version = 2021
[proc]
pid = 1035
type = 0
name = 治具取放料测试
start = 
pause = 
step_count = 9
[step]
sid = 23501
bDisable = 0
desc = step1
script:

script_end
node_count = 2
[node]
nid = 3350101
task = 1035
type = 24
state = 0
desc = node1
cmd = 0 "治具取放料测试 "+str(t)+" 号治具"
[node]
nid = 3350102
task = 1035
type = 25
state = 0
desc = node2
cmd = "已经验证ok"
[step]
sid = 23502
bDisable = 0
desc = 治具选择
script:
if(t>6) {t = 6;}
if(t<1) {t = 1;}

script_end
node_count = 2
[node]
nid = 3350201
task = 1035
type = 27
state = 1
desc = 料盘
cmd = t = 1
[node]
nid = 3350202
task = 1035
type = 27
state = 0
desc = 吸嘴
cmd = v = 1
[step]
sid = 23503
bDisable = 0
desc = 治具取料
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 = 36
[node]
nid = 3350331
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Fixture - "+str(t),str(v)+" - Take")
[node]
nid = 3350332
task = 1
type = 27
state = 0
desc = node2
cmd = i = 5 + t - 1
[node]
nid = 3350333
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3350334
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp<0) jump(3350337)//在治具侧 跳转
[node]
nid = 3350335
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3350336
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3350337
task = 1
type = 27
state = 0
desc = node7
cmd = if (t<6) jump(3350340)//要到1-5号治具 跳转
[node]
nid = 3350338
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p0 :u(-332)
[node]
nid = 3350339
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3350340
task = 1
type = 27
state = 0
desc = node10
cmd = tmp = rpos(51004)//取料Z轴
[node]
nid = 3350341
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
[node]
nid = 3350342
task = 1
type = 7
state = 0
desc = node12
cmd = p2
[node]
nid = 3350343
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3350344
task = 1
type = 14
state = 0
desc = node14
cmd = b=1
[node]
nid = 3350345
task = 1
type = 1
state = 0
desc = node15
cmd = 50
[node]
nid = 3350346
task = 1
type = 2
state = 0
desc = node16
cmd = 50 30 30
[node]
nid = 3350347
task = 1
type = 7
state = 0
desc = node17
cmd = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3350348
task = 1
type = 14
state = 0
desc = node18
cmd = fixair = 0
[node]
nid = 3350349
task = 1
type = 1
state = 0
desc = node19
cmd = 300
[node]
nid = 3350350
task = 1
type = 15
state = 1
desc = node20
cmd = e=1 1000
[node]
nid = 3350351
task = 1
type = 7
state = 0
desc = node21
cmd = p2
[node]
nid = 3350352
task = 1
type = 2
state = 0
desc = node22
cmd = 100 100 100
[node]
nid = 3350353
task = 1
type = 14
state = 0
desc = node23
cmd = a=0
[node]
nid = 3350354
task = 1
type = 15
state = 1
desc = node24
cmd = e=1 1000
[node]
nid = 3350355
task = 1
type = 27
state = 0
desc = node25
cmd = if(1==rio(str(e))) jump(3350363)//-->end
[node]
nid = 3350356
task = 1
type = 27
state = 0
desc = node26
cmd = redLight = 1
[node]
nid = 3350357
task = 1
type = 27
state = 0
desc = node27
cmd = wlog("ERROR START",-12,"Vacuum fail","")
[node]
nid = 3350358
task = 1
type = 24
state = 0
desc = node28
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3350359
task = 1
type = 27
state = 0
desc = node29
cmd = redLight = 0
[node]
nid = 3350360
task = 1
type = 27
state = 0
desc = node30
cmd = h=h+0.01
[node]
nid = 3350361
task = 1
type = 27
state = 0
desc = node31
cmd = if (4==t1){ wlog("ERROR END",-12,"Vacuum Try Again","");jump(3350343);}//-->try
[node]
nid = 3350362
task = 1
type = 27
state = 0
desc = node32
cmd = wlog("ERROR END",-12,"Vacuum To Next","");
[node]
nid = 3350363
task = 1
type = 1
state = 0
desc = node33
cmd = 10
[node]
nid = 3350364
task = 1
type = 22
state = 1
desc = node34
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
[node]
nid = 3350365
task = 1
type = 6
state = 0
desc = node35
cmd = p2 = p0 :z(safez)
[node]
nid = 3350366
task = 1
type = 7
state = 0
desc = node36
cmd = p2
[step]
sid = 23504
bDisable = 0
desc = 延时
script:

script_end
node_count = 1
[node]
nid = 3350401
task = 1035
type = 1
state = 0
desc = node1
cmd = 3000
[step]
sid = 23505
bDisable = 0
desc = 治具选择
script:

script_end
node_count = 0
[step]
sid = 23506
bDisable = 0
desc = 治具放料
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 = 29
[node]
nid = 3350631
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Fixture - "+str(t),str(v)+" - Put")
[node]
nid = 3350632
task = 1
type = 27
state = 0
desc = node2
cmd = i = 5 + t - 1
[node]
nid = 3350633
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3350634
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp<0) jump(3350637)//在治具侧 跳转
[node]
nid = 3350635
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3350636
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3350637
task = 1
type = 27
state = 0
desc = node7
cmd = if (t<6) jump(3350640)//要到1-5号治具 跳转
[node]
nid = 3350638
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p0 :u(-332)
[node]
nid = 3350639
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3350640
task = 1
type = 27
state = 0
desc = node10
cmd = tmp = rpos(51004)//取料Z轴
[node]
nid = 3350641
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
[node]
nid = 3350642
task = 1
type = 7
state = 0
desc = node12
cmd = p2
[node]
nid = 3350643
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3350644
task = 1
type = 1
state = 0
desc = node14
cmd = 50
[node]
nid = 3350645
task = 1
type = 2
state = 0
desc = node15
cmd = 50 30 30
[node]
nid = 3350646
task = 1
type = 7
state = 0
desc = node16
cmd = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3350647
task = 1
type = 14
state = 0
desc = node17
cmd = b=0
[node]
nid = 3350648
task = 1
type = 14
state = 0
desc = node18
cmd = f=1
[node]
nid = 3350649
task = 1
type = 1
state = 0
desc = node19
cmd = 200
[node]
nid = 3350650
task = 1
type = 14
state = 0
desc = node20
cmd = fixair = 1
[node]
nid = 3350651
task = 1
type = 1
state = 0
desc = node21
cmd = 200
[node]
nid = 3350652
task = 1
type = 7
state = 0
desc = node22
cmd = p2
[node]
nid = 3350653
task = 1
type = 2
state = 0
desc = node23
cmd = 100 100 100
[node]
nid = 3350654
task = 1
type = 14
state = 0
desc = node24
cmd = a=0
[node]
nid = 3350655
task = 1
type = 14
state = 0
desc = node25
cmd = f=0
[node]
nid = 3350656
task = 1
type = 1
state = 0
desc = node26
cmd = 10
[node]
nid = 3350657
task = 1
type = 22
state = 1
desc = node27
cmd = 31 "vacm_to_test "+str(v)+" "+str(t)
[node]
nid = 3350658
task = 1
type = 6
state = 0
desc = node28
cmd = p2 = p0 :z(safez)
[node]
nid = 3350659
task = 1
type = 7
state = 0
desc = node29
cmd = p2
[step]
sid = 23507
bDisable = 0
desc = 延时
script:

script_end
node_count = 2
[node]
nid = 3350701
task = 1035
type = 1
state = 0
desc = node1
cmd = 3000
[node]
nid = 3350702
task = 1035
type = 27
state = 0
desc = node2
cmd = k++;
[step]
sid = 23508
bDisable = 0
desc = 循环
script:
if(k<30) jump(23502)
//if(k>30) {k=0;t++;jump(23501)}

script_end
node_count = 0
[step]
sid = 23509
bDisable = 0
desc = 治具循环
script:
k = 0;

script_end
node_count = 3
[node]
nid = 3350901
task = 1035
type = 27
state = 0
desc = node1
cmd = yellowLight = 1
[node]
nid = 3350902
task = 1035
type = 1
state = 0
desc = node2
cmd = 2000
[node]
nid = 3350903
task = 1035
type = 27
state = 0
desc = node3
cmd = yellowLight = 0