version = 2021
[proc]
pid = 1023
type = 0
name = OK仓放料
start = 
pause = 
step_count = 4
[step]
sid = 22301
bDisable = 0
desc = 判断是否需要换盘
script:

script_end
node_count = 5
[node]
nid = 3230101
task = 1023
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3230102
task = 1023
type = 19
state = 0
desc = node2
cmd = 1022
[node]
nid = 3230103
task = 1023
type = 22
state = 0
desc = 获取位置
cmd = 31 "posget 2"
[node]
nid = 3230104
task = 1023
type = 27
state = 0
desc = node4
cmd = if (res!=0) {pstart(1022);jump(3230102)}
[node]
nid = 3230105
task = 1023
type = 27
state = 0
desc = node5
cmd = nput--
[step]
sid = 22304
bDisable = 0
desc = 到料仓避位
script:

script_end
node_count = 11
[node]
nid = 3230431
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+"-Point_s")
[node]
nid = 3230432
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3230433
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3230434
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3230441)
[node]
nid = 3230435
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3230436
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3230437
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3230438
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3230441)
[node]
nid = 3230439
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3230440
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3230441
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 22302
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 = 25
[node]
nid = 3230221
task = 1
type = 27
state = 0
desc = node1
cmd = x += c + cameraoffsetx
[node]
nid = 3230222
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = y += d + cameraoffsety
[node]
nid = 3230223
task = 1
type = 27
state = 0
desc = 1qqqq
cmd = tmp = rpos(51002)
[node]
nid = 3230224
task = 1
type = 27
state = 0
desc = 气缸下去
cmd = if (tmp>0) jump(3230229)
[node]
nid = 3230225
task = 1
type = 6
state = 0
desc = 打开真空
cmd = p2 = p0 :z(safez)
[node]
nid = 3230226
task = 1
type = 7
state = 0
desc = 到取料位上方
cmd = p2
[node]
nid = 3230227
task = 1
type = 6
state = 0
desc = 到取料位
cmd = p2 = p15 :x(x) :y(y) :z(safez)
[node]
nid = 3230228
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3230229
task = 1
type = 27
state = 0
desc = 气缸上来
cmd = tmp = rpos(51004)
[node]
nid = 3230230
task = 1
type = 6
state = 0
desc = 回到上方
cmd = p2 = p15 :x(x) :y(y) :z(tmp)
[node]
nid = 3230231
task = 1
type = 7
state = 0
desc = 等待真空吸
cmd = p2
[node]
nid = 3230232
task = 1
type = 6
state = 1
desc = node6
cmd = p2 = p15 :x(x) :y(y) +z(cameraoffsetz)
[node]
nid = 3230234
task = 1
type = 6
state = 0
desc = 直接定位高度
cmd = p2 = p15 :x(x) :y(y) :z(zhOKPut)
[node]
nid = 3230245
task = 1
type = 2
state = 0
desc = node13
cmd = 50 30 30
[node]
nid = 3230233
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3230235
task = 1
type = 7
state = 0
desc = node15
cmd = p2 +z(h)
[node]
nid = 3230236
task = 1
type = 14
state = 0
desc = node16
cmd = b=0
[node]
nid = 3230237
task = 1
type = 14
state = 0
desc = node17
cmd = f=1
[node]
nid = 3230238
task = 1
type = 1
state = 0
desc = node18
cmd = 300
[node]
nid = 3230239
task = 1
type = 14
state = 0
desc = node19
cmd = a=0
[node]
nid = 3230240
task = 1
type = 7
state = 0
desc = node20
cmd = p2 +z(-10)
[node]
nid = 3230244
task = 1
type = 2
state = 0
desc = node22
cmd = 100 100 100
[node]
nid = 3230241
task = 1
type = 14
state = 0
desc = node21
cmd = f=0
[node]
nid = 3230242
task = 1
type = 22
state = 0
desc = node22
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
[node]
nid = 3230243
task = 1
type = 27
state = 0
desc = node25
cmd = OKall++
[step]
sid = 22303
bDisable = 0
desc = 发送log记录
script:

script_end
node_count = 3
[node]
nid = 3230301
task = 1023
type = 0
state = 0
desc = 区11
cmd = 
[node]
nid = 3230302
task = 1023
type = 1
state = 0
desc = node2
cmd = 0
[node]
nid = 3230303
task = 1023
type = 27
state = 0
desc = node3
cmd = vlog("Tray-"+str(t),str(v)+"-Point_e")