#改造

cpT

2025-06-27 e36c42fa6e1d5c6ee8f1ac15b1be4a825a257807

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

@@ -95,6 +95,25 @@
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    // 复位
                    case 4:
                        CrnCommand command4 = (CrnCommand) task.getData();
                        if (null == command4) {
                            command4 = new CrnCommand();
                        }
                        command4.setCrnNo(slave.getId()); // 堆垛机编号
                        command4.setTaskNo((short) 9999); // 工作号
                        command4.setAckFinish((short) 0);  // 任务完成确认位
                        command4.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
                        command4.setSourcePosX((short)0);     // 源库位排
                        command4.setSourcePosY((short)0);     // 源库位列
                        command4.setSourcePosZ((short)0);     // 源库位层
                        int row = slave.getId() * 2;
                        command4.setDestinationPosX((short)row);     // 目标库位排
                        command4.setDestinationPosY((short)1);     // 目标库位列
                        command4.setDestinationPosZ((short)1);     // 目标库位层
                        write(command4);
                        break;
                    default:
                        break;
                }