version = 2021
[proc]
pid = 1014
type = 0
name = 料仓取料拍照
start = 
pause = 
step_count = 6
[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 y x
[step]
sid = 21406
bDisable = 0
desc = 到料仓避位
script:

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 = 拍照
script:
if (t1014==0)
{//两个都为0，那必须换盘
    work_set_next(1,1)
    if (count==0)
    {
        //pstart(1007);
        //重置料盘
        //work_set_next(1,1)
        jump(21401)
    }
    else jump(21405) //结束
}
else count++

script_end
node_count = 34
[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(x) :y(y) :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(x) :y(y) :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(x) :y(y)
[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
[node]
nid = 3140330
task = 1
type = 22
state = 0
desc = qq111
cmd = 31 "M1"
[node]
nid = 3140331
task = 1
type = 27
state = 0
desc = node23
cmd = tmp=0
[node]
nid = 3140332
task = 1
type = 23
state = 0
desc = node6
cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
[node]
nid = 3140333
task = 1
type = 27
state = 0
desc = node7
cmd = tmp++
[node]
nid = 3140334
task = 1
type = 27
state = 0
desc = node14
cmd = if(ret == 0) jump(3140336)
[node]
nid = 3140352
task = 1
type = 24
state = 0
desc = node21
cmd = 1 "camera fail are you tay again?"
[node]
nid = 3140353
task = 1
type = 27
state = 0
desc = node22
cmd = if(4==t1) jump(3140330)
[node]
nid = 3140335
task = 1
type = 27
state = 0
desc = node15
cmd = wlog("ERROR START", -1, "Get marital camera fail", "");jump(3140340)
[node]
nid = 3140336
task = 1
type = 27
state = 0
desc = node16
cmd = x1=x;y1=y;
[node]
nid = 3140337
task = 1
type = 27
state = 1
desc = node17
cmd = if("NG"!=str(sn)) jump(3140338)//-->next
[node]
nid = 3140348
task = 1
type = 27
state = 1
desc = node17
cmd = redLight = 1
[node]
nid = 3140349
task = 1
type = 24
state = 1
desc = node17
cmd = 1 "SN fail Are you Try again?"
[node]
nid = 3140350
task = 1
type = 27
state = 1
desc = node17
cmd = redLight = 0
[node]
nid = 3140379
task = 1
type = 27
state = 1
desc = node29
cmd = if (4==t1) jump(3140330)
[node]
nid = 3140338
task = 1
type = 27
state = 0
desc = node18
cmd = x1 += offsetx;y1 += offsety
[node]
nid = 3140351
task = 1
type = 27
state = 0
desc = node28
cmd = sn=debug;debug++
[node]
nid = 3140339
task = 1
type = 22
state = 0
desc = node19
cmd = 31 "posset 1 " +str(sn)+" "+str(x1)+" "+str(y1)
[node]
nid = 3140340
task = 1
type = 27
state = 0
desc = node20
cmd = if(tmp<4)jump(3140332)
[node]
nid = 3140341
task = 1
type = 1
state = 0
desc = node27
cmd = 0
[step]
sid = 21404
bDisable = 0
desc = 循环
script:
if (count < ntake)
{
    jump(21402)
}

script_end
node_count = 0
[step]
sid = 21405
bDisable = 1
desc = Z轴抬升后结束
script:

script_end
node_count = 4
[node]
nid = 3140521
task = 1
type = 6
state = 1
desc = 1qqq
cmd = p2 = p0 +Z(-10)
[node]
nid = 3140523
task = 1
type = 6
state = 1
desc = node1
cmd = p2 = p0 :z(safez)
[node]
nid = 3140522
task = 1
type = 7
state = 1
desc = 11qqq
cmd = p2
[node]
nid = 3140531
task = 1
type = 27
state = 0
desc = node4
cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point_e")