version = 2021
[proc]
pid = 1011
type = 0
name = 放料到治具
start = 
pause = 
step_count = 2
[step]
sid = 21101
bDisable = 0
desc = step1
script:
if (v==1)
{//1号吸嘴
    a = "吸料上下气缸1"
    b = "吸料真空1吸"
    c = v1x
    d = v1y
    h = v1z
    e = "吸料真空1检测"
    f = "吸料真空1破" 
}
else if (v==2)
{//2号吸嘴
    a = "吸料上下气缸2"
    b = "吸料真空2吸"
    c = v2x
    d = v2y
    h = v2z
    e = "吸料真空2检测"
    f = "吸料真空2破"
}
else if (v==3)
{//3号吸嘴
    a = "吸料上下气缸3"
    b = "吸料真空3吸"
    c = v3x
    d = v3y
    h = v3z
    e = "吸料真空3检测"
    f = "吸料真空3破"
}
else if (v==4)
{//3号吸嘴
    a = "吸料上下气缸4"
    b = "吸料真空4吸"
    c = v4x
    d = v4y
    h = v4z
    e = "吸料真空4检测"
    f = "吸料真空4破"
}
if (t==1)
{//1号夹具
    fixair = "治具气缸1"
}
else if (t==2)
{//2号夹具
    fixair = "治具气缸2"
}
else if (t==3)
{//3号夹具
    fixair = "治具气缸3"
}
else if (t==4)
{//4号夹具
    fixair = "治具气缸4"
}
else if (t==5)
{//5号夹具
    fixair = "治具气缸5"
}
else if (t==6)
{//6号夹具
    fixair = "治具气缸6"
}

script_end
node_count = 41
[node]
nid = 3110131
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Test cell-"+str(t),str(v)+"-Put")
[node]
nid = 3110161
task = 1
type = 27
state = 0
desc = node2
cmd = c += offsetx
[node]
nid = 3110162
task = 1
type = 27
state = 0
desc = node3
cmd = d += offsety
[node]
nid = 3110132
task = 1
type = 27
state = 0
desc = node2
cmd = i = 5 + t - 1
[node]
nid = 3110133
task = 1
type = 27
state = 1
desc = node3
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3110134
task = 1
type = 27
state = 1
desc = node4
cmd = if (tmp<0) jump(3110137)//在治具侧 跳转
[node]
nid = 3110135
task = 1
type = 6
state = 1
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3110136
task = 1
type = 7
state = 1
desc = node6
cmd = p2
[node]
nid = 3110137
task = 1
type = 27
state = 1
desc = node7
cmd = if (t<6) jump(3110140)//要到1-5号治具 跳转
[node]
nid = 3110138
task = 1
type = 6
state = 1
desc = node8
cmd = p2 = p0 :u(-373)
[node]
nid = 3110139
task = 1
type = 7
state = 1
desc = node9
cmd = p2
[node]
nid = 3110140
task = 1
type = 27
state = 1
desc = node10
cmd = tmp = rpos(51004)//取料Z轴
[node]
nid = 3110141
task = 1
type = 6
state = 1
desc = node11
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
[node]
nid = 3110142
task = 1
type = 7
state = 1
desc = node12
cmd = p2
[node]
nid = 3110143
task = 1
type = 14
state = 1
desc = node13
cmd = a=1
[node]
nid = 3110144
task = 1
type = 1
state = 0
desc = node14
cmd = 50
[node]
nid = 3110145
task = 1
type = 2
state = 1
desc = node15
cmd = 50 30 30
[node]
nid = 3110146
task = 1
type = 7
state = 1
desc = node16
cmd = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3110167
task = 1
type = 6
state = 1
desc = node16
cmd = p2 = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3110168
task = 1
type = 7
state = 1
desc = node18
cmd = p2 +z(-0.5)
[node]
nid = 3110147
task = 1
type = 14
state = 1
desc = node17
cmd = b=0
[node]
nid = 3110148
task = 1
type = 14
state = 1
desc = node18
cmd = f=1
[node]
nid = 3110149
task = 1
type = 1
state = 1
desc = node19
cmd = 500
[node]
nid = 3110174
task = 1
type = 7
state = 1
desc = node18
cmd = p2
[node]
nid = 3110150
task = 1
type = 14
state = 1
desc = node20
cmd = fixair = 1
[node]
nid = 3110151
task = 1
type = 1
state = 1
desc = node21
cmd = 500
[node]
nid = 3110177
task = 1
type = 7
state = 1
desc = node18
cmd = p2 +z(-3)
[node]
nid = 3110178
task = 1
type = 1
state = 1
desc = node21
cmd = 500
[node]
nid = 3110179
task = 1
type = 7
state = 1
desc = node18
cmd = p2
[node]
nid = 3110180
task = 1
type = 1
state = 0
desc = node21
cmd = 600
[node]
nid = 3110181
task = 1
type = 0
state = 0
desc = 记录XYZ坐标
cmd = 
[node]
nid = 3110182
task = 1
type = 1
state = 0
desc = 应用层跳出
cmd = 1
[node]
nid = 3110152
task = 1
type = 7
state = 1
desc = node22
cmd = p2 +z(-10)
[node]
nid = 3110153
task = 1
type = 2
state = 1
desc = node23
cmd = 100 100 100
[node]
nid = 3110154
task = 1
type = 14
state = 1
desc = node24
cmd = a=0
[node]
nid = 3110155
task = 1
type = 14
state = 1
desc = node25
cmd = f=0
[node]
nid = 3110156
task = 1
type = 1
state = 0
desc = node26
cmd = 10
[node]
nid = 3110157
task = 1
type = 22
state = 1
desc = node27
cmd = 31 "vacm_to_test "+str(v)+" "+str(t)
[node]
nid = 3110158
task = 1
type = 6
state = 1
desc = node28
cmd = p2 = p0 :z(safez)
[node]
nid = 3110159
task = 1
type = 7
state = 1
desc = node29
cmd = p2
[node]
nid = 3110160
task = 1
type = 22
state = 0
desc = node27
cmd = 31 "vacm_to_test "+str(v)+" "+str(t)
[step]
sid = 21102
bDisable = 0
desc = log记录
script:

script_end
node_count = 3
[node]
nid = 3110201
task = 1011
type = 0
state = 0
desc = 区11
cmd = 
[node]
nid = 3110202
task = 1011
type = 1
state = 0
desc = node2
cmd = 0
[node]
nid = 3110203
task = 1011
type = 27
state = 0
desc = node3
cmd = vlog("Test cell-"+str(t),str(v)+"-Put end")