Sic-Software
/
Sic10
5
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
SicRT/Equipments/ManualTransfer.cs
View File

@ -194,6 +194,9 @@ namespace SicRT.Equipments
return Result.RUN;
}
if (!_tmRobot.IsAvailable)
return Result.RUN;
if (!_source.IsReadyForPick(ModuleName.TMRobot, _moveTask.SourceSlot))
{
if (!_source.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, _moveTask.SourceSlot))
@ -214,9 +217,6 @@ namespace SicRT.Equipments
_source.WaitTransfer(ModuleName.TMRobot);
}
if (!_tmRobot.IsAvailable)
return Result.RUN;
}
else
{
@ -234,6 +234,9 @@ namespace SicRT.Equipments
if (!_destination.IsAvailable)
return Result.RUN;
if (!_tmRobot.IsAvailable)
return Result.RUN;
if (_destination.NoTray(_moveTask.DestinationSlot))
{
if (!_destination.IsReadyForPlace(ModuleName.TMRobot, _moveTask.DestinationSlot))
@ -253,9 +256,6 @@ namespace SicRT.Equipments
_destination.WaitTransfer(ModuleName.TMRobot);
}
if (!_tmRobot.IsAvailable)
return Result.RUN;
}
else
{