version = 2021
[proc]
pid = 1040
type = 0
name = 固定料仓取料
start = 
pause = 
step_count = 4
[step]
sid = 24001
bDisable = 0
desc = 初始化
script:

script_end
node_count = 0
[step]
sid = 24002
bDisable = 0
desc = 料盘点位获取
script:

script_end
node_count = 0
[step]
sid = 24003
bDisable = 0
desc = 到料盘避让
script:
i = t + 13;

script_end
node_count = 18
[node]
nid = 3400351
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),"safe")
[node]
nid = 3400352
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3400353
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3400354
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3400361)
[node]
nid = 3400355
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3400356
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3400357
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3400358
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3400361)
[node]
nid = 3400359
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3400360
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3400361
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[node]
nid = 3400362
task = 1
type = 27
state = 0
desc = node12
cmd = tmp = rpos(51004)
[node]
nid = 3400363
task = 1
type = 6
state = 0
desc = node13
cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
[node]
nid = 3400364
task = 1
type = 2
state = 0
desc = node14
cmd = 50 30 30
[node]
nid = 3400365
task = 1
type = 7
state = 0
desc = node15
cmd = p2
[node]
nid = 3400366
task = 1
type = 6
state = 1
desc = node16
cmd = p2 = p(i) :x(x) :y(y)
[node]
nid = 3400367
task = 1
type = 7
state = 1
desc = node17
cmd = p2
[node]
nid = 3400368
task = 1
type = 2
state = 0
desc = node18
cmd = 100 100 100
[step]
sid = 24004
bDisable = 0
desc = 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 = 26
[node]
nid = 3400451
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+"-Take")
[node]
nid = 3400452
task = 1
type = 27
state = 0
desc = node2
cmd = x += c + cameraoffsetx
[node]
nid = 3400453
task = 1
type = 27
state = 0
desc = node3
cmd = y += d + cameraoffsety
[node]
nid = 3400454
task = 1
type = 14
state = 0
desc = node4
cmd = a=1
[node]
nid = 3400455
task = 1
type = 14
state = 1
desc = node5
cmd = b=1
[node]
nid = 3400456
task = 1
type = 6
state = 0
desc = node6
cmd = p2 = p(i) :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3400457
task = 1
type = 2
state = 0
desc = node7
cmd = 50 30 30
[node]
nid = 3400458
task = 1
type = 7
state = 0
desc = node8
cmd = p2 +z(-10)
[node]
nid = 3400459
task = 1
type = 1
state = 0
desc = node9
cmd = 100
[node]
nid = 3400460
task = 1
type = 7
state = 0
desc = node10
cmd = p2 +z(h)
[node]
nid = 3400476
task = 1
type = 14
state = 0
desc = node5
cmd = b=1
[node]
nid = 3400461
task = 1
type = 1
state = 0
desc = node11
cmd = 300
[node]
nid = 3400462
task = 1
type = 7
state = 0
desc = node12
cmd = p2 +z(-10)
[node]
nid = 3400463
task = 1
type = 2
state = 0
desc = node13
cmd = 100 100 100
[node]
nid = 3400464
task = 1
type = 14
state = 0
desc = node14
cmd = a=0
[node]
nid = 3400465
task = 1
type = 27
state = 1
desc = node15
cmd = jump(3400474)//-->end 禁用真空吸使用
[node]
nid = 3400466
task = 1
type = 27
state = 0
desc = node16
cmd = if(1==rio(str(e))) jump(3400474)//-->end
[node]
nid = 3400467
task = 1
type = 27
state = 0
desc = node17
cmd = redLight = 1
[node]
nid = 3400468
task = 1
type = 27
state = 0
desc = node18
cmd = wlog("ERROR START",-11,"Vacuum fail","")
[node]
nid = 3400469
task = 1
type = 24
state = 0
desc = node19
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3400470
task = 1
type = 27
state = 0
desc = node20
cmd = redLight = 0
[node]
nid = 3400471
task = 1
type = 27
state = 0
desc = node21
cmd = h=h+0.01
[node]
nid = 3400472
task = 1
type = 27
state = 0
desc = node22
cmd = if (4==t1){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3400454);}//-->try
[node]
nid = 3400473
task = 1
type = 27
state = 0
desc = node23
cmd = wlog("ERROR END",-11,"Vacuum To Next","");
[node]
nid = 3400474
task = 1
type = 1
state = 0
desc = node24
cmd = 1
[node]
nid = 3400475
task = 1
type = 22
state = 0
desc = node25
cmd = 31 "create " + str(sn) + " " + str(v)