#

zjj

2024-11-02 1871ef0af4c9cef169dce42e77358ad94d90cd36

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

@@ -66,7 +66,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write2((CrnCommand) task.getData());
                        write((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -84,7 +84,7 @@
                        command.setDestinationPosX((short)0);     // 目标库位排
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write2(command);
                        write(command);
                        break;
                    default:
                        break;
@@ -249,6 +249,22 @@
            }
        }while (writeAck <5);

        int writeComm = 0;
        do {
            OperateResult resultComm = siemensNet.Write("DB100.18", (short) 0);
            if (resultComm.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                short comm = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (comm != 0) {
                    writeAck++;
                }else {
                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "comm复位完成");
                    break;
                }
            }
        }while (writeComm <5);


        command.setCrnNo(slave.getId());
//        short[] array = new short[10];