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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 09:56:29 +08:00
parent dbf3386605
commit 429b402a35
4 changed files with 4 additions and 4 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, 0);
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);

2
SicRT/Properties/AssemblyInfo.cs
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@ -51,5 +51,5 @@ using System.Windows;
// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号
// 方法是按如下所示使用“*”: :
[assembly: AssemblyVersion("1.0.1.40724")]
[assembly: AssemblyVersion("1.0.1.40725")]
[assembly: AssemblyInformationalVersion("Sic多片机（无EFEM）")]

2
SicUI/Properties/AssemblyInfo.cs
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@ -54,5 +54,5 @@ using System.Windows;
// You can specify all the values or you can default the Build and Revision Numbers
// by using the '*' as shown below:
[assembly: AssemblyVersion("1.0.1.40724")]
[assembly: AssemblyVersion("1.0.1.40725")]
[assembly: AssemblyInformationalVersion("Sic多片机（无EFEM）")]