#

zjj

2024-01-27 e22c2893d3df0494b5603f67b61bfc54e83129ea

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

@@ -91,13 +91,8 @@
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
//                        command.setTaskNo2((short) 0); // 工作号
//                        command.setAckFinish2((short) 1);  // 任务完成确认位
//                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
//                        command.setSourceStaNo2((short)0);     // 源站
//                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        write1(command);
                        break;
                    // 回原点  避让
                    case 9:
@@ -180,7 +175,7 @@
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
@@ -349,7 +344,7 @@

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
            Thread.sleep(100L);
            Thread.sleep(200);
            result = siemensNet.Write("DB100.10", commandFinish);
        }

@@ -371,7 +366,9 @@
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);