From 0ec075ed33382a0fd69b680c42ab6ed537b1eca7 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 19 五月 2025 15:18:30 +0800
Subject: [PATCH] 1.实现RobotCmd的下发，待测；
---
SourceCode/Bond/Servo/CPageGraph2.cpp | 29 +++++++++++++++++++++++++++++
1 files changed, 29 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph2.cpp b/SourceCode/Bond/Servo/CPageGraph2.cpp
index 68cbbe8..83e917f 100644
--- a/SourceCode/Bond/Servo/CPageGraph2.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph2.cpp
@@ -247,6 +247,35 @@
else if (nCmd == ID_EQSGRAPHITEM_TEST4) {
SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
+ /* 娴嬭瘯 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);
+ }
+
+
+
+
// 娴嬭瘯涓嬪彂Cim Message
/*
if (pEquipment->getID() == EQ_ID_Bonder1
--
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