#

lsh

2022-10-15 0b988a803090f020c2b5627e3b595641e8405afb

 src/main/java/com/zy/core/thread/SiemensCrnThread.java

@@ -38,6 +38,11 @@
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;

    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
    }
@@ -79,6 +84,9 @@
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    case 4:
                        siemensNet.Write("DB100.20", (short)task.getData());
                        break;
                    default:
                        break;
@@ -142,7 +150,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 70);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 50);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -174,6 +182,9 @@
                // 复位信号
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
@@ -242,7 +253,7 @@

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = siemensNet.Write("DB100.22", commandFinish);
            result = siemensNet.Write("DB100.18", commandFinish);
        }

        try {