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1.解决Robot 手动Pick和Place时偶尔出现多次进入Pick和Place问题

This commit is contained in:
HCL 2024-03-20 14:59:04 +08:00
parent 1120dd6c76
commit e356ea8ff4
1 changed files with 6 additions and 6 deletions
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12
SicRT/Equipments/ManualTransfer.cs
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@ -194,6 +194,9 @@ namespace SicRT.Equipments
return Result.RUN; return Result.RUN;
} }
if (!_tmRobot.IsAvailable)
return Result.RUN;
if (!_source.IsReadyForPick(ModuleName.TMRobot, _moveTask.SourceSlot)) if (!_source.IsReadyForPick(ModuleName.TMRobot, _moveTask.SourceSlot))
{ {
if (!_source.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, _moveTask.SourceSlot)) if (!_source.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, _moveTask.SourceSlot))
@ -214,9 +217,6 @@ namespace SicRT.Equipments
_source.WaitTransfer(ModuleName.TMRobot); _source.WaitTransfer(ModuleName.TMRobot);
} }
if (!_tmRobot.IsAvailable)
return Result.RUN;
} }
else else
{ {
@ -234,6 +234,9 @@ namespace SicRT.Equipments
if (!_destination.IsAvailable) if (!_destination.IsAvailable)
return Result.RUN; return Result.RUN;
if (!_tmRobot.IsAvailable)
return Result.RUN;
if (_destination.NoTray(_moveTask.DestinationSlot)) if (_destination.NoTray(_moveTask.DestinationSlot))
{ {
if (!_destination.IsReadyForPlace(ModuleName.TMRobot, _moveTask.DestinationSlot)) if (!_destination.IsReadyForPlace(ModuleName.TMRobot, _moveTask.DestinationSlot))
@ -253,9 +256,6 @@ namespace SicRT.Equipments
_destination.WaitTransfer(ModuleName.TMRobot); _destination.WaitTransfer(ModuleName.TMRobot);
} }
if (!_tmRobot.IsAvailable)
return Result.RUN;
} }
else else
{ {