fix 添加 FTR home点

FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HRC100Robots/GM201LVPRobot/GM201LVPRobotConnection.cs

@@ -64,8 +64,17 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.G
                     //_robot.OnError($"Execution error,Error Content is {msgdata[1]}");
                     return msg;
                 }
+                if (msgdata[0] == "INIT" && msgdata.Contains("E"))
+                {
+                    // msg.IsFormatError = true;
+                    msg.IsError = true;
+                    //_robot.OnError($"Execution error,Error Content is {msgdata[1]}");
+                    return msg;
+                }
                 if (replayWithErrorAtCmd.Contains(msgdata[0]))
                 {
+
+
                     if (msgdata[msgdata.Length - 1] == "E")
                     {
                         msg.IsError = true;

Furnace/FurnaceRT/Config/IO/ELK/DeviceModelPM.xml

@@ -477,6 +477,10 @@
 					doStockerInterlock="DO_FOUPRobotBufferInterlock"
 				    aoRobotActionCommand="AO_FOUPRobotActionCommand"
 				    aiRobotActionCommand="AI_FOUPRobotActionCommand"
+						
+				   diRobotHome1="DI_FTRHome1"
+				   diRobotHome2="DI_FTRHome2"
+				   diRobotHome3="DI_FTRHome3"
 
 			scRootPath=""
 			/>
@@ -1050,7 +1054,7 @@
 		<IoAlarmSignal id="AlarmSignalLDS2MinorWarning"		diSignalsplay="LDS2 minor warning"			diSignal="DI_LDS2MinorWarning"		alarmTrigValue="true"/>
 		<IoAlarmSignal id="AlarmSignalLDS2LiquidLowWarning"		diSignalsplay="LDS2 liquid low warning"			diSignal="DI_LDS2LiquidLowWarning"		alarmTrigValue="true"/>
 		<IoAlarmSignal id="AlarmSignalLDS2TankBlankAlarm"		diSignalsplay="LDS2 tank blank alarm"			diSignal="DI_LDS2TankBlankAlarm"		alarmTrigValue="true"/>
-	
+
 		<IoAlarmSignal id="AlarmSignalSL05001LAdoorsw1" diSignalsplay="safe module:SL05001 LA door sw1" diSignal="DI_SL05001LAdoorsw1" alarmTrigValue="false" />
 
 	</IoAlarmSignals>
@@ -1261,7 +1265,7 @@
 		<IoTrigger id="TrigMS520" display="" schematicId="" unit="" doTrigger="DO_MS520"/>
 		<IoTrigger id="TrigMS521" display="" schematicId="" unit="" doTrigger="DO_MS521"/>
 		<IoTrigger id="TrigMS522" display="" schematicId="" unit="" doTrigger="DO_MS522"/>
-		
+
 		<IoTrigger id="TrigBufferN2PurageEN" display="" schematicId="" unit="" doTrigger="DO_BufferN2PurageEN"/>
 		<IoTrigger id="TrigBufferPurgeTime" display="" schematicId="" unit="" aoTrigger="AO_BufferPurgeTimeSV" />
 

Furnace/FurnaceRT/Config/IO/ELK/_ioDefinePM.xml

@@ -396,6 +396,12 @@
 		<DI_ITEM Index="1861" Name="DI_LP1FOUPInPosition2" BufferOffset="1861" Addr="D116.5" Description="AGV loadport1 FOUP in position2(D116.5)" />
 		<DI_ITEM Index="1862" Name="DI_LP1FOUPInPosition3" BufferOffset="1862" Addr="D116.6" Description="AGV loadport1 FOUP in position3(D116.6)" />
 		<DI_ITEM Index="1863" Name="DI_LP1FOUPDetect" BufferOffset="1863" Addr="D116.7" Description="AGV loadport1 FOUP detect(D116.7)" />
+		
+		<DI_ITEM Index="1864" Name="DI_FTRHome1" BufferOffset="1864" Addr="D116.8" Description="FTR Home1(D116.8)" />
+		<DI_ITEM Index="1865" Name="DI_FTRHome1" BufferOffset="1865" Addr="D116.9" Description="FTR Home2(D116.9)" />
+		<DI_ITEM Index="1866" Name="DI_FTRHome1" BufferOffset="1866" Addr="D116.10" Description="FTR Home3(D116.10)" />
+		
+		
 		<DI_ITEM Index="1872" Name="DI_LP2FOUPLeftClamp" BufferOffset="1872" Addr="D117.0" Description="AGV loadport2 FOUP left clamp(D117.0)" />
 		<DI_ITEM Index="1873" Name="DI_LP2FOUPRightClamp" BufferOffset="1873" Addr="D117.1" Description="AGV loadport2 FOUP right clamp(D117.1)" />
 		<DI_ITEM Index="1874" Name="DI_LP2FOUPLeftRelease" BufferOffset="1874" Addr="D117.2" Description="AGV loadport2 FOUP left release(D117.2)" />