version = 2021
[proc]
pid = 1006
type = 0
name = 取料
start = 
pause = 
step_count = 11
[step]
sid = 20601
bDisable = 0
desc = 更换料盘
script = 
node_count = 1
[node]
nid = 3060101
task = 1006
type = 18
state = 0
desc = 获取料盘数量
cmd = 1007
[step]
sid = 20611
bDisable = 0
desc = 初始化
script = 
node_count = 4
[node]
nid = 3061101
task = 1006
type = 27
state = 0
desc = 获取料盘数量
cmd = v1 = rio("吸料真空1检测")
[node]
nid = 3061102
task = 1006
type = 27
state = 0
desc = node2
cmd = v2 = rio("吸料真空2检测")
[node]
nid = 3061103
task = 1006
type = 27
state = 0
desc = node3
cmd = v3 = rio("吸料真空3检测")
[node]
nid = 3061104
task = 1006
type = 27
state = 0
desc = node4
cmd = v4 = rio("吸料真空4检测")
[step]
sid = 20603
bDisable = 0
desc = 判断吸嘴1是否取料
script = if (v1+v2+v3+v4>2) jump(20610)\
\
elseif (v1==1) jump(20604)
node_count = 0
[step]
sid = 20602
bDisable = 0
desc = 吸嘴1取料
script = 
node_count = 8
[node]
nid = 3060211
task = 1
type = 10
state = 0
desc = node1
cmd = p2 1
[node]
nid = 3060212
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = if (t1==0) jump(20601)
[node]
nid = 3060213
task = 1
type = 7
state = 0
desc = node3
cmd = p2
[node]
nid = 3060214
task = 1
type = 20
state = 0
desc = node4
cmd = 71 1
[node]
nid = 3060215
task = 1
type = 21
state = 0
desc = node5
cmd = 71 1 5000 offsetx offsety sn
[node]
nid = 3060216
task = 1
type = 6
state = 0
desc = node6
cmd = p3 = p2 +x(offsetx) +z(offsety)
[node]
nid = 3060217
task = 1
type = 6
state = 1
desc = node7
cmd = p3 = p3 +x(v2x) +z(v2y)
[node]
nid = 3060218
task = 1
type = 7
state = 0
desc = node8
cmd = p3
[step]
sid = 20604
bDisable = 0
desc = 判断吸嘴2是否取料
script = if (v1+v2+v3+v4>2) jump(20610)\
\
elseif (v2==1) jump(20606)
node_count = 0
[step]
sid = 20605
bDisable = 0
desc = 吸嘴2取料
script = 
node_count = 0
[step]
sid = 20606
bDisable = 0
desc = 判断吸嘴3是否取料
script = if (v3==1) jump(20606)
node_count = 0
[step]
sid = 20607
bDisable = 0
desc = 吸嘴3取料
script = 
node_count = 0
[step]
sid = 20608
bDisable = 0
desc = 判断吸嘴4是否取料
script = 
node_count = 0
[step]
sid = 20609
bDisable = 0
desc = 吸嘴4取料
script = 
node_count = 0
[step]
sid = 20610
bDisable = 0
desc = 到放料位
script = 
node_count = 0