version = 2021
[proc]
pid = 1018
type = 0
name = IO弹出空料仓
start = 空料仓弹出
pause = 
step_count = 8
[step]
sid = 21802
bDisable = 0
desc = 竞争信号
script:

script_end
node_count = 20
[node]
nid = 3180201
task = 1018
type = 17
state = 0
desc = node1
cmd = emptyevent=0
[node]
nid = 3180202
task = 1018
type = 27
state = 0
desc = node2
cmd = u1028=1
[node]
nid = 3180203
task = 1018
type = 19
state = 0
desc = node3
cmd = 1028
[node]
nid = 3180204
task = 1018
type = 18
state = 0
desc = node4
cmd = 1028 asyn
[node]
nid = 3180205
task = 1018
type = 1
state = 0
desc = node5
cmd = 1
[node]
nid = 3180206
task = 1018
type = 27
state = 0
desc = node6
cmd = if(1==rio("抽屉拉伸气缸3-")) jump(3180209)
[node]
nid = 3180217
task = 1018
type = 27
state = 0
desc = node7
cmd = redLight = 1
[node]
nid = 3180207
task = 1018
type = 24
state = 0
desc = node7
cmd = 0 "空料仓不在位,请把料仓推到位"
[node]
nid = 3180218
task = 1018
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3180208
task = 1018
type = 27
state = 0
desc = node8
cmd = if(0==rio("抽屉拉伸气缸3-")) jump(3180207)
[node]
nid = 3180209
task = 1018
type = 1
state = 0
desc = node9
cmd = 1
[node]
nid = 3180210
task = 1018
type = 14
state = 0
desc = node10
cmd = 抽屉锁3 = 1
[node]
nid = 3180211
task = 1018
type = 1
state = 0
desc = node11
cmd = 300
[node]
nid = 3180212
task = 1018
type = 27
state = 0
desc = node12
cmd = if(1==rio("抽屉锁3+")) jump(3180216)
[node]
nid = 3180213
task = 1018
type = 14
state = 0
desc = node13
cmd = 抽屉锁3 = 0
[node]
nid = 3180219
task = 1018
type = 27
state = 0
desc = node16
cmd = redLight = 1
[node]
nid = 3180214
task = 1018
type = 24
state = 0
desc = node14
cmd = 0 "抽屉锁 异常"
[node]
nid = 3180220
task = 1018
type = 27
state = 0
desc = node18
cmd = redLight = 0
[node]
nid = 3180215
task = 1018
type = 27
state = 0
desc = node15
cmd = jump(3180205)
[node]
nid = 3180216
task = 1018
type = 1
state = 0
desc = node16
cmd = 10
[step]
sid = 21803
bDisable = 0
desc = 退出空料仓
script:

script_end
node_count = 17
[node]
nid = 3180351
task = 5
type = 7
state = 0
desc = node1
cmd = p1
[node]
nid = 3180352
task = 5
type = 14
state = 0
desc = node2
cmd = 抽屉锁3=0
[node]
nid = 3180353
task = 5
type = 15
state = 0
desc = node3
cmd = 抽屉锁3-=1 -1
[node]
nid = 3180354
task = 5
type = 1
state = 0
desc = node4
cmd = 300
[node]
nid = 3180355
task = 5
type = 14
state = 0
desc = node5
cmd = 抽屉拉伸气缸3=1
[node]
nid = 3180356
task = 5
type = 15
state = 0
desc = node6
cmd = 抽屉拉伸气缸3+=1 5000
[node]
nid = 3180357
task = 5
type = 25
state = 0
desc = node7
cmd = "请更换空料仓"
[node]
nid = 3180358
task = 5
type = 15
state = 1
desc = node8
cmd = 料仓光电3=0 -1
[node]
nid = 3180359
task = 5
type = 1
state = 0
desc = node9
cmd = 300
[node]
nid = 3180360
task = 5
type = 15
state = 0
desc = node10
cmd = 空料仓弹出=1 -1
[node]
nid = 3180361
task = 5
type = 14
state = 0
desc = node11
cmd = 抽屉拉伸气缸3=0
[node]
nid = 3180362
task = 5
type = 15
state = 0
desc = node12
cmd = 抽屉拉伸气缸3-=1 5000
[node]
nid = 3180363
task = 5
type = 15
state = 1
desc = node13
cmd = 料仓光电3=1 -1
[node]
nid = 3180364
task = 5
type = 1
state = 0
desc = node14
cmd = 200
[node]
nid = 3180365
task = 5
type = 14
state = 0
desc = node15
cmd = 抽屉锁3=1
[node]
nid = 3180366
task = 5
type = 15
state = 0
desc = node16
cmd = 抽屉锁3+=1 -1
[node]
nid = 3180367
task = 5
type = 1
state = 0
desc = node17
cmd = 300
[step]
sid = 21804
bDisable = 0
desc = 夹紧气缸
script:

script_end
node_count = 2
[node]
nid = 3180401
task = 1018
type = 14
state = 0
desc = node1
cmd = 料仓夹磁气缸3=0
[node]
nid = 3180402
task = 1018
type = 15
state = 0
desc = node2
cmd = 料仓夹磁气缸3-=1 -1
[step]
sid = 21805
bDisable = 0
desc = 寻找空料仓层数
script:

script_end
node_count = 11
[node]
nid = 3180551
task = 5
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3180552
task = 5
type = 27
state = 0
desc = node2
cmd = emptynum =20
[node]
nid = 3180553
task = 5
type = 16
state = 1
desc = node3
cmd = 有无料盘检测3=1
[node]
nid = 3180554
task = 5
type = 6
state = 0
desc = node4
cmd = p6 = pallet(1,1,emptynum)
[node]
nid = 3180555
task = 5
type = 7
state = 0
desc = node5
cmd = p6
[node]
nid = 3180556
task = 5
type = 1
state = 0
desc = node6
cmd = 500
[node]
nid = 3180559
task = 5
type = 16
state = 0
desc = node7
cmd = 满料对射光电3=0
[node]
nid = 3180557
task = 5
type = 27
state = 0
desc = node7
cmd = emptynum--
[node]
nid = 3180561
task = 5
type = 27
state = 0
desc = node9
cmd = if(0==emptynum) jump(3180560)
[node]
nid = 3180558
task = 5
type = 27
state = 0
desc = node8
cmd = jump(3180554)
[node]
nid = 3180560
task = 5
type = 1
state = 0
desc = node10
cmd = 0
[step]
sid = 21806
bDisable = 0
desc = 到空料仓有料下一层
script:

script_end
node_count = 3
[node]
nid = 3180651
task = 5
type = 27
state = 0
desc = node1
cmd = emptynum++
[node]
nid = 3180652
task = 5
type = 6
state = 0
desc = node2
cmd = p6 = pallet(1,1,emptynum)
[node]
nid = 3180653
task = 5
type = 7
state = 0
desc = node3
cmd = p6
[step]
sid = 21809
bDisable = 0
desc = 跳转到结束
script:
jump(21807)

script_end
node_count = 0
[step]
sid = 21808
bDisable = 0
desc = 到空料仓第一层
script:

script_end
node_count = 2
[node]
nid = 3180851
task = 5
type = 6
state = 0
desc = node1
cmd = p6 = pallet(1,1,1)
[node]
nid = 3180852
task = 5
type = 7
state = 0
desc = node2
cmd = p6
[step]
sid = 21807
bDisable = 0
desc = end
script:

script_end
node_count = 2
[node]
nid = 3180701
task = 1018
type = 27
state = 0
desc = node1
cmd = emptyevent=0
[node]
nid = 3180702
task = 1018
type = 27
state = 0
desc = node2
cmd = u1028=0