version = 2021
[proc]
pid = 1010
type = 0
name = 自动标定吸嘴偏移
start = 
pause = 
step_count = 10
[step]
sid = 21001
bDisable = 0
desc = 初始化
script:
//必须示教好 P20 P21
i = 0 //总偏移量
j = 5 //每次x轴偏移量
count = 0 //压印次数
exit = 0 //失败退出信号
x1 = 0  //标定偏移
y1 = 0
x2 = 0
y2 = 0
x3 = 0
y3 = 0
x4 = 0
y4 = 0
cab_zpos = 0 //z拍照位置
script_end
node_count = 4
[node]
nid = 3100101
task = 1010
type = 14
state = 0
desc = node1
cmd = 吸料上下气缸1 = 0
[node]
nid = 3100102
task = 1010
type = 14
state = 0
desc = node2
cmd = 吸料上下气缸2 = 0
[node]
nid = 3100103
task = 1010
type = 14
state = 0
desc = node3
cmd = 吸料上下气缸3 = 0
[node]
nid = 3100104
task = 1010
type = 14
state = 0
desc = node4
cmd = 吸料上下气缸4 = 0
[step]
sid = 21002
bDisable = 0
desc = 取印尼
script:

script_end
node_count = 17
[node]
nid = 3100251
task = 1
type = 2
state = 0
desc = node1
cmd = 20 20 20
[node]
nid = 3100252
task = 1
type = 6
state = 0
desc = node2
cmd = p2 = p0 :z(safez)
[node]
nid = 3100253
task = 1
type = 7
state = 0
desc = node3
cmd = p2
[node]
nid = 3100254
task = 1
type = 6
state = 0
desc = node4
cmd = p2 = p20 :z(safez)
[node]
nid = 3100255
task = 1
type = 7
state = 0
desc = node5
cmd = p2
[node]
nid = 3100256
task = 1
type = 7
state = 0
desc = node6
cmd = p20
[node]
nid = 3100257
task = 1
type = 14
state = 0
desc = node7
cmd = 吸料上下气缸1 = 1
[node]
nid = 3100258
task = 1
type = 14
state = 0
desc = node8
cmd = 吸料上下气缸2 = 1
[node]
nid = 3100259
task = 1
type = 14
state = 0
desc = node9
cmd = 吸料上下气缸3 = 1
[node]
nid = 3100260
task = 1
type = 14
state = 0
desc = node10
cmd = 吸料上下气缸4 = 1
[node]
nid = 3100261
task = 1
type = 1
state = 0
desc = node11
cmd = 500
[node]
nid = 3100262
task = 1
type = 14
state = 0
desc = node12
cmd = 吸料上下气缸1 = 0
[node]
nid = 3100263
task = 1
type = 14
state = 0
desc = node13
cmd = 吸料上下气缸2 = 0
[node]
nid = 3100264
task = 1
type = 14
state = 0
desc = node14
cmd = 吸料上下气缸3 = 0
[node]
nid = 3100265
task = 1
type = 14
state = 0
desc = node15
cmd = 吸料上下气缸4 = 0
[node]
nid = 3100266
task = 1
type = 7
state = 0
desc = node16
cmd = p2
[node]
nid = 3100267
task = 1
type = 1
state = 0
desc = node17
cmd = 0
[step]
sid = 21003
bDisable = 0
desc = 压印尼
script:

script_end
node_count = 15
[node]
nid = 3100351
task = 1
type = 6
state = 0
desc = node1
cmd = p3 = p21 +x(i)
[node]
nid = 3100352
task = 1
type = 6
state = 0
desc = node2
cmd = p2 = p3 :z(safez)
[node]
nid = 3100353
task = 1
type = 7
state = 0
desc = node3
cmd = p2
[node]
nid = 3100354
task = 1
type = 14
state = 0
desc = node4
cmd = 吸料上下气缸1 = 1
[node]
nid = 3100355
task = 1
type = 14
state = 0
desc = node5
cmd = 吸料上下气缸2 = 1
[node]
nid = 3100356
task = 1
type = 14
state = 0
desc = node6
cmd = 吸料上下气缸3 = 1
[node]
nid = 3100357
task = 1
type = 14
state = 0
desc = node7
cmd = 吸料上下气缸4 = 1
[node]
nid = 3100358
task = 1
type = 7
state = 0
desc = node8
cmd = p3
[node]
nid = 3100359
task = 1
type = 1
state = 0
desc = node9
cmd = 500
[node]
nid = 3100360
task = 1
type = 14
state = 0
desc = node10
cmd = 吸料上下气缸1 = 0
[node]
nid = 3100361
task = 1
type = 14
state = 0
desc = node11
cmd = 吸料上下气缸2 = 0
[node]
nid = 3100362
task = 1
type = 14
state = 0
desc = node12
cmd = 吸料上下气缸3 = 0
[node]
nid = 3100363
task = 1
type = 14
state = 0
desc = node13
cmd = 吸料上下气缸4 = 0
[node]
nid = 3100364
task = 1
type = 7
state = 0
desc = node14
cmd = p2
[node]
nid = 3100365
task = 1
type = 1
state = 0
desc = node15
cmd = 0
[step]
sid = 21004
bDisable = 0
desc = 1号吸嘴拍照
script:
x = -1*cameraoffsetx
y = -1*cameraoffsety
script_end
node_count = 14
[node]
nid = 3100451
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y) :z(cab_zpos)
[node]
nid = 3100452
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100453
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100454
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret  offsetx offsety
[node]
nid = 3100455
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100462)//-->next
[node]
nid = 3100456
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100457
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100458
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100459
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100460
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100453);}
[node]
nid = 3100461
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100462
task = 1
type = 27
state = 0
desc = node12
cmd = x1 += offsetx
[node]
nid = 3100463
task = 1
type = 27
state = 0
desc = node13
cmd = y1 += offsety
[node]
nid = 3100464
task = 1
type = 1
state = 0
desc = node14
cmd = 0
[step]
sid = 21005
bDisable = 0
desc = 2号吸嘴拍照
script:
x = -1*(v2x+cameraoffsetx)
y = -1*(v2y+cameraoffsety)
script_end
node_count = 14
[node]
nid = 3100551
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y) :z(cab_zpos)
[node]
nid = 3100552
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100553
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100554
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret  offsetx offsety
[node]
nid = 3100555
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100562)//-->next
[node]
nid = 3100556
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100557
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100558
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100559
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100560
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100553);}
[node]
nid = 3100561
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100562
task = 1
type = 27
state = 0
desc = node12
cmd = x2 += offsetx
[node]
nid = 3100563
task = 1
type = 27
state = 0
desc = node13
cmd = y2 += offsety
[node]
nid = 3100564
task = 1
type = 1
state = 0
desc = node14
cmd = 0
[step]
sid = 21006
bDisable = 0
desc = 3号吸嘴拍照
script:
x = -1*(v3x+cameraoffsetx)
y = -1*(v3y+cameraoffsety)
script_end
node_count = 14
[node]
nid = 3100651
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y) :z(cab_zpos)
[node]
nid = 3100652
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100653
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100654
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret  offsetx offsety
[node]
nid = 3100655
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100662)//-->next
[node]
nid = 3100656
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100657
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100658
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100659
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100660
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100653);}
[node]
nid = 3100661
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100662
task = 1
type = 27
state = 0
desc = node12
cmd = x3 += offsetx
[node]
nid = 3100663
task = 1
type = 27
state = 0
desc = node13
cmd = y3 += offsety
[node]
nid = 3100664
task = 1
type = 1
state = 0
desc = node14
cmd = 0
[step]
sid = 21007
bDisable = 0
desc = 4号吸嘴拍照
script:
x = -1*(v4x+cameraoffsetx)
y = -1*(v4y+cameraoffsety)
script_end
node_count = 14
[node]
nid = 3100751
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y) :z(cab_zpos)
[node]
nid = 3100752
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100753
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100754
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret  offsetx offsety
[node]
nid = 3100755
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100762)//-->next
[node]
nid = 3100756
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100757
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100758
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100759
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100760
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100753);}
[node]
nid = 3100761
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100762
task = 1
type = 27
state = 0
desc = node12
cmd = x4 += offsetx
[node]
nid = 3100763
task = 1
type = 27
state = 0
desc = node13
cmd = y4 += offsety
[node]
nid = 3100764
task = 1
type = 1
state = 0
desc = node14
cmd = 0
[step]
sid = 21008
bDisable = 0
desc = 循环3次
script:
count++
i += j //偏移量增加
if (exit==0 && count < 3)
{
    jump(21003)
    return;
}
script_end
node_count = 2
[node]
nid = 3100801
task = 1010
type = 16
state = 0
desc = node1
cmd = exit=1
[node]
nid = 3100802
task = 1010
type = 24
state = 0
desc = node2
cmd = 0 "标定失败."
[step]
sid = 21009
bDisable = 0
desc = 计算偏移量
script:
if (exit==1)
{
    jump(21010)
    return;
}
//取平均值
x1 /= count
y1 /= count
x2 /= count
y2 /= count
x3 /= count
y3 /= count
x4 /= count
y4 /= count

msg = "标定完成\n吸嘴1误差:x=" + str(x1) + " y=" + str(y1) + "\n吸嘴2误差:x=" + str(x2) + " y=" + str(y2)+ "\n吸嘴3误差:x=" + str(x3) + " y=" + str(y3)+ "\n吸嘴4误差:x=" + str(x4) + " y=" + str(y4) + "\n\n确认更新到配置吗?"
script_end
node_count = 23
[node]
nid = 3100901
task = 1010
type = 24
state = 0
desc = node1
cmd = 1 msg
[node]
nid = 3100902
task = 1010
type = 27
state = 0
desc = node2
cmd = if (4 != t1010) jump(3100923)
[node]
nid = 3100903
task = 1010
type = 27
state = 0
desc = node3
cmd = v1x = 0 v1y = 0
[node]
nid = 3100904
task = 1010
type = 27
state = 0
desc = node4
cmd = v2x = x2 - x1
[node]
nid = 3100905
task = 1010
type = 27
state = 0
desc = node5
cmd = v2y = y2 - y1
[node]
nid = 3100906
task = 1010
type = 27
state = 0
desc = node6
cmd = v3x = x3 - x1
[node]
nid = 3100907
task = 1010
type = 27
state = 0
desc = node7
cmd = v3y = y3 - y1
[node]
nid = 3100908
task = 1010
type = 27
state = 0
desc = node8
cmd = v4x = x4 - x1
[node]
nid = 3100909
task = 1010
type = 27
state = 0
desc = node9
cmd = v4y = y4 - y1
[node]
nid = 3100910
task = 1010
type = 27
state = 0
desc = node10
cmd = cameraoffsetx += x1
[node]
nid = 3100911
task = 1010
type = 27
state = 0
desc = node11
cmd = cameraoffsety += y1
[node]
nid = 3100912
task = 1010
type = 27
state = 0
desc = node12
cmd = config("vacm", "xoffset1", v1x)
[node]
nid = 3100913
task = 1010
type = 27
state = 0
desc = node13
cmd = config("vacm", "yoffset1", v1y)
[node]
nid = 3100914
task = 1010
type = 27
state = 0
desc = node14
cmd = config("vacm", "xoffset2", v2x)
[node]
nid = 3100915
task = 1010
type = 27
state = 0
desc = node15
cmd = config("vacm", "yoffset2", v2y)
[node]
nid = 3100916
task = 1010
type = 27
state = 0
desc = node16
cmd = config("vacm", "xoffset3", v3x)
[node]
nid = 3100917
task = 1010
type = 27
state = 0
desc = node17
cmd = config("vacm", "yoffset3", v3y)
[node]
nid = 3100918
task = 1010
type = 27
state = 0
desc = node18
cmd = config("vacm", "xoffset4", v4x)
[node]
nid = 3100919
task = 1010
type = 27
state = 0
desc = node19
cmd = config("vacm", "yoffset4", v4y)
[node]
nid = 3100920
task = 1010
type = 27
state = 0
desc = node20
cmd = config("vacm", "cameraoffsetx", cameraoffsetx)
[node]
nid = 3100921
task = 1010
type = 27
state = 0
desc = node21
cmd = config("vacm", "cameraoffsety", cameraoffsety)
[node]
nid = 3100922
task = 1010
type = 24
state = 0
desc = node22
cmd = 0 "更新成功，可重复启动一次验证标定."
[node]
nid = 3100923
task = 1010
type = 1
state = 0
desc = node23
cmd = 0
[step]
sid = 21010
bDisable = 0
desc = end
script:

script_end
node_count = 0