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1.机械手写入用新的重载写入

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2.多压机请求叫料按压机顺序执行
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psh
2023-11-06 08:42:37 +08:00
parent 705218d4a3
commit bfb9838df1
2 changed files with 42 additions and 12 deletions
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32
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/hongfeng/hf_manipulator/HfGantryManipulatorDeviceDriver.java
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@@ -169,7 +169,9 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
hfStationDeviceDriver = (HfStationDeviceDriver) device.getDeviceDriver();
if (hfStationDeviceDriver.getMove() == 1) {
logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手取货时,开始反馈电气信号");
this.writing("to_command", "2");
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
this.writing(map);
} else {
logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手取货时,取货位不满足有货条件");
}
@@ -183,11 +185,13 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
Instruction instructionDto = instructionService.findByCodeFromCache(String.valueOf(task));
instructionService.cancel(instructionDto.getInstruction_id());
taskserver.cancel(instructionDto.getTask_id());
this.writing("to_onset", "0");
this.writing("to_target", "0");
this.writing("to_task", "0");
this.writing("to_barcode", "0");
this.writing("to_command", "4");
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_onset", "0");
map.put("to_target", "0");
map.put("to_task", "0");
map.put("to_barcode", "0");
map.put("to_command", "4");
this.writing(map);
}
//申请放货
@@ -201,7 +205,9 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
int move = hfStationDeviceDriver.getMove();
if (move == 0) {
logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手放货时,开始反馈电气信号");
this.writing("to_command", "3");
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
this.writing(map);
} else {
logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手放货时,放货位不满足无货条件");
}
@@ -236,11 +242,13 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
// }
// }
logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手任务完成,开始反馈电气信号");
this.writing("to_onset", "0");
this.writing("to_target", "0");
this.writing("to_task", "0");
this.writing("to_barcode", "0");
this.writing("to_command", "0");
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_onset", "0");
map.put("to_target", "0");
map.put("to_task", "0");
map.put("to_barcode", "0");
map.put("to_command", "0");
this.writing(map);
}
}
}