version = 2021
[proc]
pid = 1032
type = 0
name = SN失败处理
start = 
pause = 
step_count = 7
[step]
sid = 23201
bDisable = 0
desc = 数据处理
script:

script_end
node_count = 2
[node]
nid = 3320101
task = 1032
type = 24
state = 0
desc = node1
cmd = 0 "SN失败处理 测试流程"
[node]
nid = 3320102
task = 1032
type = 27
state = 0
desc = node2
cmd = vlog ("取料","SN失败")
[step]
sid = 23207
bDisable = 0
desc = 到料仓避位
script:

script_end
node_count = 11
[node]
nid = 3320731
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),"Point")
[node]
nid = 3320732
task = 1
type = 24
state = 0
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3320733
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3320734
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3320741)
[node]
nid = 3320735
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3320736
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3320737
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3320738
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3320741)
[node]
nid = 3320739
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3320740
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3320741
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 23202
bDisable = 0
desc = OK盘取料
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
    h = v1z
    e = "吸料真空1检测"
    f = "吸料真空1破"
}
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 = 21
[node]
nid = 3320221
task = 1
type = 27
state = 0
desc = node18
cmd = x += offsetx
[node]
nid = 3320222
task = 1
type = 27
state = 0
desc = node19
cmd = y += offsety
[node]
nid = 3320223
task = 1
type = 27
state = 0
desc = node3
cmd = x += c + cameraoffsetx
[node]
nid = 3320224
task = 1
type = 27
state = 0
desc = node4
cmd = y += d + cameraoffsety
[node]
nid = 3320225
task = 1
type = 27
state = 0
desc = Y1 轴
cmd = tmp = rpos(51002)
[node]
nid = 3320226
task = 1
type = 27
state = 0
desc = node6
cmd = if (tmp>0) jump(3320231)
[node]
nid = 3320227
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p0 :z(safez)
[node]
nid = 3320228
task = 1
type = 7
state = 0
desc = node8
cmd = p2
[node]
nid = 3320229
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p15 :x(x) :y(y) :z(safez)
[node]
nid = 3320230
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3320231
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p15 :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3320232
task = 1
type = 14
state = 0
desc = node12
cmd = a=1
[node]
nid = 3320233
task = 1
type = 14
state = 0
desc = node13
cmd = b=1
[node]
nid = 3320234
task = 1
type = 7
state = 0
desc = node14
cmd = p2 +z(-10)
[node]
nid = 3320235
task = 1
type = 2
state = 0
desc = node15
cmd = 50 30 30
[node]
nid = 3320236
task = 1
type = 7
state = 0
desc = node16
cmd = p2 +z(h)
[node]
nid = 3320237
task = 1
type = 1
state = 0
desc = node17
cmd = 300
[node]
nid = 3320238
task = 1
type = 7
state = 0
desc = node18
cmd = p2 +z(-10)
[node]
nid = 3320239
task = 1
type = 14
state = 0
desc = node19
cmd = a=0
[node]
nid = 3320240
task = 1
type = 2
state = 0
desc = node20
cmd = 100 100 100
[node]
nid = 3320241
task = 1
type = 15
state = 1
desc = node21
cmd = e=1 1000
[step]
sid = 23203
bDisable = 0
desc = 备用
script:

script_end
node_count = 0
[step]
sid = 23204
bDisable = 0
desc = SN料盘拍照
script:

script_end
node_count = 3
[node]
nid = 3320401
task = 1032
type = 27
state = 0
desc = node1
cmd = t=5
[node]
nid = 3320402
task = 1032
type = 19
state = 0
desc = node2
cmd = 1031
[node]
nid = 3320403
task = 1032
type = 18
state = 0
desc = node3
cmd = 1031
[step]
sid = 23205
bDisable = 0
desc = 备用
script:

script_end
node_count = 0
[step]
sid = 23206
bDisable = 0
desc = SN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 = 24
[node]
nid = 3320621
task = 1
type = 27
state = 0
desc = node1
cmd = x += c + cameraoffsetx
[node]
nid = 3320622
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = y += d + cameraoffsety
[node]
nid = 3320623
task = 1
type = 27
state = 0
desc = 1qqqq
cmd = tmp = rpos(51002)
[node]
nid = 3320624
task = 1
type = 27
state = 0
desc = 气缸下去
cmd = if (tmp>0) jump(3320629)
[node]
nid = 3320625
task = 1
type = 6
state = 0
desc = 打开真空
cmd = p2 = p0 :z(safez)
[node]
nid = 3320626
task = 1
type = 7
state = 0
desc = 到取料位上方
cmd = p2
[node]
nid = 3320627
task = 1
type = 6
state = 0
desc = 到取料位
cmd = p2 = p18 :x(x) :y(y) :z(safez)
[node]
nid = 3320628
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3320629
task = 1
type = 27
state = 0
desc = 取料Z轴
cmd = tmp = rpos(51004)
[node]
nid = 3320630
task = 1
type = 6
state = 0
desc = 回到上方
cmd = p2 = p18 :x(x) :y(y) :z(tmp)
[node]
nid = 3320631
task = 1
type = 7
state = 0
desc = 等待真空吸
cmd = p2
[node]
nid = 3320632
task = 1
type = 6
state = 1
desc = node6
cmd = p2 = p15 :x(x) :y(y) +z(cameraoffsetz)
[node]
nid = 3320633
task = 1
type = 2
state = 0
desc = 速度
cmd = 50 30 30
[node]
nid = 3320634
task = 1
type = 6
state = 0
desc = 直接定位高度
cmd = p2 = p15 :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3320635
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3320636
task = 1
type = 7
state = 0
desc = node15
cmd = p2 +z(h)
[node]
nid = 3320637
task = 1
type = 14
state = 0
desc = node16
cmd = b=0
[node]
nid = 3320638
task = 1
type = 14
state = 0
desc = node17
cmd = f=1
[node]
nid = 3320639
task = 1
type = 1
state = 0
desc = node18
cmd = 300
[node]
nid = 3320640
task = 1
type = 14
state = 0
desc = node19
cmd = a=0
[node]
nid = 3320641
task = 1
type = 7
state = 0
desc = node20
cmd = p2 +z(-10)
[node]
nid = 3320642
task = 1
type = 2
state = 0
desc = node22
cmd = 100 100 100
[node]
nid = 3320643
task = 1
type = 14
state = 0
desc = node21
cmd = f=0
[node]
nid = 3320644
task = 1
type = 22
state = 1
desc = node19
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)