version = 2021
[proc]
pid = 1012
type = 0
name = 治具取料
start = 
pause = 
step_count = 2
[step]
sid = 21201
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 = 44
[node]
nid = 3120131
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Test cell-"+str(t),str(v)+"-Take")
[node]
nid = 3120168
task = 1
type = 27
state = 1
desc = node2
cmd = c += offsetx
[node]
nid = 3120170
task = 1
type = 27
state = 1
desc = node3
cmd = d += offsety
[node]
nid = 3120132
task = 1
type = 27
state = 1
desc = node2
cmd = i = 5 + t - 1
[node]
nid = 3120171
task = 1
type = 27
state = 0
desc = node2
cmd = i = 50 + t - 1
[node]
nid = 3120133
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3120134
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp<0) jump(3120137)//在治具侧 跳转
[node]
nid = 3120135
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3120136
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3120137
task = 1
type = 27
state = 0
desc = node7
cmd = if (t<6) jump(3120140)//要到1-5号治具 跳转
[node]
nid = 3120138
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p0 :u(-373)
[node]
nid = 3120139
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3120140
task = 1
type = 27
state = 0
desc = node10
cmd = tmp = rpos(51004)//取料Z轴
[node]
nid = 3120141
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
[node]
nid = 3120142
task = 1
type = 7
state = 0
desc = node12
cmd = p2
[node]
nid = 3120143
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3120144
task = 1
type = 14
state = 1
desc = node14
cmd = b=1
[node]
nid = 3120167
task = 1
type = 14
state = 1
desc = node18
cmd = fixair = 0
[node]
nid = 3120145
task = 1
type = 1
state = 0
desc = node15
cmd = 50
[node]
nid = 3120146
task = 1
type = 2
state = 0
desc = node16
cmd = 80 30 30
[node]
nid = 3120147
task = 1
type = 7
state = 0
desc = node17
cmd = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3120148
task = 1
type = 14
state = 0
desc = node18
cmd = fixair = 0
[node]
nid = 3120169
task = 1
type = 14
state = 0
desc = node14
cmd = b=1
[node]
nid = 3120149
task = 1
type = 1
state = 0
desc = node19
cmd = 500
[node]
nid = 3120150
task = 1
type = 15
state = 1
desc = node20
cmd = e=1 1000
[node]
nid = 3120176
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p0 :z(55)
[node]
nid = 3120177
task = 1
type = 24
state = 1
desc = node27
cmd = 0 "tiao shi"
[node]
nid = 3120151
task = 1
type = 7
state = 0
desc = node21
cmd = p2
[node]
nid = 3120152
task = 1
type = 2
state = 0
desc = node22
cmd = 100 100 100
[node]
nid = 3120153
task = 1
type = 14
state = 1
desc = node23
cmd = a=0
[node]
nid = 3120154
task = 1
type = 27
state = 1
desc = 不检测真空吸就打开
cmd = jump(3120163)//不检测真空吸就打开
[node]
nid = 3120155
task = 1
type = 27
state = 0
desc = node25
cmd = if(1==rio(str(e))) jump(3120163)//-->end
[node]
nid = 3120156
task = 1
type = 27
state = 0
desc = node26
cmd = redLight = 1
[node]
nid = 3120157
task = 1
type = 27
state = 0
desc = node27
cmd = wlog("ERROR START",-12,"Vacuum fail","")
[node]
nid = 3120158
task = 1
type = 24
state = 0
desc = node28
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3120159
task = 1
type = 27
state = 0
desc = node29
cmd = redLight = 0
[node]
nid = 3120160
task = 1
type = 27
state = 0
desc = node30
cmd = h=h+0.01
[node]
nid = 3120161
task = 1
type = 27
state = 0
desc = node31
cmd = if (4==t1){ wlog("ERROR END",-12,"Vacuum Try Again","");jump(3120143);}//-->try
[node]
nid = 3120162
task = 1
type = 27
state = 0
desc = node32
cmd = wlog("ERROR END",-12,"Vacuum To Next","");
[node]
nid = 3120163
task = 1
type = 1
state = 0
desc = node33
cmd = 10
[node]
nid = 3120189
task = 1
type = 14
state = 0
desc = node23
cmd = a=0
[node]
nid = 3120164
task = 1
type = 22
state = 0
desc = node34
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
[node]
nid = 3120165
task = 1
type = 6
state = 1
desc = node35
cmd = p2 = p0 :z(safez)
[node]
nid = 3120166
task = 1
type = 7
state = 1
desc = node36
cmd = p2
[step]
sid = 21202
bDisable = 0
desc = log记录
script:

script_end
node_count = 7
[node]
nid = 3120201
task = 1012
type = 0
state = 1
desc = aa
cmd = 
[node]
nid = 3120202
task = 1012
type = 1
state = 0
desc = node2
cmd = 0
[node]
nid = 3120203
task = 1012
type = 27
state = 0
desc = node3
cmd = vlog("Test cell-"+str(t),str(v)+"-Take end")
[node]
nid = 3120204
task = 1012
type = 27
state = 0
desc = node4
cmd = if(1==v) vacuum1=1
[node]
nid = 3120205
task = 1012
type = 27
state = 0
desc = node5
cmd = if(2==v) vacuum2=1
[node]
nid = 3120206
task = 1012
type = 27
state = 0
desc = node6
cmd = if(3==v) vacuum3=1
[node]
nid = 3120207
task = 1012
type = 27
state = 0
desc = node7
cmd = if(4==v) vacuum4=1