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修改TMRobot报错

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HCL 2026-08-19 10:21:13 +08:00
parent c12662d729
commit 0c91530525
1 changed files with 9 additions and 16 deletions
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23
Framework/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/SiasunPhoenixB/RobotSiasunPhoenixB.cs
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@ -1230,30 +1230,23 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.SiasunPhoenixB
//TM从UnLoad只能取石墨盘 //TM从UnLoad只能取石墨盘
if (sourcemodule == ModuleName.UnLoad) if (sourcemodule == ModuleName.UnLoad)
{ {
if (_unloadWaferClaw.State == ClawStateEnum.Clamp) //if (_unloadWaferClaw.State == ClawStateEnum.Clamp)
{ //{
WaferManager.Instance.TrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0); // WaferManager.Instance.TrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
} //}
else //else
{ //{
WaferManager.Instance.WaferTrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0); // WaferManager.Instance.WaferTrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
} //}
} }
else else
{ {
if (BladeSlots == 1) if (BladeSlots == 1)
{ {
if (arm == RobotArmEnum.Blade1) if (arm == RobotArmEnum.Blade1)
{
if (_llWaferClaw.State == ClawStateEnum.Clamp && (sourcemodule == ModuleName.LoadLock || sourcemodule == ModuleName.Load))
{
WaferManager.Instance.TrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
}
else
{ {
WaferManager.Instance.WaferTrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0); WaferManager.Instance.WaferTrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
} }
}
if (arm == RobotArmEnum.Blade2) if (arm == RobotArmEnum.Blade2)
WaferManager.Instance.WaferTrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1); WaferManager.Instance.WaferTrayMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);