version = 2021
[proc]
pid = 1033
type = 0
name = GRR
start = 
pause = 
step_count = 23
[step]
sid = 23301
bDisable = 0
desc = 启动
script:
wlog("START",0,"","Start GRR")

script_end
node_count = 6
[node]
nid = 3330101
task = 1033
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3330102
task = 1033
type = 27
state = 0
desc = node2
cmd = yellowLight = 1
[node]
nid = 3330103
task = 1033
type = 24
state = 0
desc = node3
cmd = 0 "The current mode is GRR. If you are inconsistent with your will, please turn off the software."
[node]
nid = 3330104
task = 1033
type = 27
state = 0
desc = node4
cmd = yellowLight = 0
[node]
nid = 3330105
task = 1033
type = 27
state = 1
desc = node5
cmd = wlog("START",0,"","Start GRR")
[node]
nid = 3330106
task = 1033
type = 27
state = 0
desc = node6
cmd = vlog("GRR","start")
[step]
sid = 23302
bDisable = 0
desc = 初始化参数
script:

script_end
node_count = 4
[node]
nid = 3330201
task = 1033
type = 27
state = 0
desc = node1
cmd = v = 1//吸嘴
[node]
nid = 3330202
task = 1033
type = 27
state = 0
desc = node2
cmd = t = 3//料盘
[node]
nid = 3330203
task = 1033
type = 27
state = 0
desc = node3
cmd = work_set_next(t,1)
[node]
nid = 3330204
task = 1033
type = 27
state = 0
desc = 物料测试计数
cmd = j = 1//待检查是否重复使用
[step]
sid = 23303
bDisable = 0
desc = 料盘检测
script:

script_end
node_count = 8
[node]
nid = 3330301
task = 1033
type = 27
state = 0
desc = node1
cmd = if(1==rio("重测1")) jump(3330308)
[node]
nid = 3330302
task = 1033
type = 27
state = 0
desc = node2
cmd = redLight = 1
[node]
nid = 3330303
task = 1033
type = 27
state = 0
desc = node3
cmd = wlog("ERROR START",-21,"Tray lose","")
[node]
nid = 3330304
task = 1033
type = 24
state = 0
desc = node4
cmd = 0 "Tray not find"
[node]
nid = 3330305
task = 1033
type = 27
state = 0
desc = node5
cmd = wlog("ERROR END",-21,"Tray try find","")
[node]
nid = 3330306
task = 1033
type = 27
state = 0
desc = node6
cmd = redLight = 0
[node]
nid = 3330307
task = 1033
type = 27
state = 0
desc = node7
cmd = if(0==rio("重测1")) jump(3330301)
[node]
nid = 3330308
task = 1033
type = 1
state = 0
desc = node8
cmd = 0
[step]
sid = 23304
bDisable = 0
desc = 料盘点位获取
script:

script_end
node_count = 3
[node]
nid = 3330401
task = 1033
type = 27
state = 0
desc = node1
cmd = v = 1//吸嘴
[node]
nid = 3330402
task = 1033
type = 27
state = 0
desc = node2
cmd = t = 3//料盘
[node]
nid = 3330403
task = 1033
type = 10
state = 0
desc = node3
cmd = t x y
[step]
sid = 23305
bDisable = 0
desc = 料盘拍照位
script:

script_end
node_count = 17
[node]
nid = 3330531
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),"Camera Point")
[node]
nid = 3330532
task = 1
type = 2
state = 0
desc = node2
cmd = 50 50 50
[node]
nid = 3330533
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3330534
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3330541)
[node]
nid = 3330535
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3330536
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3330537
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3330538
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3330541)
[node]
nid = 3330539
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3330540
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3330541
task = 1
type = 27
state = 0
desc = node11
cmd = tmp = rpos(51004)
[node]
nid = 3330542
task = 1
type = 6
state = 0
desc = node12
cmd = p2 = p16 :x(x) :y(y) :z(tmp)
[node]
nid = 3330543
task = 1
type = 2
state = 0
desc = node13
cmd = 50 30 30
[node]
nid = 3330544
task = 1
type = 7
state = 0
desc = node14
cmd = p2
[node]
nid = 3330545
task = 1
type = 6
state = 0
desc = node15
cmd = p2 = p16 :x(x) :y(y)
[node]
nid = 3330546
task = 1
type = 7
state = 0
desc = node16
cmd = p2
[node]
nid = 3330547
task = 1
type = 2
state = 0
desc = node17
cmd = 100 100 100
[step]
sid = 23306
bDisable = 0
desc = GRR料盘取料拍照
script:

script_end
node_count = 24
[node]
nid = 3330601
task = 1033
type = 1
state = 0
desc = node1
cmd = 100
[node]
nid = 3330602
task = 1033
type = 27
state = 0
desc = node2
cmd = vlog("Tray - "+str(t),"Camera M1")
[node]
nid = 3330603
task = 1033
type = 22
state = 1
desc = node3
cmd = 31 "M1"
[node]
nid = 3330604
task = 1033
type = 23
state = 1
desc = node4
cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
[node]
nid = 3330605
task = 1033
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3330613)//-->next
[node]
nid = 3330606
task = 1033
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3330607
task = 1033
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3330608
task = 1033
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3330609
task = 1033
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3330610
task = 1033
type = 27
state = 0
desc = node10
cmd = if (4==t1033){ wlog("ERROR END",-1,"Camera Try Again","");jump(3330601);}//-->newStart
[node]
nid = 3330611
task = 1033
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");
[node]
nid = 3330612
task = 1033
type = 27
state = 0
desc = node12
cmd = jump(3330624)//-->end
[node]
nid = 3330613
task = 1033
type = 27
state = 0
desc = node13
cmd = if(""!=str(sn)) {sn=debug;debug++;}//空跑使用
[node]
nid = 3330614
task = 1033
type = 27
state = 0
desc = node14
cmd = if("NG"!=str(sn)) jump(3330621)//-->next
[node]
nid = 3330615
task = 1033
type = 27
state = 0
desc = node15
cmd = redLight = 1
[node]
nid = 3330616
task = 1033
type = 27
state = 0
desc = node16
cmd = wlog("ERROR START",-2,"SN capture fail","")
[node]
nid = 3330617
task = 1033
type = 24
state = 0
desc = node17
cmd = 1 "SN fail Are you Try again?"
[node]
nid = 3330618
task = 1033
type = 27
state = 0
desc = node18
cmd = redLight = 0
[node]
nid = 3330619
task = 1033
type = 27
state = 0
desc = node19
cmd = if (4==t1){ wlog("ERROR END",-2,"SN Try Again","");jump(3330601);}//-->newStart
[node]
nid = 3330620
task = 1033
type = 27
state = 0
desc = node20
cmd = wlog("ERROR END",-2,"SN Set failure","");
[node]
nid = 3330621
task = 1033
type = 1
state = 0
desc = node21
cmd = 0
[node]
nid = 3330622
task = 1033
type = 27
state = 0
desc = node22
cmd = x += offsetx
[node]
nid = 3330623
task = 1033
type = 27
state = 0
desc = node23
cmd = y += offsety
[node]
nid = 3330624
task = 1033
type = 1
state = 0
desc = node24
cmd = 0
[step]
sid = 23307
bDisable = 0
desc = 拍照结果检测
script:
if(0 != ret) {jump(23301);return}//end
if("NG"==str(sn)) {jump(23301)}//end

script_end
node_count = 0
[step]
sid = 23308
bDisable = 0
desc = 料盘取料位
script:

script_end
node_count = 0
[step]
sid = 23309
bDisable = 0
desc = 料盘取料
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 = 27
[node]
nid = 3330921
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),str(v)+" - Take")
[node]
nid = 3330922
task = 1
type = 27
state = 0
desc = node2
cmd = x += c + cameraoffsetx
[node]
nid = 3330923
task = 1
type = 27
state = 0
desc = node3
cmd = y += d + cameraoffsety
[node]
nid = 3330924
task = 1
type = 14
state = 0
desc = node4
cmd = a=1
[node]
nid = 3330925
task = 1
type = 14
state = 0
desc = node5
cmd = b=1
[node]
nid = 3330926
task = 1
type = 6
state = 0
desc = node6
cmd = p2 = p16 :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3330927
task = 1
type = 2
state = 0
desc = node7
cmd = 50 30 30
[node]
nid = 3330928
task = 1
type = 7
state = 0
desc = node8
cmd = p2 +z(-10)
[node]
nid = 3330929
task = 1
type = 1
state = 0
desc = node9
cmd = 100
[node]
nid = 3330930
task = 1
type = 7
state = 0
desc = node10
cmd = p2 +z(h)
[node]
nid = 3330931
task = 1
type = 1
state = 0
desc = node11
cmd = 300
[node]
nid = 3330932
task = 1
type = 7
state = 0
desc = node12
cmd = p2 +z(-10)
[node]
nid = 3330933
task = 1
type = 2
state = 0
desc = node13
cmd = 100 100 100
[node]
nid = 3330934
task = 1
type = 14
state = 0
desc = node14
cmd = a=0
[node]
nid = 3330935
task = 1
type = 27
state = 0
desc = node15
cmd = jump(3330944)//空跑用
[node]
nid = 3330936
task = 1
type = 27
state = 0
desc = node16
cmd = if(1==rio(str(e))) jump(3330944)//-->end
[node]
nid = 3330937
task = 1
type = 27
state = 0
desc = node17
cmd = redLight = 1
[node]
nid = 3330938
task = 1
type = 27
state = 0
desc = node18
cmd = wlog("ERROR START",-11,"Vacuum fail","")
[node]
nid = 3330939
task = 1
type = 24
state = 0
desc = node19
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3330940
task = 1
type = 27
state = 0
desc = node20
cmd = redLight = 0
[node]
nid = 3330941
task = 1
type = 27
state = 0
desc = node21
cmd = h=h+0.01
[node]
nid = 3330942
task = 1
type = 27
state = 0
desc = node22
cmd = if (4==t1){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3330927);}//-->try
[node]
nid = 3330943
task = 1
type = 27
state = 0
desc = node23
cmd = wlog("ERROR END",-11,"Vacuum To Next","");
[node]
nid = 3330944
task = 1
type = 1
state = 0
desc = node24
cmd = 100
[node]
nid = 3330945
task = 1
type = 6
state = 0
desc = node25
cmd = p2 = p0 :z(safez)
[node]
nid = 3330946
task = 1
type = 7
state = 0
desc = node26
cmd = p2
[node]
nid = 3330947
task = 1
type = 22
state = 0
desc = node27
cmd = 31 "create " + str(sn) + " " + str(v)
[step]
sid = 23310
bDisable = 0
desc = 设置治具编号
script:

script_end
node_count = 2
[node]
nid = 3331001
task = 1033
type = 27
state = 0
desc = node1
cmd = t = 1
[node]
nid = 3331002
task = 1033
type = 27
state = 0
desc = 单个物料测试几次
cmd = k = 1//待检查是否重复使用
[step]
sid = 23311
bDisable = 0
desc = 获取治具编号
script:

script_end
node_count = 8
[node]
nid = 3331101
task = 1033
type = 1
state = 0
desc = node1
cmd = 1
[node]
nid = 3331102
task = 1033
type = 0
state = 0
desc = node2
cmd = 
[node]
nid = 3331103
task = 1033
type = 1
state = 0
desc = node3
cmd = 1
[node]
nid = 3331104
task = 1033
type = 27
state = 0
desc = node4
cmd = if(t>6){jump(3331108)}
[node]
nid = 3331105
task = 1033
type = 27
state = 0
desc = node5
cmd = k=1
[node]
nid = 3331106
task = 1033
type = 24
state = 0
desc = node6
cmd = 1 "准备测试 "+str(t)+" 号治具"
[node]
nid = 3331107
task = 1033
type = 27
state = 0
desc = node7
cmd = if(5==t1033){t++;jump(3331101)}
[node]
nid = 3331108
task = 1033
type = 1
state = 0
desc = node8
cmd = 1
[step]
sid = 23312
bDisable = 0
desc = 治具放料拍照
script:
if(t>6) {jump(23319)}

script_end
node_count = 0
[step]
sid = 23313
bDisable = 0
desc = 治具放料
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
    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"
}
if (t==1)
{//1号夹具
    fixair = "治具气缸1"
}
else if (t==2)
{//2号夹具
    fixair = "治具气缸2"
}
else if (t==3)
{//3号夹具
    fixair = "治具气缸3"
}
else if (t==4)
{//4号夹具
    fixair = "治具气缸4"
}
else if (t==5)
{//5号夹具
    fixair = "治具气缸5"
}
else if (t==6)
{//6号夹具
    fixair = "治具气缸6"
}

script_end
node_count = 29
[node]
nid = 3331321
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Silo - "+str(t),str(v)+" - Put")
[node]
nid = 3331322
task = 1
type = 27
state = 0
desc = node2
cmd = i = 5 + t - 1
[node]
nid = 3331323
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3331324
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp<0) jump(3331327)//在治具侧 跳转
[node]
nid = 3331325
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3331326
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3331327
task = 1
type = 27
state = 0
desc = node7
cmd = if (t<4) jump(3331330)//要到1-5号治具 跳转
[node]
nid = 3331328
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p0 :u(-332)
[node]
nid = 3331329
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3331330
task = 1
type = 27
state = 0
desc = node10
cmd = tmp = rpos(51004)//取料Z轴
[node]
nid = 3331331
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
[node]
nid = 3331332
task = 1
type = 7
state = 0
desc = node12
cmd = p2
[node]
nid = 3331333
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3331334
task = 1
type = 1
state = 0
desc = node14
cmd = 50
[node]
nid = 3331335
task = 1
type = 2
state = 0
desc = node15
cmd = 50 30 30
[node]
nid = 3331336
task = 1
type = 7
state = 0
desc = node16
cmd = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3331337
task = 1
type = 14
state = 0
desc = node17
cmd = b=0
[node]
nid = 3331338
task = 1
type = 14
state = 0
desc = node18
cmd = f=1
[node]
nid = 3331339
task = 1
type = 1
state = 0
desc = node19
cmd = 200
[node]
nid = 3331340
task = 1
type = 14
state = 0
desc = node20
cmd = fixair = 1
[node]
nid = 3331341
task = 1
type = 1
state = 0
desc = node21
cmd = 200
[node]
nid = 3331342
task = 1
type = 7
state = 0
desc = node22
cmd = p2
[node]
nid = 3331343
task = 1
type = 2
state = 0
desc = node23
cmd = 100 100 100
[node]
nid = 3331344
task = 1
type = 14
state = 0
desc = node24
cmd = a=0
[node]
nid = 3331345
task = 1
type = 14
state = 0
desc = node25
cmd = f=0
[node]
nid = 3331346
task = 1
type = 1
state = 0
desc = node26
cmd = 10
[node]
nid = 3331347
task = 1
type = 22
state = 0
desc = node27
cmd = 31 "vacm_to_test "+str(v)+" "+str(t)
[node]
nid = 3331348
task = 1
type = 6
state = 0
desc = node28
cmd = p2 = p0 :z(safez)
[node]
nid = 3331349
task = 1
type = 7
state = 0
desc = node29
cmd = p2
[step]
sid = 23314
bDisable = 0
desc = 测试等待
script:

script_end
node_count = 3
[node]
nid = 3331401
task = 1033
type = 1
state = 0
desc = node1
cmd = 1
[node]
nid = 3331402
task = 1033
type = 27
state = 0
desc = node2
cmd = i = "waitOk " + str(t)
[node]
nid = 3331403
task = 1033
type = 23
state = 0
desc = node3
cmd = 31 i 150000
[step]
sid = 23315
bDisable = 0
desc = 治具取料拍照
script:

script_end
node_count = 0
[step]
sid = 23316
bDisable = 0
desc = 治具取料
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"
}
if (t==1)
{//1号夹具
    fixair = "治具气缸1"
}
else if (t==2)
{//2号夹具
    fixair = "治具气缸2"
}
else if (t==3)
{//3号夹具
    fixair = "治具气缸3"
}
else if (t==4)
{//4号夹具
    fixair = "治具气缸4"
}
else if (t==5)
{//5号夹具
    fixair = "治具气缸5"
}
else if (t==6)
{//6号夹具
    fixair = "治具气缸6"
}

script_end
node_count = 37
[node]
nid = 3331631
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Silo - "+str(t),str(v)+" - Take")
[node]
nid = 3331632
task = 1
type = 27
state = 0
desc = node2
cmd = i = 5 + t - 1
[node]
nid = 3331633
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3331634
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp<0) jump(3331637)//在治具侧 跳转
[node]
nid = 3331635
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3331636
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3331637
task = 1
type = 27
state = 0
desc = node7
cmd = if (t<6) jump(3331640)//要到1-5号治具 跳转
[node]
nid = 3331638
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p0 :u(-332)
[node]
nid = 3331639
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3331640
task = 1
type = 27
state = 0
desc = node10
cmd = tmp = rpos(51004)//取料Z轴
[node]
nid = 3331641
task = 1
type = 6
state = 0
desc = node11
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
[node]
nid = 3331642
task = 1
type = 7
state = 0
desc = node12
cmd = p2
[node]
nid = 3331643
task = 1
type = 14
state = 0
desc = node13
cmd = a=1
[node]
nid = 3331644
task = 1
type = 14
state = 0
desc = node14
cmd = b=1
[node]
nid = 3331645
task = 1
type = 1
state = 0
desc = node15
cmd = 50
[node]
nid = 3331646
task = 1
type = 2
state = 0
desc = node16
cmd = 50 30 30
[node]
nid = 3331647
task = 1
type = 7
state = 0
desc = node17
cmd = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3331648
task = 1
type = 14
state = 0
desc = node18
cmd = fixair = 0
[node]
nid = 3331649
task = 1
type = 1
state = 0
desc = node19
cmd = 300
[node]
nid = 3331650
task = 1
type = 15
state = 1
desc = node20
cmd = e=1 1000
[node]
nid = 3331651
task = 1
type = 7
state = 0
desc = node21
cmd = p2
[node]
nid = 3331652
task = 1
type = 2
state = 0
desc = node22
cmd = 100 100 100
[node]
nid = 3331653
task = 1
type = 14
state = 0
desc = node23
cmd = a=0
[node]
nid = 3331654
task = 1
type = 27
state = 0
desc = node24
cmd = jump(3331663)//空跑用
[node]
nid = 3331655
task = 1
type = 27
state = 0
desc = node25
cmd = if(1==rio(str(e))) jump(3331663)//-->end
[node]
nid = 3331656
task = 1
type = 27
state = 0
desc = node26
cmd = redLight = 1
[node]
nid = 3331657
task = 1
type = 27
state = 0
desc = node27
cmd = wlog("ERROR START",-12,"Vacuum fail","")
[node]
nid = 3331658
task = 1
type = 24
state = 0
desc = node28
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3331659
task = 1
type = 27
state = 0
desc = node29
cmd = redLight = 0
[node]
nid = 3331660
task = 1
type = 27
state = 0
desc = node30
cmd = h=h+0.01
[node]
nid = 3331661
task = 1
type = 27
state = 0
desc = node31
cmd = if (4==t1){ wlog("ERROR END",-12,"Vacuum Try Again","");jump(3331643);}//-->try
[node]
nid = 3331662
task = 1
type = 27
state = 0
desc = node32
cmd = wlog("ERROR END",-12,"Vacuum To Next","");
[node]
nid = 3331663
task = 1
type = 1
state = 0
desc = node33
cmd = 10
[node]
nid = 3331664
task = 1
type = 22
state = 0
desc = node34
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
[node]
nid = 3331665
task = 1
type = 6
state = 0
desc = node35
cmd = p2 = p0 :z(safez)
[node]
nid = 3331666
task = 1
type = 7
state = 0
desc = node36
cmd = p2
[node]
nid = 3331667
task = 1
type = 1
state = 0
desc = node33
cmd = 2000
[step]
sid = 23317
bDisable = 0
desc = 单治具循环
script:
if(k<2) {k++;jump(23312)}

script_end
node_count = 0
[step]
sid = 23318
bDisable = 0
desc = 多治具循环
script:
if(t<6) {t=t+1;jump(23311)}

script_end
node_count = 3
[node]
nid = 3331801
task = 1033
type = 27
state = 0
desc = node1
cmd = t = 3
[node]
nid = 3331802
task = 1033
type = 27
state = 0
desc = node2
cmd = work_set_next(t,1)
[node]
nid = 3331803
task = 1033
type = 10
state = 0
desc = node3
cmd = t x y
[step]
sid = 23319
bDisable = 0
desc = 料盘拍照位
script:

script_end
node_count = 17
[node]
nid = 3331931
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),"Camera Point")
[node]
nid = 3331932
task = 1
type = 24
state = 0
desc = node2
cmd = 0 "准备料盘点位运动"
[node]
nid = 3331933
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3331934
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3331941)
[node]
nid = 3331935
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3331936
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3331937
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3331938
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<572) jump(3331941)
[node]
nid = 3331939
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3331940
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3331941
task = 1
type = 27
state = 0
desc = node11
cmd = tmp = rpos(51004)
[node]
nid = 3331942
task = 1
type = 6
state = 0
desc = node12
cmd = p2 = p16 :x(x) :y(y) :z(tmp)
[node]
nid = 3331943
task = 1
type = 2
state = 0
desc = node13
cmd = 50 30 30
[node]
nid = 3331944
task = 1
type = 7
state = 0
desc = node14
cmd = p2
[node]
nid = 3331945
task = 1
type = 6
state = 0
desc = node15
cmd = p2 = p16 :x(x) :y(y)
[node]
nid = 3331946
task = 1
type = 7
state = 0
desc = node16
cmd = p2
[node]
nid = 3331947
task = 1
type = 2
state = 0
desc = node17
cmd = 100 100 100
[step]
sid = 23320
bDisable = 0
desc = GRR料盘放料拍照
script:

script_end
node_count = 16
[node]
nid = 3332001
task = 1033
type = 1
state = 0
desc = node1
cmd = 100
[node]
nid = 3332002
task = 1033
type = 27
state = 0
desc = node2
cmd = vlog("Tray - "+str(t),"Camera M4")
[node]
nid = 3332003
task = 1033
type = 22
state = 1
desc = node3
cmd = 31 "M4"
[node]
nid = 3332004
task = 1033
type = 23
state = 1
desc = node4
cmd = 31 "WaitM4" 5000 ret offsetx offsety
[node]
nid = 3332005
task = 1033
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3332012)//-->next
[node]
nid = 3332006
task = 1033
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3332007
task = 1033
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-7,"Camera capture failed","")
[node]
nid = 3332008
task = 1033
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3332009
task = 1033
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3332010
task = 1033
type = 27
state = 0
desc = node10
cmd = if (4==t1033){ wlog("ERROR END",-7,"Camera Try Again","");jump(3332001);}//-->newStart
[node]
nid = 3332011
task = 1033
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-7,"Camera To Next","");
[node]
nid = 3332012
task = 1033
type = 1
state = 0
desc = node12
cmd = 0
[node]
nid = 3332013
task = 1033
type = 1
state = 0
desc = node13
cmd = 0
[node]
nid = 3332014
task = 1033
type = 27
state = 0
desc = node14
cmd = x += offsetx
[node]
nid = 3332015
task = 1033
type = 27
state = 0
desc = node15
cmd = y += offsety
[node]
nid = 3332016
task = 1033
type = 1
state = 0
desc = node16
cmd = 0
[step]
sid = 23321
bDisable = 0
desc = 料盘放料
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"
}
t = 3//料盘

script_end
node_count = 22
[node]
nid = 3332131
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),str(v)+" - Put")
[node]
nid = 3332132
task = 1
type = 27
state = 1
desc = node2
cmd = x += c + cameraoffsetx
[node]
nid = 3332133
task = 1
type = 27
state = 1
desc = node3
cmd = y += d + cameraoffsety
[node]
nid = 3332134
task = 1
type = 27
state = 0
desc = node4
cmd = tmp = rpos(51004)
[node]
nid = 3332135
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p16 :x(x) :y(y) :z(tmp)
[node]
nid = 3332136
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3332137
task = 1
type = 14
state = 0
desc = node7
cmd = a=1
[node]
nid = 3332138
task = 1
type = 1
state = 0
desc = node8
cmd = 10
[node]
nid = 3332139
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p16 :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3332140
task = 1
type = 2
state = 0
desc = node10
cmd = 50 30 30
[node]
nid = 3332141
task = 1
type = 7
state = 0
desc = node11
cmd = p2 +z(h)
[node]
nid = 3332142
task = 1
type = 14
state = 0
desc = node12
cmd = b=0
[node]
nid = 3332143
task = 1
type = 14
state = 0
desc = node13
cmd = f=1
[node]
nid = 3332144
task = 1
type = 1
state = 0
desc = node14
cmd = 300
[node]
nid = 3332145
task = 1
type = 7
state = 0
desc = node15
cmd = p2 +z(-10)
[node]
nid = 3332146
task = 1
type = 2
state = 0
desc = node16
cmd = 100 100 100
[node]
nid = 3332147
task = 1
type = 14
state = 0
desc = node17
cmd = a=0
[node]
nid = 3332148
task = 1
type = 14
state = 0
desc = node18
cmd = f=0
[node]
nid = 3332149
task = 1
type = 22
state = 0
desc = node19
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
[node]
nid = 3332150
task = 1
type = 6
state = 0
desc = node20
cmd = p2 = p0 :z(safez)
[node]
nid = 3332151
task = 1
type = 7
state = 0
desc = node21
cmd = p2
[node]
nid = 3332152
task = 1
type = 7
state = 0
desc = node21
cmd = p12
[step]
sid = 23322
bDisable = 0
desc = 物料循环
script:
if(j<3) {j++;jump(23304)}

script_end
node_count = 0
[step]
sid = 23323
bDisable = 0
desc = end
script:

script_end
node_count = 6
[node]
nid = 3332301
task = 1033
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3332302
task = 1033
type = 27
state = 0
desc = node2
cmd = yellowLight = 1
[node]
nid = 3332303
task = 1033
type = 24
state = 0
desc = node3
cmd = 0 "Finished test."
[node]
nid = 3332304
task = 1033
type = 27
state = 0
desc = node4
cmd = wlog("END",0,"","End GRR")
[node]
nid = 3332305
task = 1033
type = 27
state = 0
desc = node5
cmd = vlog("GRR","end")
[node]
nid = 3332306
task = 1033
type = 27
state = 0
desc = node6
cmd = work_set_next(6,1)