version = 2021
[proc]
pid = 1012
type = 0
name = 治具取料
start = 
pause = 
step_count = 2
[step]
sid = 21201
bDisable = 0
desc = step1
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 = 10
[node]
nid = 3120121
task = 1
type = 27
state = 0
desc = 计算点位索引
cmd = h = 5 + t - 1
[node]
nid = 3120122
task = 1
type = 6
state = 0
desc = 判断料盘是否结束
cmd = p3 = p(h) +x(c) +y(d)
[node]
nid = 3120123
task = 1
type = 7
state = 1
desc = node3
cmd = p3
[node]
nid = 3120124
task = 1
type = 22
state = 0
desc = 松开夹爪
cmd = 31 "grip " + str(t) + "  0"
[node]
nid = 3120125
task = 1
type = 14
state = 1
desc = node4
cmd = b=1
[node]
nid = 3120126
task = 1
type = 1
state = 0
desc = node5
cmd = 700
[node]
nid = 3120127
task = 1
type = 14
state = 1
desc = node6
cmd = a=0
[node]
nid = 3120128
task = 1
type = 1
state = 0
desc = node7
cmd = 50
[node]
nid = 3120129
task = 1
type = 15
state = 1
desc = node7
cmd = e=1 1000
[node]
nid = 3120130
task = 1
type = 22
state = 0
desc = node8
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
[step]
sid = 21202
bDisable = 0
desc = end
script:

script_end
node_count = 0