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1.解决WaferRobot PickWafer问题

This commit is contained in:
HCL 2023-08-16 10:29:57 +08:00
parent 77aa4e7f25
commit 68bc2afdf4
1 changed files with 8 additions and 7 deletions
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15
MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobot.cs
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@ -974,6 +974,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
{
// 执行Pick指令
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 3, _scMotionTimeout.IntValue)); //吸住
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 4, _scMotionTimeout.IntValue)); //缩回
});
}
}
@ -1046,13 +1047,13 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
WaferManager.Instance.WaferMoved(sourceModule, sourceSlot, RobotModuleName, 0);
}
lock (_locker)
{
CheckStateThenDo(() =>
{
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, CurrentParamter[1].ToString(), Convert.ToInt32(CurrentParamter[2]), 4, _scMotionTimeout.IntValue)); //缩回
});
}
//lock (_locker)
//{
// CheckStateThenDo(() =>
// {
// _lstHandler.AddLast(new HwinRobotGETSPHandler(this, CurrentParamter[1].ToString(), Convert.ToInt32(CurrentParamter[2]), 4, _scMotionTimeout.IntValue)); //缩回
// });
//}
}
return base.fPickComplete(param);