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gengby
2022-12-05 15:44:55 +08:00
parent 68623a8ace
commit c5a1ef2da4
1 changed files with 21 additions and 18 deletions
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39
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
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@@ -274,11 +274,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
} }
} }
; ;
this.writing("to_command1", "0"); this.writing("to_command1", "4");
this.writing("to_onset1", "0"); // this.writing("to_onset1", "0");
this.writing("to_target1", "0"); // this.writing("to_target1", "0");
this.writing("to_task1", "0"); // this.writing("to_task1", "0");
this.writing("to_type", "0"); // this.writing("to_type", "0");
} }
} }
} }
@@ -302,7 +302,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
} }
} }
; ;
this.writing("to_command2", "0"); this.writing("to_command2", "4");
this.writing("to_onset2", "0"); this.writing("to_onset2", "0");
this.writing("to_target2", "0"); this.writing("to_target2", "0");
this.writing("to_task2", "0"); this.writing("to_task2", "0");
@@ -311,7 +311,12 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
} }
} }
//双工位 任务完成 //双任务后工位反馈4
if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3 ){
this.writing("to_command2", "4");
}
//双工位 任务完成 前工位反馈4
if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3) { if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3) {
//inst_message //inst_message
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
@@ -328,17 +333,15 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
array.add(map); array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array); acsToWmsService.feedbackTaskStatusToWms(array);
} }
} };
; this.writing("to_command1", "4");
this.writing("to_command1", "0"); // this.writing("to_onset1", "0");
this.writing("to_onset1", "0"); // this.writing("to_target1", "0");
this.writing("to_target1", "0"); // this.writing("to_task1", "0");
this.writing("to_task1", "0"); // this.writing("to_onset2", "0");
this.writing("to_command2", "0"); // this.writing("to_target2", "0");
this.writing("to_onset2", "0"); // this.writing("to_task2", "0");
this.writing("to_target2", "0"); // this.writing("to_type", "0");
this.writing("to_task2", "0");
this.writing("to_type", "0");
} }
} }
} }