只调整FTR的回原指令

FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HRC100Robots/GM201LVPRobot/GM201LVPRobot.cs

@@ -392,7 +392,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
 
         private void RegisterSpecialData()
         {
-            if(Name != "CarrierRobot")
+            if (Name != "CarrierRobot")
             {
                 DATA.Subscribe($"{Name}.CurrentArm1Position", () => CurrentArm1Position);
                 DATA.Subscribe($"{Name}.CurrentArm2Position", () => CurrentArm2Position);
@@ -403,7 +403,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
                 DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade5", () => IsWaferPresenceOnBlade5);
             }
 
-            DATA.Subscribe($"{Name}.TPStatus", () => _tpStatus != null&& _tpStatus.Value);
+            DATA.Subscribe($"{Name}.TPStatus", () => _tpStatus != null && _tpStatus.Value);
             DATA.Subscribe($"{Name}.CurrentExtensionPosition", () => CurrentExtensionPosition);
             DATA.Subscribe($"{Name}.CurrentThetaPosition", () => CurrentThetaPosition);
 
@@ -574,12 +574,12 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
                     {
                         return ParsePositionAxisDataV2(rdata);
                     }
-                    if (rdata.Length ==7)
+                    if (rdata.Length == 7)
                     {
                         return ParsePositionAxisData(rdata);
                     }
                     // return (rdata.Length > 6 && ParseRegisteredPositionData(rdata));
-                   
+
                 }
                 if (_command == "RSTR")   //Reference station item value
                 {
@@ -695,7 +695,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
                 LOG.Write(ex);
                 return false;
             }
-        } 
+        }
         public bool ParsePositionAxisData(string[] pdata)
         {
             try
@@ -1267,7 +1267,11 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
                     _isError = false;
                 }
 
-                string strpara = "1,1,S";
+                string strpara = "1,1,G";
+                if (RobotModuleName == ModuleName.CarrierRobot)
+                {
+                    strpara = "1,1,S";
+                }
                 _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
                 if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
                     _lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
@@ -1328,7 +1332,11 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
                     _isError = false;
                 }
 
-                string strpara = "1,1,S";
+                string strpara = "1,1,G";
+                if (RobotModuleName == ModuleName.CarrierRobot)
+                {
+                    strpara = "1,1,S";
+                }
                 _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara, _timeLimitHome));
                 if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
                     _lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
@@ -2087,7 +2095,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
 
         protected override bool fPickComplete(object[] param)
         {
-            if(_isError)
+            if (_isError)
             {
                 OnError("RobotError");
                 return true;
@@ -2192,7 +2200,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
             }
 
             var alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaFOUPRobotAlarm");
-            if(Name == "WaferRobot")
+            if (Name == "WaferRobot")
                 alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaWaferRobotAlarm");
             if (_isError || (alarmSignaRobotAlarm != null && alarmSignaRobotAlarm.Value))
             {
@@ -2348,14 +2356,14 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
         public override void NoteError(string errortext)
         {
             _isError = true;
-            if(!string.IsNullOrEmpty(errortext))
+            if (!string.IsNullOrEmpty(errortext))
                 OnError(errortext);
 
             //lock (_locker)
             {
                 _lstHandlers.Clear();
                 _connection.ForceClear();
-                if(_tpStatus != null && _tpStatus.Value)
+                if (_tpStatus != null && _tpStatus.Value)
                 {
                     //true是TP状态
                     //TP状态，不需要发