version = 2021
[proc]
pid = 1010
type = 0
name = 放料到NG料仓
start = 
pause = 
step_count = 5
[step]
sid = 21001
bDisable = 0
desc = 判断是否需要换盘
script:
//判断是否OK仓库
if (t == 2)
{
    pstart(1023);
    jump(21002);
}
elseif (t == 3) msg = "请清理1次重测仓后按确认键继续."
elseif (t==4) msg = "请清理2次重测仓后按确认键继续."
elseif (t==5) msg = "请清理NG仓后按确认键继续."

script_end
node_count = 6
[node]
nid = 3100101
task = 1010
type = 10
state = 1
desc = node1
cmd = t x y
[node]
nid = 3100102
task = 1010
type = 27
state = 1
desc = node2
cmd = if (t1010>0) jump(3100106)
[node]
nid = 3100103
task = 1010
type = 24
state = 1
desc = node3
cmd = 0 msg
[node]
nid = 3100104
task = 1010
type = 22
state = 1
desc = node4
cmd = 31 "stockreset " + str(t)
[node]
nid = 3100105
task = 1010
type = 26
state = 1
desc = 结束
cmd = 3100101
[node]
nid = 3100106
task = 1010
type = 1
state = 1
desc = node6
cmd = 0
[step]
sid = 21004
bDisable = 0
desc = 避位判断
script:

script_end
node_count = 11
[node]
nid = 3100431
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),"Point_s")
[node]
nid = 3100432
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3100433
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3100434
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3100441)
[node]
nid = 3100435
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3100436
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3100437
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3100438
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3100441)
[node]
nid = 3100439
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3100440
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3100441
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 21005
bDisable = 0
desc = 启动NG放料流程
script:

script_end
node_count = 6
[node]
nid = 3100501
task = 1010
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3100502
task = 1010
type = 24
state = 1
desc = node2
cmd = 0 "NG放料启动"
[node]
nid = 3100503
task = 1010
type = 19
state = 0
desc = node3
cmd = 1039
[node]
nid = 3100504
task = 1010
type = 18
state = 0
desc = node4
cmd = 1039
[node]
nid = 3100505
task = 1010
type = 19
state = 0
desc = node5
cmd = 1041
[node]
nid = 3100506
task = 1010
type = 18
state = 0
desc = node6
cmd = 1041
[step]
sid = 21003
bDisable = 1
desc = 放料
script:
if (v==1)
{//1号吸嘴
    a = "吸料上下气缸1"
    b = "吸料真空1吸"
    c = v1x
    d = v1y
    h = v1z
    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
    h = v2z
    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
    h = v3z
    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
    h = v4z
    e = "吸料真空4检测"
    f = "吸料真空4破"
}

script_end
node_count = 22
[node]
nid = 3100321
task = 1
type = 27
state = 0
desc = node1
cmd = x += c + cameraoffsetx
[node]
nid = 3100322
task = 1
type = 27
state = 0
desc = node2
cmd = y += d + cameraoffsety
[node]
nid = 3100323
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3100324
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3100329)
[node]
nid = 3100325
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3100326
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3100327
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p16 :x(x) :y(y) :z(safez)
[node]
nid = 3100328
task = 1
type = 7
state = 0
desc = node8
cmd = p2
[node]
nid = 3100329
task = 1
type = 14
state = 0
desc = node9
cmd = a=1
[node]
nid = 3100330
task = 1
type = 6
state = 1
desc = node10
cmd = p2 = p16 :x(x) :y(y) +z(cameraoffsetz)
[node]
nid = 3100341
task = 1
type = 6
state = 0
desc = node10
cmd = p2 = p16 :x(x) :y(y) :z(zhNGPut)
[node]
nid = 3100331
task = 1
type = 7
state = 0
desc = node11
cmd = p2 +z(-10)
[node]
nid = 3100332
task = 1
type = 7
state = 0
desc = node12
cmd = p2 +z(h)
[node]
nid = 3100333
task = 1
type = 14
state = 0
desc = node13
cmd = b=0
[node]
nid = 3100334
task = 1
type = 14
state = 0
desc = node14
cmd = f=1
[node]
nid = 3100335
task = 1
type = 1
state = 0
desc = node15
cmd = 300
[node]
nid = 3100336
task = 1
type = 14
state = 0
desc = node16
cmd = a=0
[node]
nid = 3100337
task = 1
type = 14
state = 0
desc = node17
cmd = f=0
[node]
nid = 3100338
task = 1
type = 7
state = 0
desc = node18
cmd = p2 +z(-10)
[node]
nid = 3100339
task = 1
type = 22
state = 0
desc = node19
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
[node]
nid = 3100340
task = 1
type = 1
state = 0
desc = node20
cmd = 0
[node]
nid = 3100342
task = 1
type = 27
state = 0
desc = node22
cmd = vlog("Tray-"+str(t),"Point_e")
[step]
sid = 21002
bDisable = 0
desc = log记录
script:

script_end
node_count = 3
[node]
nid = 3100203
task = 1010
type = 19
state = 0
desc = node1
cmd = 1023
[node]
nid = 3100201
task = 1010
type = 0
state = 1
desc = 111QQ
cmd = 
[node]
nid = 3100202
task = 1010
type = 1
state = 0
desc = node2
cmd = 0