version = 2021
[proc]
pid = 1009
type = 0
name = 料仓取料
start = 
pause = 
step_count = 3
[step]
sid = 20901
bDisable = 0
desc = 判断是否需要换料盘
script:

script_end
node_count = 3
[node]
nid = 3090101
task = 1009
type = 19
state = 0
desc = node1
cmd = 1007
[node]
nid = 3090102
task = 1009
type = 10
state = 0
desc = node2
cmd = 1 x y
[node]
nid = 3090103
task = 1009
type = 27
state = 0
desc = node3
cmd = if (t1009==0) {pstart(1007);jump(3090101)}
[step]
sid = 20903
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 = 0
    d = 0
    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
    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
    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
    e = "吸料真空4检测"
    f = "吸料真空4破"
}

script_end
node_count = 19
[node]
nid = 3090321
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p2 :x(x) :y(y)
[node]
nid = 3090322
task = 1
type = 7
state = 1
desc = 判断料盘是否结束
cmd = p2
[node]
nid = 3090323
task = 1
type = 27
state = 0
desc = node3
cmd = ret++; sn = "sn100" + str(ret);
[node]
nid = 3090324
task = 1
type = 23
state = 1
desc = node3
cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
[node]
nid = 3090325
task = 1
type = 22
state = 0
desc = node4
cmd = 31 "create " +sn+" "+str(v)
[node]
nid = 3090326
task = 1
type = 27
state = 0
desc = node5
cmd = offsetx += c
[node]
nid = 3090327
task = 1
type = 27
state = 0
desc = node6
cmd = offsety += d
[node]
nid = 3090328
task = 1
type = 27
state = 0
desc = node7
cmd = offsetx += cameraoffsetx
[node]
nid = 3090329
task = 1
type = 27
state = 0
desc = node7
cmd = offsety += cameraoffsety
[node]
nid = 3090330
task = 1
type = 6
state = 0
desc = node8
cmd = p3 = p2 +x(offsetx) +y(offsety)
[node]
nid = 3090331
task = 1
type = 7
state = 1
desc = node9
cmd = p3
[node]
nid = 3090332
task = 1
type = 14
state = 1
desc = node11
cmd = a=1
[node]
nid = 3090333
task = 1
type = 14
state = 1
desc = node10
cmd = b=1
[node]
nid = 3090334
task = 1
type = 6
state = 0
desc = node11
cmd = p3 = p3 +z(-2)
[node]
nid = 3090335
task = 1
type = 7
state = 1
desc = node13
cmd = p3
[node]
nid = 3090336
task = 1
type = 1
state = 0
desc = node8
cmd = 700
[node]
nid = 3090337
task = 1
type = 14
state = 1
desc = 获取料盘数量
cmd = a=0
[node]
nid = 3090338
task = 1
type = 7
state = 1
desc = node18
cmd = p3 +z(2)
[node]
nid = 3090339
task = 1
type = 15
state = 1
desc = node19
cmd = e=1 1000
[step]
sid = 20902
bDisable = 0
desc = end
script:

script_end
node_count = 0