1 * (float)param.RampingEndPower / 100 : 100;
|
|
float fallingEdgePercentLaser2 = 0;
|
|
|
|
//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._scannerObj.WriteDA((uint)eAnalogPortOut.DA1, fallingEdgePercentLaser1, eFunctionType.LIST);
|
|
//_scanner._scannerObj.WriteDA((uint)eAnalogPortOut.DA2, fallingEdgePercentLaser2, eFunctionType.LIST);
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, theta);
|
|
_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);
|
|
}
|
|
|
|
// 5. 마지막 위치까지 이동해줌.
|
|
double lastSweep = obj.SweepAngle - (totalCount * theta);
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, lastSweep);
|
|
_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, lastSweep);
|
|
}
|
|
} else {
|
|
//Arc 는 현재 위치에서 시작, 중심점 기준으로 각도 만큼 회전
|
|
//_scanner._scannerObj.ArcAbs(obj.CenterPointF.X + XOffset, obj.CenterPointF.Y + YOffset, obj.SweepAngle);
|
|
_Scanner.ArcAbs(obj.CenterPointF.X + xOffset, obj.CenterPointF.Y + yOffset, obj.SweepAngle);
|
|
|
|
}
|
|
#endregion
|
|
|
|
_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 static void LoadZigzagScannerParam(ZigZag obj)
|
|
{
|
|
ScannerParam param = ScannerCanvasUserCtrl.ScannerParams[obj.ScannerParamNo];
|
|
|
|
float percentLaser1 = 0;
|
|
float percentLaser2 = 0;
|
|
//카메라 오프셋 + Object의 Vision Offset + Fly 오프셋
|
|
double xOffset = _ScannerToCameraReferenceOffsets.X + _FlyOffsetX + m_externalCommandOffset.X;
|
|
double yOffset = _ScannerToCameraReferenceOffsets.Y + _FlyOffsetY + m_externalCommandOffset.Y;
|
|
|
|
#region 스캐너 가공 조건 설정
|
|
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})"));
|
|
|
|
#endregion
|
|
|
|
#region 시작 위치로 점프
|
|
//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._scannerObj.JumpAbs(obj.PF1.X + XOffset, obj.PF1.Y + YOffset, eFunctionType.LIST);
|
|
_Scanner.JumpAbs(obj.PF1.X + xOffset, obj.PF1.Y + yOffset, eFunctionType.LIST);
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region Ramping 설정
|
|
//지그재그는 아직 Ramping 구현 안됨
|
|
#endregion
|
|
|
|
#region 지그재그 순서대로 마킹
|
|
for (int i = 0; i < obj.ZigZagCount; i++) {
|
|
//_scanner._scannerObj.MarkAbs(obj.ArcStartPoints[i].X + XOffset, obj.ArcStartPoints[i].Y + YOffset);
|
|
_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;
|
|
bool clockwise = obj.DrawDirection == ZigZag.eDrawDirection.Left ? true : false;
|
|
|
|
if (i % 2 == 0) {
|
|
if (obj.DrawDirection == ZigZag.eDrawDirection.Left) {
|
|
sweepAngle = (-1) * Math.Abs(startAngle - endAngle);
|
|
if (sweepAngle < -180) {
|
|
sweepAngle = (360 + sweepAngle) * (-1);
|
|
|
|
}
|
|
//_scanner._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
|
|
_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._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, 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._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
|
|
_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._scannerObj.ArcAbs(obj.ArcCenterPoints[i].X + XOffset, obj.ArcCenterPoints[i].Y + YOffset, sweepAngle);
|
|
_Scanner.ArcAbs(obj.ArcCenterPoints[i].X + xOffset, obj.ArcCenterPoints[i].Y + yOffset, sweepAngle);
|
|
}
|
|
}
|
|
|
|
//_scanner._scannerObj.MarkAbs(obj.LineEndPoints[i].X + XOffset, obj.LineEndPoints[i].Y + YOffset);
|
|
_Scanner.MarkAbs(obj.LineEndPoints[i].X + xOffset, obj.LineEndPoints[i].Y + yOffset);
|
|
|
|
}
|
|
#endregion
|
|
|
|
_LastX = obj.LineEndPoints[obj.ZigZagCount - 1].X + xOffset;
|
|
_LastY = obj.LineEndPoints[obj.ZigZagCount - 1].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})"));
|
|
}
|
|
}
|
|
}
|