1.解决WaferRobot PickWafer问题
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@ -974,6 +974,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
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{
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// 执行Pick指令
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_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 3, _scMotionTimeout.IntValue)); //吸住
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_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 4, _scMotionTimeout.IntValue)); //缩回
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});
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}
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}
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@ -1046,13 +1047,13 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
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WaferManager.Instance.WaferMoved(sourceModule, sourceSlot, RobotModuleName, 0);
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}
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lock (_locker)
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{
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CheckStateThenDo(() =>
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{
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_lstHandler.AddLast(new HwinRobotGETSPHandler(this, CurrentParamter[1].ToString(), Convert.ToInt32(CurrentParamter[2]), 4, _scMotionTimeout.IntValue)); //缩回
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});
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}
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//lock (_locker)
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//{
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// CheckStateThenDo(() =>
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// {
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// _lstHandler.AddLast(new HwinRobotGETSPHandler(this, CurrentParamter[1].ToString(), Convert.ToInt32(CurrentParamter[2]), 4, _scMotionTimeout.IntValue)); //缩回
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// });
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//}
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}
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return base.fPickComplete(param);
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