| | |
|---|
| | | else if (nCmd == ID_EQSGRAPHITEM_TEST4) { |
|---|
| | | SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData; |
|---|
| | | |
|---|
| | | /* 测试 RobotCMD */ |
|---|
| | | if (pEquipment->getID() == EQ_ID_EFEM) { |
|---|
| | | SERVO::CEFEM* pEFEM = (SERVO::CEFEM*)pEquipment; |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | SERVO::ROBOT_CMD_PARAM cmds[4]; |
|---|
| | | cmds[0].sequenceNo = 1; |
|---|
| | | cmds[0].rcmd = (short)SERVO::RCMD::Move; |
|---|
| | | cmds[0].armNo = 1; |
|---|
| | | cmds[0].getPosition = 1; |
|---|
| | | cmds[0].putPosition = 2; |
|---|
| | | cmds[0].getSlotNo = 3; |
|---|
| | | cmds[0].putSlotNo = 4; |
|---|
| | | cmds[0].subCmd = 5; |
|---|
| | | cmds[1].sequenceNo = 2; |
|---|
| | | cmds[1].rcmd = (short)SERVO::RCMD::Transfer; |
|---|
| | | cmds[1].armNo = 2; |
|---|
| | | cmds[1].getPosition = 6; |
|---|
| | | cmds[1].putPosition = 7; |
|---|
| | | cmds[1].getSlotNo = 8; |
|---|
| | | cmds[1].putSlotNo = 9; |
|---|
| | | cmds[1].subCmd = 10; |
|---|
| | | pEFEM->robotCmds(cmds, 2); |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | // 测试下发Cim Message |
|---|
| | | /* |
|---|
| | | if (pEquipment->getID() == EQ_ID_Bonder1 |
|---|
