version = 2021
[proc]
pid = 1045
type = 0
name = 料仓放料(已知xy)
start = 
pause = 
step_count = 3
[step]
sid = 24502
state = 1
desc = 到料仓避位
script:

script_end
node_count = 1
[node]
nid = 3450201
task = 1045
type = 18
state = 0
desc = node1
cmd = 1046
[step]
sid = 24503
state = 0
desc = 到放料位上方
script:
if (t==1) downh=s1
elseif(t==2)downh=s2
elseif(t==3)downh=s3
elseif(t==4)downh=s4
else downh=s5
if (v==1)
{//1号吸嘴
    downh += v1z
    x += v1x + cameraoffsetx
    y += v1y + cameraoffsety
    b = "吸料真空1吸"
    e = "吸料真空1检测"
    f = "吸料真空1破"
}
elseif (v==2)
{//2号吸嘴
    downh += v2z
    x += v2x + cameraoffsetx
    y += v2y + cameraoffsety
    b = "吸料真空2吸"
    e = "吸料真空2检测"
    f = "吸料真空2破"
}
elseif (v==3)
{//3号吸嘴
    downh += v3z
    x += v3x + cameraoffsetx
    y += v3y + cameraoffsety
    b = "吸料真空3吸"
    e = "吸料真空3检测"
    f = "吸料真空3破"
}
elseif (v==4)
{//3号吸嘴
    downh += v4z
    x += v4x + cameraoffsetx
    y += v4y + cameraoffsety
    b = "吸料真空4吸"
    e = "吸料真空4检测"
    f = "吸料真空4破"
}
script_end
node_count = 8
[node]
nid = 3450301
task = 1045
type = 18
state = 0
desc = node1
cmd = 1046
[node]
nid = 3450302
task = 1045
type = 18
state = 0
desc = node2
cmd = 1053
[node]
nid = 3450303
task = 1045
type = 19
state = 1
desc = node3
cmd = 1046
[node]
nid = 3450304
task = 1045
type = 1
state = 0
desc = node4
cmd = 0
[node]
nid = 3450305
task = 1045
type = 27
state = 0
desc = node5
cmd = if(1==v) vacuum1=0
[node]
nid = 3450306
task = 1045
type = 27
state = 0
desc = node6
cmd = if(2==v) vacuum2=0
[node]
nid = 3450307
task = 1045
type = 27
state = 0
desc = node7
cmd = if(3==v) vacuum3=0
[node]
nid = 3450308
task = 1045
type = 27
state = 0
desc = node8
cmd = if(4==v) vacuum4=0
[step]
sid = 24504
state = 0
desc = 放料
script:

script_end
node_count = 11
[node]
nid = 3450401
task = 1045
type = 27
state = 0
desc = node1
cmd = h = upz
[node]
nid = 3450402
task = 1045
type = 18
state = 0
desc = node2
cmd = 1054
[node]
nid = 3450403
task = 1045
type = 14
state = 1
desc = node3
cmd = b=0
[node]
nid = 3450404
task = 1045
type = 14
state = 1
desc = node4
cmd = f=1
[node]
nid = 3450405
task = 1045
type = 1
state = 0
desc = node5
cmd = 300
[node]
nid = 3450410
task = 1045
type = 14
state = 1
desc = 提前关破真空
cmd = f=0
[node]
nid = 3450406
task = 1045
type = 18
state = 0
desc = node6
cmd = 1055
[node]
nid = 3450407
task = 1045
type = 14
state = 1
desc = node7
cmd = f=0
[node]
nid = 3450412
task = 1045
type = 27
state = 1
desc = node9
cmd = if (6==t) t=3
[node]
nid = 3450408
task = 1045
type = 22
state = 0
desc = node8
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
[node]
nid = 3450409
task = 1045
type = 27
state = 0
desc = node9
cmd = OKall++