version = 2021
[proc]
pid = 1051
type = 0
name = 到治具取料上方
start = 
pause = 
step_count = 1
[step]
sid = 25101
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 = v1x
    d = v1y
    h = v1z
    e = "吸料真空1检测"
    f = "吸料真空1破"
}
elseif (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"
}
elseif (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"
}
elseif (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"
}
if (t==1)
{//1号夹具
    fixair = "治具气缸1"
}
elseif (t==2)
{//2号夹具
    fixair = "治具气缸2"
}
elseif (t==3)
{//3号夹具
    fixair = "治具气缸3"
}
elseif (t==4)
{//4号夹具
    fixair = "治具气缸4"
}
elseif (t==5)
{//5号夹具
    fixair = "治具气缸5"
}
elseif (t==6)
{//6号夹具
    fixair = "治具气缸6"
}

script_end
node_count = 17
[node]
nid = 3510151
task = 1
type = 27
state = 0
desc = node1
cmd = i = 50 + t - 1
[node]
nid = 3510152
task = 1
type = 27
state = 0
desc = node2
cmd = c += cameraoffsetx
[node]
nid = 3510153
task = 1
type = 27
state = 0
desc = node3
cmd = d += cameraoffsety
[node]
nid = 3510154
task = 1
type = 27
state = 0
desc = node4
cmd = tmp = rpos(51002)//取料Y1轴
[node]
nid = 3510155
task = 1
type = 27
state = 0
desc = node5
cmd = if (tmp<0) jump(3510164)//在治具侧 跳转
[node]
nid = 3510156
task = 1
type = 6
state = 0
desc = node6
cmd = p2 = p0 :z(safez)
[node]
nid = 3510157
task = 1
type = 7
state = 0
desc = node7
cmd = p2
[node]
nid = 3510158
task = 1
type = 27
state = 0
desc = node8
cmd = if (t<6) jump(3510162)
[node]
nid = 3510159
task = 1
type = 27
state = 0
desc = node9
cmd = tmp = rpos(51001)
[node]
nid = 3510160
task = 1
type = 6
state = 0
desc = node10
cmd = p2 = p(i) :x(tmp) :z(safez)
[node]
nid = 3510161
task = 1
type = 7
state = 0
desc = node11
cmd = p2
[node]
nid = 3510162
task = 1
type = 6
state = 0
desc = node12
cmd = p2 = p(i) +x(c) +y(d) :z(safez)
[node]
nid = 3510163
task = 1
type = 7
state = 0
desc = node13
cmd = p2
[node]
nid = 3510164
task = 1
type = 27
state = 0
desc = node14
cmd = h -= upz //上方10mm
[node]
nid = 3510165
task = 1
type = 6
state = 0
desc = node15
cmd = p2 = p(i) +x(c) +y(d) +z(h)
[node]
nid = 3510166
task = 1
type = 7
state = 0
desc = node16
cmd = p2
[node]
nid = 3510167
task = 1
type = 1
state = 0
desc = node17
cmd = 0