version = 2021
[proc]
pid = 1045
type = 0
name = 料仓放料动作
start = 
pause = 
step_count = 3
[step]
sid = 24502
bDisable = 0
desc = 到料仓避位
script:

script_end
node_count = 1
[node]
nid = 3450201
task = 1045
type = 18
state = 0
desc = node1
cmd = 1046
[step]
sid = 24503
bDisable = 0
desc = 放料
script:
//计算点位索引
i = 14 + t - 1
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 = 25
[node]
nid = 3450351
task = 1
type = 27
state = 0
desc = node1
cmd = x += c + cameraoffsetx
[node]
nid = 3450352
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = y += d + cameraoffsety
[node]
nid = 3450353
task = 1
type = 27
state = 0
desc = 1qqqq
cmd = tmp = rpos(51002)
[node]
nid = 3450354
task = 1
type = 27
state = 0
desc = 气缸下去
cmd = if (tmp>0) jump(3450359)
[node]
nid = 3450355
task = 1
type = 6
state = 0
desc = 打开真空
cmd = p2 = p0 :z(safez)
[node]
nid = 3450356
task = 1
type = 7
state = 0
desc = 到取料位上方
cmd = p2
[node]
nid = 3450357
task = 1
type = 6
state = 0
desc = 到取料位
cmd = p2 = p(i) :x(x) :y(y) :z(safez)
[node]
nid = 3450358
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3450359
task = 1
type = 27
state = 0
desc = 气缸上来
cmd = tmp = rpos(51004)
[node]
nid = 3450360
task = 1
type = 6
state = 0
desc = 回到上方
cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
[node]
nid = 3450361
task = 1
type = 7
state = 0
desc = 等待真空吸
cmd = p2
[node]
nid = 3450362
task = 1
type = 6
state = 1
desc = node6
cmd = p2 = p(i) :x(x) :y(y) +z(cameraoffsetz)
[node]
nid = 3450363
task = 1
type = 6
state = 0
desc = 直接定位高度
cmd = p2 = p(i) :x(x) :y(y) :z(zhOKPut)
[node]
nid = 3450364
task = 1
type = 2
state = 0
desc = node13
cmd = 80 30 30
[node]
nid = 3450365
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3450366
task = 1
type = 7
state = 0
desc = node15
cmd = p2 +z(h)
[node]
nid = 3450367
task = 1
type = 14
state = 0
desc = node16
cmd = b=0
[node]
nid = 3450368
task = 1
type = 14
state = 0
desc = node17
cmd = f=1
[node]
nid = 3450369
task = 1
type = 1
state = 0
desc = node18
cmd = 300
[node]
nid = 3450370
task = 1
type = 14
state = 0
desc = node19
cmd = a=0
[node]
nid = 3450371
task = 1
type = 7
state = 0
desc = node20
cmd = p2 +z(-10)
[node]
nid = 3450372
task = 1
type = 2
state = 0
desc = node22
cmd = 100 100 100
[node]
nid = 3450373
task = 1
type = 14
state = 0
desc = node21
cmd = f=0
[node]
nid = 3450374
task = 1
type = 22
state = 0
desc = node22
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
[node]
nid = 3450375
task = 1
type = 27
state = 0
desc = node25
cmd = OKall++
[step]
sid = 24504
bDisable = 0
desc = 真空检测
script:

script_end
node_count = 5
[node]
nid = 3450401
task = 1045
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3450402
task = 1045
type = 27
state = 0
desc = node2
cmd = if(1==v) vacuum1=0
[node]
nid = 3450403
task = 1045
type = 27
state = 0
desc = node3
cmd = if(2==v) vacuum2=0
[node]
nid = 3450404
task = 1045
type = 27
state = 0
desc = node4
cmd = if(3==v) vacuum3=0
[node]
nid = 3450405
task = 1045
type = 27
state = 0
desc = node5
cmd = if(4==v) vacuum4=0