| | |
|---|
| | | boolean[] array2 = new boolean[1]; |
|---|
| | | array2[0] = command.isTraySize(); |
|---|
| | | OperateResult result = siemensNet.Write("DB100.0", array); |
|---|
| | | OperateResult result2 = siemensNet.Write("DB100.20", array2); |
|---|
| | | OperateResult result2 = siemensNet.Write("DB100.22", array2); |
|---|
| | | News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); |
|---|
| | | |
|---|
| | | if(!result.IsSuccess || !result2.IsSuccess){ |
|---|
| | |
|---|
| | | //堆垛机任务写入后，回读一次，看是否成功 |
|---|
| | | Thread.sleep(200); |
|---|
| | | try{ |
|---|
| | | OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20); |
|---|
| | | OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24); |
|---|
| | | if (resultRead.IsSuccess) { |
|---|
| | | CrnCommand one = new CrnCommand(); |
|---|
| | | one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); |
|---|
| | |
|---|
| | | one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); |
|---|
| | | one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); |
|---|
| | | one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); |
|---|
| | | one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 20)); |
|---|
| | | one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22)); |
|---|
| | | if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) |
|---|
| | | || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) |
|---|
| | | || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) |
|---|
