diff --git a/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobot.cs b/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobot.cs
index 07bf13e..47a45a0 100644
--- a/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobot.cs
+++ b/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobot.cs
@@ -223,21 +223,31 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
         private void CheckStateThenDo(Action onCheckSucceed, Action onCheckFailed = null)
         {
             // 检查Robot状态
-            _lstHandler.AddLast(new HwinRobotSTATHandler(this, onHandlerEndTask: () =>
+            _lstHandler.AddLast(new HwinRobotERRHandler(this, onHandlerEndTask: () =>
             {
-                if (Status.IsServoOff)
+                if (Errors.AggregateErrorMessages != null && Errors.AggregateErrorMessages.Count > 0)
                 {
-                    EV.PostAlarmLog(Module, "Servo Off");
-                    onCheckFailed?.Invoke();
-                }
-                else if (Status.IsMotorError || Status.IsControllerError)
-                {
-                    // 读取错误信息，并PostAlarm
-                    _lstHandler.AddLast(new HwinRobotERRHandler(this, onHandlerEndTask:onCheckFailed));
+                    try
+                    {
+                        onCheckFailed?.Invoke();
+                    }
+                    catch (Exception ex)
+                    {
+                        EV.PostWarningLog(Module, "onCheckFailed action error");
+                        LOG.Error(ex.Message);
+                    }
                 }
                 else
                 {
-                    onCheckSucceed?.Invoke();
+                    try
+                    {
+                        onCheckSucceed?.Invoke();
+                    }
+                    catch (Exception ex)
+                    {
+                        EV.PostWarningLog(Module, "onCheckSucceed action error");
+                        LOG.Error(ex.Message);
+                    }
                 }
             }));
         }
@@ -414,7 +424,6 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
                 }
                 else
                 {
-
                     Errors = null;
                     Errors = new HiwinRobotAggregatedErrors(response);
                     if (Errors.AggregateErrorMessages.Count > 0)
@@ -424,10 +433,6 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
                             EV.PostAlarmLog(Module, errMsg);
                         }
                     }
-                    else
-                    {
-                        EV.PostAlarmLog(Module, "Unknown Error");
-                    }
                 }
 
                 return true;
diff --git a/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobotHandler.cs b/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobotHandler.cs
index 3a5548d..9e4b21b 100644
--- a/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobotHandler.cs
+++ b/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobotHandler.cs
@@ -1,13 +1,7 @@
-using Aitex.Sorter.Common;
-using MECF.Framework.Common.CommonData;
+using MECF.Framework.Common.CommonData;
 using MECF.Framework.Common.Communications;
 using MECF.Framework.Common.Equipment;
-using Newtonsoft.Json.Linq;
 using System;
-using System.Linq;
-using System.Text;
-using Aitex.Core.RT.Event;
-using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobort.Errors;
 
 namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
 {