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[null,null,"交互","说明","流程"]
["入库","AGV","申请放料","AGV行至放料等待工位（接驳位外），申请放料(接驳台无货)，1为申请，接驳台收到申请后复位0",1]
[null,null,"放料完成","AGV收到允许放料后放货完成完成(已经将物料托举退出接驳位)，1为完成，接驳台收到放料完成信号后放料完成复位0",3]
[null,"接驳台","允许放料","接驳台收到申请放料后，下降到AGV对接取料的高度 ，1为允许放料(接驳台无货)",2]
[]
["出库","接驳台","申请取料","接驳台取到出库物料后，申请取料，任务信号需要提供，1为申请",1]
[null,null,"允许取料","下降到AGV对接取料的高度后，1为允许取料(如果故障或者其他异常不提供允许取料信号)，等待AGV到达取料点进行取料动作",3]
[null,"AGV","申请回应","上位收到出库口请求及任务号后回应接驳台，1为回应，接驳台收到申请回应信号后申请取料信号复位0(流程1)，同时接驳台下降到AGV对接取料的高度，上位收到申请取料复位后申请回应复位0",2]
[null,null,"取料完成","AGV在接驳台完成取料(已经将物料托举退出接驳位)，回应取料完成，１为完成，接驳台收到取料完成信号后取料完成复位0(并清除任务信号)",4]
["备注","接驳台需要提供有货无货状态，故障状态信号"]
[]
["DB4"]
["序号","说明",null,"偏移量","数据类型","数  据  定  义"]
[1,"有无货物",null,"0.0","Int","0/1 500-1000ms交替闪烁脉冲信号"]
[2,"预留",null,"2.0","Int","备用"]
[3,"状态",null,"4.0","Int","0：脱机中\n1：手动待机\n2：自动待机\n3：设备运行\n4：设备故障"]
[4,"命令",null,"6.0","Int","0：无命令\n1：非就绪（不执行下发命令）\n2：取货站台工位就绪（有料）\n3：放货站台工位就绪（无料）\n4：放货站台工位就绪（有料）\n5：扫码工位就绪（已扫码，等待上位机下发任务及命令）\n6：任务工位就绪（上位机通过任务号读取托盘信息并下发任务）\n7：申请料框\n8：料框到位\n9：执行命令中"]
[5,"任务号",null,"8.0","DInt","PLC上传任务号"]
[6,"托盘条码",null,"12.0","String[10]","PLC上传托盘条码（仅有扫码枪位置上传）"]
[7,"心跳",null,"24.0","Int"]
[8,"预留",null,"26.0","Int"]
[9,"状态",null,"28.0","Int"]
[10,"命令",null,"30.0","Int"]
[11,"任务号",null,"32.0","DInt"]
[12,"托盘条码",null,"36.0","String[10]"]

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["动作",null,"交互","说明","流程"]
["上料","AGV","申请放料","AGV行至放料等待工位（接驳位外），true为申请放料(接驳台无货false)，接驳台收到申请后复位false",1]
[null,null,"放料完成","AGV收到允许放料后放货完成完成(已经将物料托举退出接驳位)，true为完成(并提供印刷内部上料口地址，比如1号上料口写入1,2号上料口写入2,以便接驳台和RGV对接时可以让RGV运输到指定口)，接驳台收到放料完成信号后放料完成复位false，重置写入上料口地址0",3]
[null,"接驳台","允许放料","接驳台收到申请放料后，伸出到AGV对接放料的高度 ，true为允许放料(接驳台无货false)",2]
[]
["下料","接驳台","申请取料","接驳台取到出库物料后，true为申请取料，下料口号需要提供由RGV传输过来(比如1号下料口传输1,2号下料口传输2,以便接驳台和AGV对接时可以知道那个印刷机下的料)，",1]
[null,null,"允许取料","伸出AGV对接取料的高度后，true为允许取料(接驳台有货true，如果故障或者其他异常不提供允许取料信号)，等待AGV到达取料点进行取料动作",3]
[null,"AGV","申请回应","上位收到出库口请求及任务号后回应接驳台，true为回应，接驳台收到申请回应信号后申请取料信号复位false(流程1)，同时伸出到AGV对接取料的高度",2]
[null,null,"取料完成","AGV在接驳台完成取料(已经将物料托举退出接驳位)，true为取料完成，接驳台收到取料完成信号后取料完成复位false(并重置传输下料口地址0)",4]
["备注","接驳台需要提供有货无货状态，伸缩货叉故障时请不要提供允许放料或允许取料信号"]

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