#

luxiaotao1123

2022-02-16 41d4e8a4cd7d54102498e4cd0cb41d1d7ae9c9d8

#

 src/main/java/com/zy/core/enums/CrnStatusType.java

@@ -14,6 +14,7 @@
    ORIGIN_BACK(8, "回反原点"),
    MOVING(9, "走行中"),
    WAITING(10, "任务完成等待WCS确认"),
    PAUSE(11, "任务暂停"),
    SOS(99, "报警"),
    ;


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

@@ -88,7 +88,7 @@
                        break;
                }
                // 心跳
                heartbeat();
//                heartbeat();
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
@@ -146,6 +146,9 @@
     */
    private void readStatus(){
        try {
            if (this.slave.getId() == 1) {
                System.out.println("===");
            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
            if (result.IsSuccess) {
                if (null == crnProtocol) {