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@@ -1268,10 +1268,12 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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}
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string strpara = "1,1,G";
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- if (RobotModuleName == ModuleName.CarrierRobot)
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+
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+ if (SC.GetValue<bool>($"{Name}.SafeHome") && RobotModuleName == ModuleName.CarrierRobot)
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{
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strpara = "1,1,S";
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}
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+
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_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
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if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
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_lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
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@@ -1333,10 +1335,11 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
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}
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string strpara = "1,1,G";
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- //if (RobotModuleName == ModuleName.CarrierRobot)
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- //{
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- // strpara = "1,1,S";
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- //}
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+ if (SC.GetValue<bool>($"{Name}.SafeHome") && RobotModuleName == ModuleName.CarrierRobot)
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+ {
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+ strpara = "1,1,S";
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+ }
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+
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_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara, _timeLimitHome));
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if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
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_lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
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