From 0d41f9169a84eb0082585d55af5785d020628bca Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 27 三月 2025 18:04:24 +0800
Subject: [PATCH] 1.增加人工处理(移除、抱走)物料功能，以便和机器中的实物丰符合。 2.Port1 ~ Port4，type, mode, cassette type, transfer mode, enable mode, type auto change mode数据获取。 3.增加通用的读取cc-link int数据的CEqReadIntStep
---
SourceCode/Bond/Servo/CMaster.cpp | 224 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 224 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 145531f..ba4be00 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -378,6 +378,230 @@
}
}
+ // Port1
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d1f);
+ pStep->setName(STEP_EQ_PORT1_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x80);
+ if (pEquipment->addStep(0x3e0, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d20);
+ pStep->setName(STEP_EQ_PORT1_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x88);
+ if (pEquipment->addStep(0x3e8, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d21);
+ pStep->setName(STEP_EQ_PORT1_CASSETTE_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x90);
+ if (pEquipment->addStep(0x3f0, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d23);
+ pStep->setName(STEP_EQ_PORT1_TRANSFER_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x98);
+ if (pEquipment->addStep(0x3f8, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d24);
+ pStep->setName(STEP_EQ_PORT1_ENABLE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xa0);
+ if (pEquipment->addStep(0x400, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d25);
+ pStep->setName(STEP_EQ_PORT1_TYPE_ATUO);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xa8);
+ if (pEquipment->addStep(0x408, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ // Port2
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d2f);
+ pStep->setName(STEP_EQ_PORT2_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x81);
+ if (pEquipment->addStep(0x3e1, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d30);
+ pStep->setName(STEP_EQ_PORT2_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x89);
+ if (pEquipment->addStep(0x3e9, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d31);
+ pStep->setName(STEP_EQ_PORT2_CASSETTE_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x91);
+ if (pEquipment->addStep(0x3f1, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d33);
+ pStep->setName(STEP_EQ_PORT2_TRANSFER_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x99);
+ if (pEquipment->addStep(0x3f9, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d34);
+ pStep->setName(STEP_EQ_PORT2_ENABLE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xa1);
+ if (pEquipment->addStep(0x401, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d35);
+ pStep->setName(STEP_EQ_PORT2_TYPE_ATUO);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xa9);
+ if (pEquipment->addStep(0x409, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ // Port3
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d3f);
+ pStep->setName(STEP_EQ_PORT3_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x82);
+ if (pEquipment->addStep(0x3e2, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d40);
+ pStep->setName(STEP_EQ_PORT3_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x8a);
+ if (pEquipment->addStep(0x3ea, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d41);
+ pStep->setName(STEP_EQ_PORT3_CASSETTE_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x92);
+ if (pEquipment->addStep(0x3f2, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d43);
+ pStep->setName(STEP_EQ_PORT3_TRANSFER_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x9a);
+ if (pEquipment->addStep(0x3fa, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d44);
+ pStep->setName(STEP_EQ_PORT3_ENABLE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xa2);
+ if (pEquipment->addStep(0x402, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d45);
+ pStep->setName(STEP_EQ_PORT3_TYPE_ATUO);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xaa);
+ if (pEquipment->addStep(0x40a, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ // Port4
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d4f);
+ pStep->setName(STEP_EQ_PORT4_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x83);
+ if (pEquipment->addStep(0x3e3, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d50);
+ pStep->setName(STEP_EQ_PORT4_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x8b);
+ if (pEquipment->addStep(0x3eb, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d51);
+ pStep->setName(STEP_EQ_PORT4_CASSETTE_TYPE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x93);
+ if (pEquipment->addStep(0x3f3, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d53);
+ pStep->setName(STEP_EQ_PORT4_TRANSFER_MODE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0x9b);
+ if (pEquipment->addStep(0x3fb, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d54);
+ pStep->setName(STEP_EQ_PORT4_ENABLE);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xa3);
+ if (pEquipment->addStep(0x403, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d55);
+ pStep->setName(STEP_EQ_PORT4_TYPE_ATUO);
+ pStep->setListener(listener);
+ pStep->setWriteSignalDev(0xab);
+ if (pEquipment->addStep(0x40b, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
pEquipment->init();
LOGE("已添加“EFEM(ROBOT)”.");
return 0;
--
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