#

whycq

2023-05-14 ae666bdbf55b4d629f1d34a473c6b4c7b0805a0a

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

@@ -234,7 +234,8 @@
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
//        short[] array = new short[10];
        short[] array = new short[12];
        array[0] = command.getAckFinish(); // 任务完成确认位
        array[1] = command.getTaskNo();  // 任务号
        array[2] = command.getTaskMode();  // 模式
@@ -244,15 +245,16 @@
        array[6] = command.getDestinationPosX();  // 目标位置排号
        array[7] = command.getDestinationPosY(); // 目标位置列号
        array[8] = command.getDestinationPosZ(); // 目标位置层号
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        array[10] = command.getLocType1();   //新增货物类型下发
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            Thread.sleep(200L);
            result = siemensNet.Write("DB100.18", commandFinish);
            log.info("堆垛机commandFinish下发[id:{}] >>>>> {}", slave.getId(), commandFinish);
//            result = siemensNet.Write("DB100.22", commandFinish);
        }

        try {