version = 2021
[proc]
pid = 1041
type = 0
name = 固定料仓放料
start = 
pause = 
step_count = 5
[step]
sid = 24101
bDisable = 0
desc = 初始化
script:

script_end
node_count = 0
[step]
sid = 24102
bDisable = 0
desc = 料盘点位获取
script:

script_end
node_count = 0
[step]
sid = 24103
bDisable = 0
desc = 到料盘避让
script:
i = t + 13;
if(6 == t) i = 16

script_end
node_count = 18
[node]
nid = 3410351
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),"safe")
[node]
nid = 3410352
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3410353
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3410354
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3410361)
[node]
nid = 3410355
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3410356
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3410357
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3410358
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3410361)
[node]
nid = 3410359
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3410360
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3410361
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[node]
nid = 3410362
task = 1
type = 27
state = 0
desc = node12
cmd = tmp = rpos(51004)
[node]
nid = 3410363
task = 1
type = 6
state = 0
desc = node13
cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
[node]
nid = 3410364
task = 1
type = 2
state = 0
desc = node14
cmd = 50 30 30
[node]
nid = 3410365
task = 1
type = 7
state = 0
desc = node15
cmd = p2
[node]
nid = 3410366
task = 1
type = 6
state = 0
desc = node16
cmd = p2 = p(i) :x(x) :y(y)
[node]
nid = 3410367
task = 1
type = 7
state = 0
desc = node17
cmd = p2
[node]
nid = 3410368
task = 1
type = 2
state = 0
desc = node18
cmd = 100 100 100
[step]
sid = 24104
bDisable = 0
desc = 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
    e = "吸料真空1检测"
    f = "吸料真空1破"
    h = v1z
}
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"
}

script_end
node_count = 20
[node]
nid = 3410451
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+"-Put")
[node]
nid = 3410452
task = 1
type = 27
state = 0
desc = node2
cmd = x += c + cameraoffsetx
[node]
nid = 3410453
task = 1
type = 27
state = 0
desc = node3
cmd = y += d + cameraoffsety
[node]
nid = 3410454
task = 1
type = 27
state = 0
desc = node4
cmd = tmp = rpos(51004)
[node]
nid = 3410455
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
[node]
nid = 3410456
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3410457
task = 1
type = 14
state = 0
desc = node7
cmd = a=1
[node]
nid = 3410458
task = 1
type = 1
state = 0
desc = node8
cmd = 100
[node]
nid = 3410459
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p(i) :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3410460
task = 1
type = 2
state = 0
desc = node10
cmd = 50 30 30
[node]
nid = 3410461
task = 1
type = 7
state = 0
desc = node11
cmd = p2 +z(h)
[node]
nid = 3410462
task = 1
type = 14
state = 0
desc = node12
cmd = b=0
[node]
nid = 3410463
task = 1
type = 14
state = 0
desc = node13
cmd = f=1
[node]
nid = 3410464
task = 1
type = 1
state = 0
desc = node14
cmd = 300
[node]
nid = 3410465
task = 1
type = 7
state = 0
desc = node15
cmd = p2 +z(-10)
[node]
nid = 3410466
task = 1
type = 2
state = 0
desc = node16
cmd = 100 100 100
[node]
nid = 3410467
task = 1
type = 14
state = 0
desc = node17
cmd = a=0
[node]
nid = 3410468
task = 1
type = 14
state = 0
desc = node18
cmd = f=0
[node]
nid = 3410469
task = 1
type = 27
state = 0
desc = node19
cmd = t=3
[node]
nid = 3410470
task = 1
type = 22
state = 0
desc = node20
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
[step]
sid = 24105
bDisable = 0
desc = 真空检测
script:

script_end
node_count = 5
[node]
nid = 3410501
task = 1041
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3410502
task = 1041
type = 27
state = 0
desc = node2
cmd = if(1==v) vacuum1=0
[node]
nid = 3410503
task = 1041
type = 27
state = 0
desc = node3
cmd = if(2==v) vacuum2=0
[node]
nid = 3410504
task = 1041
type = 27
state = 0
desc = node4
cmd = if(3==v) vacuum3=0
[node]
nid = 3410505
task = 1041
type = 27
state = 0
desc = node5
cmd = if(4==v) vacuum4=0