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<article data-uid="Workflow-SensorMapping">
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<h1 id="workflow-sensor-data-mapping">Workflow: Sensor Data Mapping</h1>
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<p>This workflow covers mapping external sensor data (dynamometer, smart tool holder, accelerometer) to simulation toolpaths so that simulation steps can index real-world measurement data.</p>
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<pre><code class="lang-mermaid">flowchart TD
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Prepare["Prepare sensor CSV data"]
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Configure["Configure time mapping"]
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Simulate["Run simulation"]
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Map["Map data to simulation steps"]
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View["View mapped results"]
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Prepare --> Configure --> Simulate --> Map --> View
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</code></pre>
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<h2 id="overview">Overview</h2>
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<p>Data mapping associates external sensor measurements with simulated machining steps. After mapping, each step can reference real-world force, torque, and acceleration data for:</p>
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<ul>
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<li>Inspecting machining states</li>
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<li>Training milling coefficients (see <a class="xref" href="force-training.html">Workflow: Milling Force Parameter Training</a>)</li>
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<li>Calibrating milling coefficients</li>
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<li>Comparing simulated vs. measured forces</li>
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</ul>
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<p>Depending on data volume and application, mapping is either <strong>one-to-one</strong> (each step maps to one data point) or <strong>one-to-many</strong> (each step maps to multiple data points from high-sampling-rate sensors).</p>
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<hr>
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<h2 id="1-prepare-sensor-csv-data">1. Prepare Sensor CSV Data</h2>
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<h3 id="sensor-data-format">Sensor Data Format</h3>
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<p>The CSV file must have a header row with <code>ActualTime</code> and sensor channels:</p>
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<table>
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<thead>
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<tr>
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<th>Source</th>
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<th>Headers</th>
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<th>Aliases</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>Dynamometer</td>
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<td><code>Fx</code>, <code>Fy</code>, <code>Fz</code></td>
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<td><code>Workpiece.Fx</code>, <code>Workpiece.Fy</code>, <code>Workpiece.Fz</code></td>
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</tr>
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<tr>
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<td>Smart tool holder</td>
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<td><code>Mx</code>, <code>My</code>, <code>Mz</code></td>
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<td><code>Holder.Mx</code>, <code>Holder.My</code>, <code>Holder.Mz</code></td>
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</tr>
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<tr>
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<td>Accelerometer</td>
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<td><code>Ax</code>, <code>Ay</code>, <code>Az</code></td>
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<td>—</td>
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</tr>
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</tbody>
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</table>
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<pre><code class="lang-csv">ActualTime,Mx,My,Mz
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18:23:54.703,-0.02923,0.10733,0.00409
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18:23:54.704,0.04155,-0.04457,0.00448
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...
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</code></pre>
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<p>The time format is <code><hours>:<minutes>:<seconds>.<fractional seconds></code>. Additional fields (e.g., <code>CH1</code>, <code>CH2</code>) may be included and will be available after mapping.</p>
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<h3 id="controller-data-format-for-two-layer-mapping">Controller Data Format (for Two-Layer Mapping)</h3>
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<p>The controller CSV must contain at least <code>FileNo</code>, <code>LineNo</code>, and <code>ActualTime</code>:</p>
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<pre><code class="lang-csv">FileNo,LineNo,ActualTime,MC.X,MC.Y,MC.Z,...
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1,6,00:00:00.030,0,0,0.37,...
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</code></pre>
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<hr>
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<h2 id="2-configure-time-mapping">2. Configure Time Mapping</h2>
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<h3 id="strategy-a-one-to-one-mapping-mapsinglebycsvfile">Strategy A: One-to-One Mapping (MapSingleByCsvFile)</h3>
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<p><a class="xref" href="../api/Hi.MachiningProcs.SessionShell.html#Hi_MachiningProcs_SessionShell_MapSingleByCsvFile_">MapSingleByCsvFile</a> reads a CSV file and uses time interpolation to map each data point to one simulation step.</p>
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<pre><code class="lang-csharp">PlayNcFile("NC/file1.nc");
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MapSingleByCsvFile("Data/sensor.csv");
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</code></pre>
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<h3 id="strategy-b-one-to-one-via-playcsvfile">Strategy B: One-to-One via PlayCsvFile</h3>
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<p><a class="xref" href="../api/Hi.MachiningProcs.SessionShell.html#Hi_MachiningProcs_SessionShell_PlayCsvFile_">PlayCsvFile</a> can drive the simulation directly from CSV data, where each row becomes one step. Custom fields in the CSV are automatically available on each step.</p>
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<pre><code class="lang-csharp">PlayCsvFile("Data/controller.csv");
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</code></pre>
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<h3 id="strategy-c-one-to-many-global-mapping-mapseriesbycsvfile">Strategy C: One-to-Many Global Mapping (MapSeriesByCsvFile)</h3>
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<p>For high-sampling-rate data, first establish <code>ActualTime</code> via one-to-one mapping, then map the series:</p>
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<pre><code class="lang-csharp">PlayNcFile("NC/file1.nc");
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MapSingleByCsvFile("Data/controller.csv"); // establishes ActualTime
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MapSeriesByCsvFile("Data/sensor.csv"); // maps high-rate series
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</code></pre>
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<h3 id="strategy-d-one-to-many-local-mapping-anchor-based">Strategy D: One-to-Many Local Mapping (Anchor-Based)</h3>
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<p>For mapping sensor data to specific NC path segments using anchors.</p>
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<p><strong>Step 1 — Specify input data and time ranges:</strong></p>
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<pre><code class="lang-csharp">ClearTimeMappingData();
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AddTimeDataByFile("lineA", "Mapping/sensor1.csv", "18:25:51.7100", "18:26:12.9910");
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AddTimeDataByFile("lineB", "Mapping/sensor1.csv", "18:26:30.5750", "18:27:12.2880");
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</code></pre>
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<p><strong>Step 2 — Specify NC path anchors</strong> (embedded in NC code):</p>
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<pre><code>X13. F20 ;@LineSelection("lineA", FirstTouch, ShiftTime_s(2), LineEnd, ShiftDistance_mm(-1));
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X25. F10 ;@LineSelection("lineB", FirstTouch, null, LastTouch, null);
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</code></pre>
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<p>For range mapping across multiple NC lines, use <code>BeginSelection</code> / <code>EndSelection</code>:</p>
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<pre><code>;@BeginSelection("region1", LineBegin, null);
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...
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;@EndSelection("region1", LineEnd, null);
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</code></pre>
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<p><strong>Anchor Flags:</strong></p>
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<table>
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<thead>
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<tr>
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<th>Flag</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td><code>LineBegin</code></td>
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<td>Motion start point of the line</td>
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</tr>
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<tr>
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<td><code>LineEnd</code></td>
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<td>Motion end point of the line</td>
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</tr>
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<tr>
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<td><code>FirstTouch</code></td>
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<td>First contact with the workpiece</td>
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</tr>
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<tr>
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<td><code>LastTouch</code></td>
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<td>Last contact with the workpiece</td>
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</tr>
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</tbody>
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</table>
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<p><strong>Offset Options:</strong></p>
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<table>
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<thead>
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<tr>
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<th>Offset</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td><code>null</code></td>
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<td>No offset</td>
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</tr>
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<tr>
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<td><code>ShiftTime_s(<seconds>)</code></td>
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<td>Time-based offset (positive = forward)</td>
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</tr>
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<tr>
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<td><code>ShiftDistance_mm(<mm>)</code></td>
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<td>Distance-based offset (positive = forward)</td>
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</tr>
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</tbody>
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</table>
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<div class="NOTE">
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<h5>Note</h5>
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<p>For FANUC controllers that do not support <code>;</code> as a comment character, enclose the script command in a comment block:</p>
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<pre><code>X13. F20 (;@LineSelection("lineA", FirstTouch, null, LineEnd, null);)
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</code></pre>
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</div>
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<h3 id="map-on-selection-end">Map on Selection End</h3>
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<p><a class="xref" href="../api/Hi.MachiningProcs.SessionShell.html#Hi_MachiningProcs_SessionShell_EnableMapOnSelectionEnd">EnableMapOnSelectionEnd</a> controls automatic mapping when a selection ends (default: <code>true</code>):</p>
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<pre><code class="lang-csharp">EnableMapOnSelectionEnd = true; // EndSelection triggers Map automatically
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</code></pre>
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<h3 id="clearing-mapping-data">Clearing Mapping Data</h3>
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<p>Mapping data persists across player resets. To clear:</p>
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<pre><code class="lang-csharp">ClearTimeMappingData();
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</code></pre>
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<hr>
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<h2 id="3-run-simulation">3. Run Simulation</h2>
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<pre><code class="lang-csharp">PlayNcFile("NC/file1.nc");
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</code></pre>
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<div class="NOTE">
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<h5>Note</h5>
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<p><strong>Why interpret NC code instead of playing CSV directly?</strong>
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The system NC interpreter produces more accurate simulation paths than direct controller CSV playback, which has limited sampling resolution that distorts tool paths.</p>
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</div>
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<hr>
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<h2 id="4-map-data">4. Map Data</h2>
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<p>After simulation, apply the mapping strategy chosen in step 2. For the two-layer chained approach:</p>
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<pre><code class="lang-csharp">// Chain 1: Controller data → simulation steps (via FileNo/LineNo → ActualTime)
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MapSingleByCsvFile("Data/controller.csv");
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// Chain 2: Sensor data → simulation steps (via ActualTime → sensor readings)
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MapSeriesByCsvFile("Data/sensor.csv");
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</code></pre>
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<p>The chaining works because:</p>
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<ul>
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<li>Simulation steps and controller data share <code>FileNo</code>/<code>LineNo</code> anchors</li>
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<li>Controller data and sensor data share <code>ActualTime</code> anchors</li>
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<li>After chaining, simulation steps can index sensor data</li>
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</ul>
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<div class="TIP">
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<h5>Tip</h5>
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<p>Due to machine acceleration/deceleration, simulation time and actual time diverge over longer durations. Anchor-based linear projection corrects for this drift.</p>
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</div>
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<hr>
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<h2 id="5-view-mapped-results">5. View Mapped Results</h2>
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<p>After mapping, sensor data is available on each step. Use the UI to:</p>
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<ul>
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<li>View color gradient maps on the workpiece geometry</li>
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<li>Inspect time-series charts</li>
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<li>Click-to-track specific data channels</li>
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</ul>
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<p>Export mapped results:</p>
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<pre><code class="lang-csharp">WriteStepFiles("Output/[NcName].step.csv");
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WriteShotFiles("Output/[NcName].shot.csv", 1);
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</code></pre>
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<hr>
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<h2 id="complete-two-layer-mapping-example">Complete Two-Layer Mapping Example</h2>
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<pre><code class="lang-csharp">// Configure resolution
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MachiningResolution_mm = 0.125;
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EnablePhysics = true;
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// Clear any previous mapping data
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ClearTimeMappingData();
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// Run simulation using NC interpreter for accurate paths
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PlayNcFile("NC/machining.nc");
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// Map controller data (contains FileNo, LineNo, ActualTime)
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MapSingleByCsvFile("Data/controller.csv");
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// Map high-rate sensor data (contains ActualTime and force/torque)
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MapSeriesByCsvFile("Data/sensor.csv");
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// Export results
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WriteStepFiles("Output/[NcName].step.csv");
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</code></pre>
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<h2 id="see-also">See Also</h2>
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<ul>
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<li><a class="xref" href="force-training.html">Workflow: Milling Force Parameter Training</a> — using mapped data for coefficient training</li>
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<li><a class="xref" href="basic-simulation.html">Workflow: Basic Machining Simulation</a> — basic simulation setup</li>
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<li><a class="xref" href="../manual/runtime/step.html">Step</a> — step data model</li>
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<li><a class="xref" href="../manual/runtime/session-shell.html">Glossary: SessionShell Quick-Reference</a> — SessionShell quick-reference</li>
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<li><a class="xref" href="examples/mapping-demo.html">Example Project: Mapping Controller and Sensor Data to Simulated NC Toolpaths and Updating Milling Coefficients</a> — mapping demo example project</li>
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<li><a class="xref" href="examples/milling-training-dynamometer.html">Example Project: Training Milling Coefficients with a Dynamometer</a> — dynamometer training example project</li>
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</ul>
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</article>
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