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<< 点击显示目录 >> 主页 ACOPOS 6D使用手册 > mapp 6D > 功能块 > McAcp6D > Function blocks > MC_BR_AsmReadInfo_Acp6D > Function description |
Assembly状态如下表
数值 |
说明 |
|
mcACP6D_DISABLED |
0（默认值） |
禁用装配和托盘 |
mcACP6D_HOMING |
1 |
启用正在进行的装配和归位程序。 |
mcACP6D_READY |
2 |
已启用装配；托盘可执行移动指令。 |
mcACP6D_STOPPING |
3 |
装配已禁用；移动被中止，托盘着陆。 |
mcACP6D_ERRORSTOP |
4 |
组件处于错误状态 |
mcACP6D_STARTUP |
5 |
程序集正在启动；配置正在传输。 |
mcACP6D_INVALID_CONFIGURATION |
6 |
装配体配置无效。 |
目前mapp6D各个版本（截止V1.10）,均存在6D上电后Assembly状态一直卡在mcACP6D_STARTUP无法启动的问题，此时必须冷重启或者断电重启。建议在STARTUP状态机，直接时延10S自动冷重启。例如如下代码段。
TON_Startup.IN := gAcp6DCtrl.Status.Assembly.Info.AssemblyState = mcACP6D_STARTUP
AND gAcp6DCtrl.Status.ActState = ACP6D_STATE_STARTUP;
IF TON_Startup.Q THEN
TON_Startup.IN := FALSE;
SYSreset(1,2);
END_IF
This function block reads current information about the specified assembly.
Assembly状态如下表
Value |
Description |
|
mcACP6D_DISABLED |
0 (default) |
Assembly and shuttles disabled |
mcACP6D_HOMING |
1 |
Enables the assembly, homing procedures are taking place. |
mcACP6D_READY |
2 |
The assembly is enabled; shuttles can execute movement commands. |
mcACP6D_STOPPING |
3 |
The assembly is disabled; movements are aborted, and shuttles are landed. |
mcACP6D_ERRORSTOP |
4 |
Assembly in error state |
mcACP6D_STARTUP |
5 |
Assembly is starting up; the configuration is being transferred. |
mcACP6D_INVALID_CONFIGURATION |
6 |
The assembly configuration is invalid. |
目前mapp6D各个版本（截止V1.10）,均存在6D上电后Assembly状态一直卡在mcACP6D_STARTUP无法启动的问题，此时必须冷重启或者断电重启。建议在STARTUP状态机，直接时延10S自动冷重启。例如如下代码段。
TON_Startup.IN := gAcp6DCtrl.Status.Assembly.Info.AssemblyState = mcACP6D_STARTUP
AND gAcp6DCtrl.Status.ActState = ACP6D_STATE_STARTUP;
IF TON_Startup.Q THEN
TON_Startup.IN := FALSE;
SYSreset(1,2);
END_IF