update SunWayRobot

CyberX8_RT/Config/Devices/AxisProviderCfg.xml

@@ -5,7 +5,7 @@
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
 	<!-- 1048576 cnts/rev 100:1 gearbox, 1 degree = 1048576*100 cnts/360 = 291271.1 cnts -->
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>2778</ScaleFactor>
     <JogLimit>5</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>
@@ -17,7 +17,7 @@
     <Driver>Beckhoff</Driver>
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>2778</ScaleFactor>
     <JogLimit>5</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>
@@ -29,7 +29,7 @@
     <Driver>Beckhoff</Driver>
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>3900</ScaleFactor>
     <JogLimit>5</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>
@@ -41,7 +41,7 @@
     <Driver>Beckhoff</Driver>
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>3900</ScaleFactor>
     <JogLimit>5</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>
@@ -53,7 +53,7 @@
     <Driver>Beckhoff</Driver>
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>44000</ScaleFactor>
     <JogLimit>720</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>
@@ -65,7 +65,7 @@
     <Driver>Beckhoff</Driver>
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>44000</ScaleFactor>
     <JogLimit>720</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>
@@ -77,7 +77,7 @@
 	<Driver>Beckhoff</Driver>
     <!-- <Driver>Sim</Driver> -->
     <Units>deg</Units>
-    <ScaleFactor>1</ScaleFactor>
+    <ScaleFactor>810</ScaleFactor>
     <JogLimit>5</JogLimit>
 	<MinMoveTime>0.5</MinMoveTime>
     <Inputs>

CyberX8_RT/Config/Devices/FestoControllerCfg.xml

@@ -17,10 +17,10 @@
 		<DO Name="c_LoaderB_LS_Vacuum" Address="40004" Invert="true" Bit="5"/>
 		<DO Name="c_DPUF_A_CHUCK_A_RELEASE" Address="40004" Invert="true" Bit="6"/>
 		<DO Name="c_DPUF_A_CHUCK_B_RELEASE" Address="40004" Invert="true" Bit="7"/>
-		<DO Name="Festo.DO16" Address="40005" Invert="false" Bit="0"/>
-		<DO Name="Fest3.DO17" Address="40005" Invert="false" Bit="1"/>
-		<DO Name="c_LOADERA_BERNOULLI_N2" Address="40005" Invert="false" Bit="2"/>
-		<DO Name="c_LOADERB_BERNOULLI_N2" Address="40005" Invert="false" Bit="3"/>
+		<DO Name="c_LOADERA_BERNOULLI_N2" Address="40005" Invert="false" Bit="0"/>
+		<DO Name="c_LOADERB_BERNOULLI_N2" Address="40005" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO18" Address="40005" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO19" Address="40005" Invert="false" Bit="3"/>
 		<DO Name="Festo.DO20" Address="40005" Invert="false" Bit="4"/>
 		<DO Name="Festo.DO21" Address="40005" Invert="false" Bit="5"/>
 		<DO Name="Festo.DO22" Address="40005" Invert="false" Bit="6"/>

CyberX8_RT/Config/Devices/WagoControllerCfg.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <WagoControllerConfig>
-  <WagoDeviceConfig Module="Wago0" IpAddress="10.0.0.12" Port="502" SendTimeout="2000" RecvTimeout="2000" Channel="1"> 
+  <WagoDeviceConfig Module="Wago0" IpAddress="10.0.0.10" Port="502" SendTimeout="2000" RecvTimeout="2000" Channel="1"> 
 	<Dig_In>
 		<DIGroup Name="N5">
 			<DI Name="r_Cassette_1_150" Address="0" Invert="false"/>

CyberX8_RT/Config/Layout/ToolLayoutConfiguration.xml

@@ -341,12 +341,12 @@
 		<!-- PUFs -->
 
 		<Item i:type="PUF">
-			<Installed>true</Installed>
+			<Installed>false</Installed>
 			<PufID>1</PufID>
 			<SubType>DualPUF_WithDistanceSensors</SubType>
 		</Item>
 		<Item i:type="PUF">
-			<Installed>true</Installed>
+			<Installed>false</Installed>
 			<PufID>2</PufID>
 			<SubType>DualPUF_WithDistanceSensors</SubType>
 		</Item>
@@ -354,7 +354,7 @@
 		<!-- TRANSPORTERS -->
 
 		<Item i:type="Transporter">
-			<Installed>true</Installed>
+			<Installed>false</Installed>
 			<TransporterID>1</TransporterID>
 			<SubType>HighSpeedThunder</SubType>
 			<DripTrayType>NoDripTray</DripTrayType>
@@ -363,7 +363,7 @@
 			
 		</Item>
 		<Item i:type="Transporter">
-			<Installed>true</Installed>
+			<Installed>false</Installed>
 			<TransporterID>2</TransporterID>
 			<SubType>HighSpeedThunder</SubType>
 			<DripTrayType>NoDripTray</DripTrayType>

CyberX8_RT/Config/Station/StationPositionsCfg.xml

@@ -4,82 +4,82 @@
     <Axis Name="Loader1.TiltA">
       <ToleranceDefault>0.1</ToleranceDefault>
 		<Stations>
-			<Station Name="Loader1.TiltA.HORI" Position="230500" ModifiedDate="2024-08-13 14:39:48.548" />
-			<Station Name="Loader1.TiltA.VERT" Position="-17500" ModifiedDate="2024-06-21 10:37:50.049" />
-			<Station Name="Loader1.TiltA.FLOAT" Position="220000" ModifiedDate="5/12/2015 12:51:37 AM" />
-			<Station Name="Loader1.TiltA.HOME" Position="220000" ModifiedDate="12/10/2020 3:40:44 PM" />
+			<Station Name="Loader1.TiltA.HORI" Position="82.97" ModifiedDate="2024-08-13 14:39:48.548" />
+			<Station Name="Loader1.TiltA.VERT" Position="-6.299" ModifiedDate="2024-06-21 10:37:50.049" />
+			<Station Name="Loader1.TiltA.FLOAT" Position="79.194" ModifiedDate="5/12/2015 12:51:37 AM" />
+			<Station Name="Loader1.TiltA.HOME" Position="79.194" ModifiedDate="12/10/2020 3:40:44 PM" />
 		</Stations>
     </Axis>
     <Axis Name="Loader1.TiltB">
       <ToleranceDefault>0.1</ToleranceDefault>
       <Stations>
-        <Station Name="Loader1.TiltB.HORI" Position="230500" ModifiedDate="2024-08-13 14:39:48.548" />
-        <Station Name="Loader1.TiltB.VERT" Position="-17500" ModifiedDate="2024-06-21 10:37:50.049" />
-        <Station Name="Loader1.TiltB.FLOAT" Position="220000" ModifiedDate="5/12/2015 12:51:37 AM" />
-        <Station Name="Loader1.TiltB.HOME" Position="220000" ModifiedDate="12/10/2020 3:40:44 PM" />
+        <Station Name="Loader1.TiltB.HORI" Position="82.97" ModifiedDate="2024-08-13 14:39:48.548" />
+        <Station Name="Loader1.TiltB.VERT" Position="-6.299" ModifiedDate="2024-06-21 10:37:50.049" />
+        <Station Name="Loader1.TiltB.FLOAT" Position="79.194" ModifiedDate="5/12/2015 12:51:37 AM" />
+        <Station Name="Loader1.TiltB.HOME" Position="79.194" ModifiedDate="12/10/2020 3:40:44 PM" />
       </Stations>
     </Axis>
     <Axis Name="Loader1.ShuttleA">
       <ToleranceDefault>0.1</ToleranceDefault>
 		<Stations>
-			<Station Name="Loader1.ShuttleA.IN" Position="252000" ModifiedDate="2024-06-21 10:37:30.041" />
-			<Station Name="Loader1.ShuttleA.LS" Position="247500" ModifiedDate="2024-09-24 17:58:50.950" />
-			<Station Name="Loader1.ShuttleA.MID" Position="200000" ModifiedDate="7/11/2016 6:41:59 PM" />
-			<Station Name="Loader1.ShuttleA.OUT200" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-			<Station Name="Loader1.ShuttleA.OUT150" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-			<Station Name="Loader1.ShuttleA.OUT100" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
+			<Station Name="Loader1.ShuttleA.IN" Position="64.61" ModifiedDate="2024-06-21 10:37:30.041" />
+			<Station Name="Loader1.ShuttleA.LS" Position="63.46" ModifiedDate="2024-09-24 17:58:50.950" />
+			<Station Name="Loader1.ShuttleA.MID" Position="51.28" ModifiedDate="7/11/2016 6:41:59 PM" />
+			<Station Name="Loader1.ShuttleA.OUT200" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
+			<Station Name="Loader1.ShuttleA.OUT150" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
+			<Station Name="Loader1.ShuttleA.OUT100" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
 		</Stations>
     </Axis>
     <Axis Name="Loader1.ShuttleB">
       <ToleranceDefault>0.1</ToleranceDefault>
 		<Stations>
-			<Station Name="Loader1.ShuttleB.IN" Position="252000" ModifiedDate="2024-06-21 10:37:30.041" />
-			<Station Name="Loader1.ShuttleB.LS" Position="247500" ModifiedDate="2024-09-24 17:58:50.950" />
-			<Station Name="Loader1.ShuttleB.MID" Position="200000" ModifiedDate="7/11/2016 6:41:59 PM" />
-			<Station Name="Loader1.ShuttleB.OUT200" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-			<Station Name="Loader1.ShuttleB.OUT150" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-			<Station Name="Loader1.ShuttleB.OUT100" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
+			<Station Name="Loader1.ShuttleB.IN" Position="64.61" ModifiedDate="2024-06-21 10:37:30.041" />
+			<Station Name="Loader1.ShuttleB.LS" Position="63.46" ModifiedDate="2024-09-24 17:58:50.950" />
+			<Station Name="Loader1.ShuttleB.MID" Position="51.28" ModifiedDate="7/11/2016 6:41:59 PM" />
+			<Station Name="Loader1.ShuttleB.OUT200" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
+			<Station Name="Loader1.ShuttleB.OUT150" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
+			<Station Name="Loader1.ShuttleB.OUT100" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
 		</Stations>
     </Axis>
     <Axis Name="Loader1.LSA">
       <ToleranceDefault>0.01</ToleranceDefault>
       <Stations>
-        <Station Name="Loader1.LSA.Setup200" Position="100000" />
-        <Station Name="Loader1.LSA.Lock200" Position="75000" ModifiedDate="3/2/2020 6:21:09 PM" />
-        <Station Name="Loader1.LSA.Unlock200" Position="201500" ModifiedDate="2/25/2020 2:54:29 PM" />
-		<Station Name="Loader1.LSA.Setup150" Position="100000" />
-		<Station Name="Loader1.LSA.Lock150" Position="70000" ModifiedDate="3/2/2020 6:21:09 PM" />
-		<Station Name="Loader1.LSA.Unlock150" Position="230000" ModifiedDate="2/25/2020 2:54:29 PM" />
-		<Station Name="Loader1.LSA.Setup100" Position="100000" />
-		<Station Name="Loader1.LSA.Lock100" Position="65000" ModifiedDate="3/2/2020 6:21:09 PM" />
-		<Station Name="Loader1.LSA.Unlock100" Position="280000" ModifiedDate="2/25/2020 2:54:29 PM" />
+        <Station Name="Loader1.LSA.Setup200" Position="2.273" />
+        <Station Name="Loader1.LSA.Lock200" Position="1.705" ModifiedDate="3/2/2020 6:21:09 PM" />
+        <Station Name="Loader1.LSA.Unlock200" Position="4.570" ModifiedDate="2/25/2020 2:54:29 PM" />
+		<Station Name="Loader1.LSA.Setup150" Position="2.273" />
+		<Station Name="Loader1.LSA.Lock150" Position="1.591" ModifiedDate="3/2/2020 6:21:09 PM" />
+		<Station Name="Loader1.LSA.Unlock150" Position="5.227" ModifiedDate="2/25/2020 2:54:29 PM" />
+		<Station Name="Loader1.LSA.Setup100" Position="2.273" />
+		<Station Name="Loader1.LSA.Lock100" Position="1.477" ModifiedDate="3/2/2020 6:21:09 PM" />
+		<Station Name="Loader1.LSA.Unlock100" Position="4.364" ModifiedDate="2/25/2020 2:54:29 PM" />
       </Stations>
     </Axis>
     <Axis Name="Loader1.LSB">
-      <ToleranceDefault>100</ToleranceDefault>
+      <ToleranceDefault>0.01</ToleranceDefault>
 		<Stations>
-			<Station Name="Loader1.LSB.Setup200" Position="100000" />
-			<Station Name="Loader1.LSB.Lock200" Position="75000" ModifiedDate="3/2/2020 6:21:09 PM" />
-			<Station Name="Loader1.LSB.Unlock200" Position="201500" ModifiedDate="2/25/2020 2:54:29 PM" />
-			<Station Name="Loader1.LSB.Setup150" Position="100000" />
-			<Station Name="Loader1.LSB.Lock150" Position="70000" ModifiedDate="3/2/2020 6:21:09 PM" />
-			<Station Name="Loader1.LSB.Unlock150" Position="230000" ModifiedDate="2/25/2020 2:54:29 PM" />
-			<Station Name="Loader1.LSB.Setup100" Position="100000" />
-			<Station Name="Loader1.LSB.Lock100" Position="65000" ModifiedDate="3/2/2020 6:21:09 PM" />
-			<Station Name="Loader1.LSB.Unlock100" Position="280000" ModifiedDate="2/25/2020 2:54:29 PM" />
+			<Station Name="Loader1.LSB.Setup200" Position="2.273" />
+			<Station Name="Loader1.LSB.Lock200" Position="1.705" ModifiedDate="3/2/2020 6:21:09 PM" />
+			<Station Name="Loader1.LSB.Unlock200" Position="4.570" ModifiedDate="2/25/2020 2:54:29 PM" />
+			<Station Name="Loader1.LSB.Setup150" Position="2.273" />
+			<Station Name="Loader1.LSB.Lock150" Position="1.591" ModifiedDate="3/2/2020 6:21:09 PM" />
+			<Station Name="Loader1.LSB.Unlock150" Position="5.227" ModifiedDate="2/25/2020 2:54:29 PM" />
+			<Station Name="Loader1.LSB.Setup100" Position="2.273" />
+			<Station Name="Loader1.LSB.Lock100" Position="1.477" ModifiedDate="3/2/2020 6:21:09 PM" />
+			<Station Name="Loader1.LSB.Unlock100" Position="6.364" ModifiedDate="2/25/2020 2:54:29 PM" />
 		</Stations>
     </Axis>
     <Axis Name="Loader1.Rotation">
       <ToleranceDefault>0.1</ToleranceDefault>
 		<Stations>
-			<Station Name="Loader1.Rotation.TRNPA" Position="-1093" ModifiedDate="2024-08-27 09:45:08.838" />
-			<Station Name="Loader1.Rotation.TRNPB" Position="144312" ModifiedDate="2/26/2020 12:19:29 PM" />
-			<Station Name="Loader1.Rotation.LOADA200" Position="6656" ModifiedDate="2024-08-13 14:00:52.955" />
-			<Station Name="Loader1.Rotation.LOADB200" Position="151875" ModifiedDate="2024-08-13 14:22:11.332" />
-			<Station Name="Loader1.Rotation.LOADA150" Position="6656" ModifiedDate="2024-08-13 14:00:52.955" />
-			<Station Name="Loader1.Rotation.LOADB150" Position="151875" ModifiedDate="2024-08-13 14:22:11.332" />
-			<Station Name="Loader1.Rotation.LOADA100" Position="6656" ModifiedDate="2024-08-13 14:00:52.955" />
-			<Station Name="Loader1.Rotation.LOADB100" Position="151875" ModifiedDate="2024-08-13 14:22:11.332" />
+			<Station Name="Loader1.Rotation.TRNPA" Position="-1.35" ModifiedDate="2024-08-27 09:45:08.838" />
+			<Station Name="Loader1.Rotation.TRNPB" Position="178.16" ModifiedDate="2/26/2020 12:19:29 PM" />
+			<Station Name="Loader1.Rotation.LOADA200" Position="8.217" ModifiedDate="2024-08-13 14:00:52.955" />
+			<Station Name="Loader1.Rotation.LOADB200" Position="187.5" ModifiedDate="2024-08-13 14:22:11.332" />
+			<Station Name="Loader1.Rotation.LOADA150" Position="8.217" ModifiedDate="2024-08-13 14:00:52.955" />
+			<Station Name="Loader1.Rotation.LOADB150" Position="187.5" ModifiedDate="2024-08-13 14:22:11.332" />
+			<Station Name="Loader1.Rotation.LOADA100" Position="8.217" ModifiedDate="2024-08-13 14:00:52.955" />
+			<Station Name="Loader1.Rotation.LOADB100" Position="187.5" ModifiedDate="2024-08-13 14:22:11.332" />
 		</Stations>
     </Axis>
   </Module>

CyberX8_RT/Devices/AXIS/Galil/GalilProfilePositionRoutine.cs

@@ -71,7 +71,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         {
             if (_judgeTorqueLimit)
             {
-                return _axis.MotionData.StopCode==MOTION_STOP_CODE && !_axis.IsRun && _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+                return _axis.MotionData.StopCode==MOTION_STOP_CODE&& _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             }
             else
             {
@@ -103,7 +103,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         private bool CheckRunStop()
         {
             //没有运动
-            bool isStop = !_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+            bool isStop = _axis.MotionData.StopCode == MOTION_STOP_CODE&&!_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             if (isStop&&_judgeTorqueLimit)
             {
                 ErrorMsg = "position is stop";

CyberX8_RT/Devices/AXIS/GalilLipsel/GalilLipselProfilePositionRoutine.cs

@@ -71,7 +71,7 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
         {
             if (_judgeTorqueLimit)
             {
-                return _axis.MotionData.StopCode==MOTION_STOP_CODE && !_axis.IsRun && _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+                return _axis.MotionData.StopCode==MOTION_STOP_CODE && _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             }
             else
             {
@@ -103,7 +103,7 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
         private bool CheckRunStop()
         {
             //没有运动
-            bool isStop = !_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+            bool isStop = _axis.MotionData.StopCode == MOTION_STOP_CODE&&!_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             if (isStop&&_judgeTorqueLimit)
             {
                 ErrorMsg = "position is stop";

CyberX8_RT/Devices/AXIS/JetAxisBase.cs

@@ -903,7 +903,9 @@ namespace CyberX8_RT.Devices.AXIS
         {
             double scaledTargetPosition = targetPosition /_scaleFactor;
             double currentMotionPosition = MotionData.MotorPosition;
-            return Math.Round(Math.Abs(currentMotionPosition-scaledTargetPosition),2) <= _stationAxis.ToleranceDefault;
+            double delta = Math.Round(Math.Abs(currentMotionPosition - scaledTargetPosition), 2);
+            bool result = delta <= _stationAxis.ToleranceDefault;
+            return result;
         }
         /// <summary>
         /// 计算乘以比例后的数值
@@ -1056,7 +1058,7 @@ namespace CyberX8_RT.Devices.AXIS
                 if(result.success)
                 {
                     _targetPosition = result.position;
-                    int targetPosition = (int)Math.Round(result.position, 0);
+                    int targetPosition = (int)Math.Round(result.position*_scaleFactor, 0);
                     if (velocity != 0)
                     {
                         return ProfilePosition(targetPosition, velocity, acceleration, deceleration, judgeTorqueLimit);

CyberX8_RT/Devices/EFEM/SunWayRobot.cs

@@ -64,7 +64,15 @@ namespace CyberX8_RT.Devices.EFEM
                 }
                 else if (_busyTrig.M)
                 {
-                    int timeOut = 20000;
+                    int timeOut = 5000;
+                    if (
+                        _currentMessage.Operation == EfemOperation.Home ||
+                        _currentMessage.Operation == EfemOperation.Map ||
+                        _currentMessage.Operation == EfemOperation.Pick || 
+                        _currentMessage.Operation == EfemOperation.Place)
+                    {
+                        timeOut = 30000;
+                    }
                     if (_busyWatch.ElapsedMilliseconds > timeOut)
                     {
                         _busyWatch.Stop();
@@ -246,6 +254,18 @@ namespace CyberX8_RT.Devices.EFEM
 
         public override bool CheckWaferPresence()
         {
+            if (_status == RState.Running && _currentMessage != null)
+            {
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot check wafer");
+                return false;
+            }
+
+            //判断socket是否链接
+            if (!_socket.IsConnected)
+            {
+                LOG.WriteLog(eEvent.ERROR_EFEM_COMMUNICATION, Module.ToString(), $"Socket is not Conntected");
+                return false;
+            }
             if (!CheckEfemStatus())
                 return false;
 
@@ -324,7 +344,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot pick");
                 return false;
             }
             //判断socket是否链接
@@ -373,7 +393,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot place");
                 return false;
             }
             //判断socket是否链接
@@ -414,7 +434,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot goto");
                 return false;
             }
             if (!CheckEfemStatus())
@@ -451,7 +471,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot goto map");
                 return false;
             }
             //判断socket是否链接
@@ -483,7 +503,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot map");
                 return false;
             }
             //判断socket是否链接
@@ -515,7 +535,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot request map");
                 return false;
             }
             //判断socket是否链接
@@ -547,7 +567,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot vacuum");
                 return false;
             }
             //判断socket是否链接
@@ -596,7 +616,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot Align Angle");
                 return false;
             }
             if (!CheckEfemStatus())
@@ -621,7 +641,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot Speed");
                 return false;
             }
             //判断socket是否链接
@@ -643,7 +663,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot PowerOn");
                 return false;
             }
             //判断socket是否链接
@@ -669,7 +689,7 @@ namespace CyberX8_RT.Devices.EFEM
         {
             if (_status == RState.Running && _currentMessage != null)
             {
-                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot halt");
+                LOG.WriteLog(eEvent.ERR_EFEM_COMMON_FAILED, Module.ToString(), $"Current Msg {_currentMessage.Operation} is Running,cannot Align");
                 return false;
             }
             //判断socket是否链接

Framework/Common/Device/Wago/WagoModbusDevice.cs

@@ -346,7 +346,7 @@ namespace MECF.Framework.Common.Device.Wago
                     if (command.CommandCode == AI_READ_CMD)
                     {
                         WagoControllerCfgManager.Instance.UpdateWagoAIData(_name, datas);
-                        LOG.WriteBackgroundLog(eEvent.INFO_WAGO, "Wago", string.Join(" ", Array.ConvertAll(datas,O=>O.ToString("X2"))));
+                        //LOG.WriteBackgroundLog(eEvent.INFO_WAGO, "Wago", string.Join(" ", Array.ConvertAll(datas,O=>O.ToString("X2"))));
                     }
                     else
                     {