version = 2021 [proc] pid = 1014 type = 0 name = 料仓取料拍照 start = pause = step_count = 7 [step] sid = 21401 bDisable = 0 desc = 初始化 script: count = 0 ntake = 1 script_end node_count = 0 [step] sid = 21402 bDisable = 0 desc = 获取工作盘位置 script: script_end node_count = 3 [node] nid = 3140201 task = 1014 type = 1 state = 0 desc = node1 cmd = 0 [node] nid = 3140202 task = 1014 type = 19 state = 0 desc = node2 cmd = 1007 [node] nid = 3140203 task = 1014 type = 10 state = 0 desc = node3 cmd = 1 x1 y1 [step] sid = 21406 bDisable = 0 desc = 到料仓避位 script: if (t1014==0) {//两个都为0，那必须换盘 if (count==0) { pstart(1007); jump(21401) } else jump(21405) //结束 } script_end node_count = 11 [node] nid = 3140631 task = 1 type = 27 state = 0 desc = node1 cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point") [node] nid = 3140632 task = 1 type = 24 state = 1 desc = node2 cmd = 0 "调试 准备料盘点位运动" [node] nid = 3140633 task = 1 type = 27 state = 0 desc = node3 cmd = tmp = rpos(51002) [node] nid = 3140634 task = 1 type = 27 state = 0 desc = node4 cmd = if (tmp>0) jump(3140641) [node] nid = 3140635 task = 1 type = 6 state = 0 desc = node5 cmd = p2 = p0 :z(safez) [node] nid = 3140636 task = 1 type = 7 state = 0 desc = node6 cmd = p2 [node] nid = 3140637 task = 1 type = 27 state = 0 desc = node7 cmd = tmp = rpos(51001) [node] nid = 3140638 task = 1 type = 27 state = 0 desc = node8 cmd = if (tmp<872) jump(3140641) [node] nid = 3140639 task = 1 type = 6 state = 0 desc = node9 cmd = p2 = p0 :x(872) :z(safez) [node] nid = 3140640 task = 1 type = 7 state = 0 desc = node10 cmd = p2 [node] nid = 3140641 task = 1 type = 1 state = 0 desc = node11 cmd = 1 [step] sid = 21403 bDisable = 0 desc = 到拍照位 script: script_end node_count = 15 [node] nid = 3140321 task = 1 type = 27 state = 0 desc = 只移动xy cmd = tmp = rpos(51002) [node] nid = 3140322 task = 1 type = 27 state = 0 desc = 判断料盘是否结束 cmd = if (tmp>0) jump(3140342) [node] nid = 3140323 task = 1 type = 6 state = 0 desc = 只移动Z cmd = p2 = p0 :z(safez) [node] nid = 3140324 task = 1 type = 7 state = 0 desc = 抬起Z轴 cmd = p2 [node] nid = 3140325 task = 1 type = 6 state = 0 desc = node3 cmd = p2 = p14 :x(x1) :y(y1) :z(safez) [node] nid = 3140326 task = 1 type = 7 state = 0 desc = 到拍照位上方 cmd = p2 [node] nid = 3140342 task = 1 type = 27 state = 0 desc = 获取Z轴当前高度 cmd = tmp = rpos(51004) [node] nid = 3140343 task = 1 type = 6 state = 0 desc = node8 cmd = p2 = p14 :x(x1) :y(y1) :z(tmp) [node] nid = 3140346 task = 1 type = 2 state = 1 desc = node9 cmd = 50 30 30 [node] nid = 3140344 task = 1 type = 7 state = 0 desc = node9 cmd = p2 [node] nid = 3140327 task = 1 type = 6 state = 0 desc = node7 cmd = p2 = p14 :x(x1) :y(y1) [node] nid = 3140345 task = 1 type = 2 state = 0 desc = node12 cmd = 50 30 30 [node] nid = 3140328 task = 1 type = 7 state = 0 desc = 到拍照位 cmd = p2 [node] nid = 3140347 task = 1 type = 2 state = 0 desc = node14 cmd = 100 100 100 [node] nid = 3140329 task = 1 type = 1 state = 0 desc = node8 cmd = 100 [step] sid = 21408 bDisable = 0 desc = 拍照 script: script_end node_count = 28 [node] nid = 3140801 task = 1014 type = 22 state = 0 desc = node1 cmd = 31 "posreset 1" [node] nid = 3140802 task = 1014 type = 22 state = 0 desc = node2 cmd = 31 "M1" [node] nid = 3140803 task = 1014 type = 27 state = 0 desc = node3 cmd = k=0 [node] nid = 3140804 task = 1014 type = 23 state = 0 desc = node4 cmd = 31 "WaitM1" 5000 ret sn offsetx offsety [node] nid = 3140805 task = 1014 type = 27 state = 0 desc = 判断拍照失败 cmd = k++ [node] nid = 3140825 task = 1014 type = 27 state = 0 desc = node6 cmd = if(ret == 0) jump(3140810) [node] nid = 3140823 task = 1014 type = 27 state = 0 desc = 确认是否重拍 cmd = redLight = 1 [node] nid = 3140826 task = 1014 type = 24 state = 0 desc = node8 cmd = 0 "取料拍照失败，物料定位失败！" [node] nid = 3140824 task = 1014 type = 27 state = 0 desc = node7 cmd = redLight = 0 [node] nid = 3140806 task = 1014 type = 27 state = 1 desc = 确认是否重拍 cmd = jump(3140822) [node] nid = 3140807 task = 1014 type = 24 state = 0 desc = 确定重拍 cmd = 1 "camera fail are you tay again?" [node] nid = 3140808 task = 1014 type = 27 state = 0 desc = 跳过此次拍照 cmd = if(4==t1014) jump(3140801) [node] nid = 3140809 task = 1014 type = 27 state = 0 desc = node9 cmd = wlog("ERROR START", -1, "Get marital camera fail", "");jump(3140822) [node] nid = 3140810 task = 1014 type = 27 state = 0 desc = node10 cmd = x=x1+offsetx;y=y1+offsety [node] nid = 3140828 task = 1014 type = 27 state = 0 desc = 不用检测SN cmd = if("NG"==str(sn)) {sn=debug;debug++;} [node] nid = 3140811 task = 1014 type = 27 state = 0 desc = node11 cmd = if("NG"!=str(sn)) jump(3140819)//ok [node] nid = 3140812 task = 1014 type = 27 state = 0 desc = node12 cmd = redLight = 1 [node] nid = 3140813 task = 1014 type = 24 state = 0 desc = node13 cmd = 0 "SN fail..." [node] nid = 3140814 task = 1014 type = 27 state = 0 desc = 取NG料 cmd = redLight = 0 [node] nid = 3140815 task = 1014 type = 18 state = 0 desc = 继续接收 cmd = 1044 [node] nid = 3140816 task = 1014 type = 27 state = 0 desc = 抛NG料 cmd = t = 5 [node] nid = 3140817 task = 1014 type = 18 state = 0 desc = 判断循环 cmd = 1010 [node] nid = 3140818 task = 1014 type = 26 state = 0 desc = node18 cmd = 3140822 [node] nid = 3140819 task = 1014 type = 27 state = 0 desc = node19 cmd = count++ [node] nid = 3140820 task = 1014 type = 27 state = 1 desc = node20 cmd = sn=debug;debug++ [node] nid = 3140821 task = 1014 type = 22 state = 0 desc = node21 cmd = 31 "posset 1 "+ str(k)+" " +str(sn)+" "+str(x)+" "+str(y) [node] nid = 3140822 task = 1014 type = 27 state = 0 desc = node22 cmd = if(k