version = 2021
[proc]
pid = 1022
type = 0
name = OK仓拍照
start = 
pause = 
step_count = 6
[step]
sid = 22201
bDisable = 0
desc = 初始化
script:
count = 0
nput = 1

script_end
node_count = 0
[step]
sid = 22202
bDisable = 0
desc = 获取工作盘位置
script:

script_end
node_count = 3
[node]
nid = 3220201
task = 1022
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3220202
task = 1022
type = 19
state = 0
desc = node2
cmd = 1008
[node]
nid = 3220203
task = 1022
type = 10
state = 0
desc = node3
cmd = 2 y x
[step]
sid = 22206
bDisable = 0
desc = 到料仓避位
script:

script_end
node_count = 11
[node]
nid = 3220631
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point_s")
[node]
nid = 3220632
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3220633
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3220634
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3220641)
[node]
nid = 3220635
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3220636
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3220637
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3220638
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3220641)
[node]
nid = 3220639
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3220640
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3220641
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 22203
bDisable = 0
desc = 拍照
script:
if (t1022==0)
{//两个都为0，那必须换盘
    work_set_next(2,1)
    if (count==0)
    {
        //pstart(1008);
        //重置料盘
        //work_set_next(2,1)
        jump(22201)
    }
    else jump(22205) //结束拍照
}
else count++

script_end
node_count = 27
[node]
nid = 3220321
task = 1
type = 27
state = 0
desc = 只移动xy
cmd = tmp = rpos(51002)
[node]
nid = 3220322
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = if (tmp>0) jump(3220341)
[node]
nid = 3220323
task = 1
type = 6
state = 0
desc = 只移动Z
cmd = p2 = p0 :z(safez)
[node]
nid = 3220324
task = 1
type = 7
state = 0
desc = node3
cmd = p2
[node]
nid = 3220325
task = 1
type = 6
state = 0
desc = node3
cmd = p2 = p15 :x(x) :y(y) :z(safez)
[node]
nid = 3220326
task = 1
type = 7
state = 0
desc = node4
cmd = p2
[node]
nid = 3220341
task = 1
type = 27
state = 0
desc = 获取Z轴当前高度
cmd = tmp = rpos(51004)
[node]
nid = 3220342
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p15 :x(x) :y(y) :z(tmp)
[node]
nid = 3220343
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3220327
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p15 :x(x) :y(y)
[node]
nid = 3220328
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3220329
task = 1
type = 1
state = 0
desc = node8
cmd = 100
[node]
nid = 3220330
task = 1
type = 22
state = 0
desc = qq111
cmd = 31 "M3"
[node]
nid = 3220331
task = 1
type = 27
state = 0
desc = node23
cmd = tmp=0
[node]
nid = 3220332
task = 1
type = 23
state = 0
desc = node6
cmd = 31 "WaitM3" 5000 ret offsetx offsety
[node]
nid = 3220333
task = 1
type = 27
state = 0
desc = node7
cmd = tmp++
[node]
nid = 3220334
task = 1
type = 27
state = 0
desc = node14
cmd = if(ret == 0) jump(3220340)
[node]
nid = 3220335
task = 1
type = 27
state = 0
desc = node15
cmd = wlog("ERROR START", -1, "Put marital camera fail", "");jump(3220346)
[node]
nid = 3220340
task = 1
type = 27
state = 0
desc = node16
cmd = x1=x;y1=y;
[node]
nid = 3220336
task = 1
type = 27
state = 1
desc = node16
cmd = if(tmp ==1){x1=x1-2.5;y1=y1-2.5}
[node]
nid = 3220337
task = 1
type = 27
state = 1
desc = node17
cmd = if(tmp ==2){x1=x1+2.5;y1=y1-2.5}
[node]
nid = 3220338
task = 1
type = 27
state = 1
desc = node18
cmd = if(tmp ==3){x1=x1-2.5;y1=y1+2.5}
[node]
nid = 3220339
task = 1
type = 27
state = 1
desc = node23
cmd = if(tmp ==4){x1=x1+2.5;y1=y1+2.5}
[node]
nid = 3220344
task = 1
type = 27
state = 0
desc = node24
cmd = x1 += offsetx;y1 += offsety
[node]
nid = 3220345
task = 1
type = 22
state = 0
desc = node25
cmd = 31 "posset 2 sn12 " +str(sn)+" "+str(x1)+" "+str(y1)
[node]
nid = 3220346
task = 1
type = 27
state = 0
desc = node26
cmd = if(tmp<4){jump(3220332)}
[node]
nid = 3220347
task = 1
type = 1
state = 0
desc = node27
cmd = 0
[step]
sid = 22204
bDisable = 0
desc = 循环
script:
if (count < nput)
{
    jump(22202)
}

script_end
node_count = 0
[step]
sid = 22205
bDisable = 0
desc = z轴上升结束
script:

script_end
node_count = 4
[node]
nid = 3220521
task = 1
type = 6
state = 1
desc = node1
cmd = p2 = p0 +z(-10)
[node]
nid = 3220523
task = 1
type = 6
state = 1
desc = node1
cmd = p2 = p0 :z(safez)
[node]
nid = 3220522
task = 1
type = 7
state = 1
desc = node2
cmd = p2
[node]
nid = 3220531
task = 1
type = 27
state = 0
desc = node4
cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point_e")