堆垛机自动回原点做成系统配置

pang.jiabao

2026-01-28 2bd2c83cebc29314c961632bfbbb771d0cc94936

 src/main/java/com/zy/core/MainProcess.java

@@ -1,13 +1,15 @@
package com.zy.core;

import com.zy.service.impl.MainServiceImpl;
import com.zy.core.properties.SystemProperties;
import com.zy.service.impl.MainServiceImpl;
import com.zy.utils.News;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
import java.util.Date;

/**
 * WCS主流程
@@ -34,6 +36,7 @@
            // 初始化罐装线出库口是否可出
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    long startTime = System.currentTimeMillis();
                    Thread.sleep(1000);

                    // 系统运行状态判断
@@ -54,22 +57,18 @@

                    // 1090异常口重新入库分配库位
                    mainService.abnormalMouthWarehousing();
                    Thread.sleep(1000);

                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateStoreWrkFile(1); // 组托

                    Thread.sleep(1000);

                    // 生成 空子/母托盘出库任务
                    mainService.generateEmptyPalletStoreWrk();

                    // 入库 ===>> 母托盘叠满入库
                    mainService.autoEmptyIn();
                    Thread.sleep(1000);

                    // 子托盘底下母托盘回叠盘机
//                    mainService.motherTrayReflow();
                    mainService.motherTrayReflow();

                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn(4);
@@ -85,10 +84,15 @@

                    // 空桶罐装完成到达罐装线出口 完成直供罐装线任务和空桶出库任务，创建成品桶入库任务
                    mainService.canningLineTaskFinish();
                    Thread.sleep(1000);

                    // 读要桶信号，自动出空桶
                    mainService.autoOutEmptyBucket();

                    // 堆垛机异常信息记录
                    mainService.recCrnErr(7);

                    // 输送线异常信息记录
                    mainService.recDevpErr();

                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute(9);
@@ -98,6 +102,15 @@

                    mainService.outOfDevp(11);

                    // 堆垛机回原点
                    mainService.originGo();

                    //手动站位转移
                    mainService.manualStationTransfer();
                    long endTime = System.currentTimeMillis();
                    if (endTime-startTime > 4000) {
                        News.info("--------------------WCS循环{}->{}，耗时：{}------------------------",new Date(startTime),new Date(endTime),endTime-startTime);
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                }