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1.TMRobot Pick和Place PM腔时增加停留延时

This commit is contained in:
HCL 2024-07-25 09:23:00 +08:00
parent 5104766304
commit 0554820b1a
2 changed files with 2 additions and 2 deletions
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2
Modules/Mainframe/TMs/Routines/TMRobotPickRoutine.cs
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@ -306,7 +306,7 @@ namespace SicModules.TMs.Routines
//等磁流体开始旋转，释放Tray盘
WaitSicServoUnloadAngleRun((int)RoutineStep.SicServoUnloadAngleRun, _sicServoUnloadAngle, 90);//开始旋转，释放Tray盘
TimeDelay((int)RoutineStep.TimeDelay4, 3);
TimeDelay((int)RoutineStep.TimeDelay4, 10);
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmHighAndWait, RobotDevice, _target, _targetSlot, _blade, RobotAction.Picking, true,false,60);//从高位退出去

2
Modules/Mainframe/TMs/Routines/TMRobotPlaceRoutine.cs
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@ -284,7 +284,7 @@ namespace SicModules.TMs.Routines
RobotMoveSingleStepAndWait((int)RoutineStep.RobotGotoPmLowAndWait, RobotDevice, _target, _targetSlot, _blade, RobotAction.Placing,false, true,60);//先进去，停在高位
TimeDelay((int)RoutineStep.TimeDelay4, 3);
TimeDelay((int)RoutineStep.TimeDelay4, 30);
WaitSicServoLoadAngleRun((int)RoutineStep.WaitSicServoLoadAngleRun, _sicServoLoadAngleRun, 90);//机械手到高位，磁流体旋转锁紧Tray盘
TimeDelay((int)RoutineStep.TimeDelay5, 3);