version = 2021
[proc]
pid = 1044
type = 0
name = 料仓取料动作
start = 
pause = 
step_count = 3
[step]
sid = 24402
bDisable = 0
desc = 避位判断
script:

script_end
node_count = 1
[node]
nid = 3440201
task = 1044
type = 18
state = 0
desc = node1
cmd = 1046
[step]
sid = 24403
bDisable = 0
desc = 取料
script:
//计算点位索引
i = 14    // + t - 1
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 = 34
[node]
nid = 3440351
task = 1
type = 27
state = 0
desc = node1
cmd = x += c + cameraoffsetx
[node]
nid = 3440352
task = 1
type = 27
state = 0
desc = node2
cmd = y += d + cameraoffsety
[node]
nid = 3440353
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3440354
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3440360)
[node]
nid = 3440355
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3440356
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3440357
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p(i) :x(x) :y(y) :z(safez)
[node]
nid = 3440358
task = 1
type = 7
state = 0
desc = node8
cmd = p2
[node]
nid = 3440359
task = 1
type = 6
state = 1
desc = node9
cmd = p2 = p(i) :x(x) :y(y) +z(cameraoffsetz)
[node]
nid = 3440360
task = 1
type = 6
state = 0
desc = 直接定位高度
cmd = p2 = p(i) :x(x) :y(y) :z(zhTrayTake)
[node]
nid = 3440361
task = 1
type = 14
state = 0
desc = node10
cmd = a=1
[node]
nid = 3440362
task = 1
type = 14
state = 0
desc = node11
cmd = b=1
[node]
nid = 3440363
task = 1
type = 7
state = 0
desc = 取料点上方一点点
cmd = p2 +z(-10)
[node]
nid = 3440364
task = 1
type = 2
state = 0
desc = node13
cmd = 50 30 30
[node]
nid = 3440365
task = 1
type = 7
state = 0
desc = node13
cmd = p2 +z(h)
[node]
nid = 3440366
task = 1
type = 1
state = 0
desc = node14
cmd = 300
[node]
nid = 3440367
task = 1
type = 14
state = 1
desc = node15
cmd = a=0
[node]
nid = 3440368
task = 1
type = 1
state = 1
desc = node16
cmd = 100
[node]
nid = 3440369
task = 1
type = 7
state = 0
desc = node16
cmd = p2 +z(-10)
[node]
nid = 3440370
task = 1
type = 14
state = 1
desc = node20
cmd = a=0
[node]
nid = 3440371
task = 1
type = 2
state = 0
desc = node19
cmd = 100 100 100
[node]
nid = 3440372
task = 1
type = 27
state = 1
desc = 禁用真空吸检测
cmd = jump(3440375)
[node]
nid = 3440376
task = 1
type = 27
state = 0
desc = node23
cmd = if(1==rio(str(e))) jump(3440375)//-->next
[node]
nid = 3440377
task = 1
type = 27
state = 0
desc = node24
cmd = redLight = 1
[node]
nid = 3440378
task = 1
type = 27
state = 0
desc = node25
cmd = wlog("ERROR START",-11,"Vacuum fail","")
[node]
nid = 3440379
task = 1
type = 24
state = 0
desc = node26
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3440380
task = 1
type = 27
state = 0
desc = node27
cmd = redLight = 0
[node]
nid = 3440381
task = 1
type = 27
state = 0
desc = node28
cmd = h=h+0.01
[node]
nid = 3440382
task = 1
type = 27
state = 0
desc = node29
cmd = if (4==t1){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3440360);}//-->try
[node]
nid = 3440383
task = 1
type = 27
state = 0
desc = node30
cmd = wlog("ERROR END",-11,"Vacuum To Next","");
[node]
nid = 3440375
task = 1
type = 1
state = 0
desc = node23
cmd = 0
[node]
nid = 3440384
task = 1
type = 14
state = 0
desc = node20
cmd = a=0
[node]
nid = 3440373
task = 1
type = 22
state = 0
desc = node18
cmd = 31 "create " + str(sn) + " " + str(v)
[node]
nid = 3440374
task = 1
type = 27
state = 0
desc = node24
cmd = totalall++
[step]
sid = 24404
bDisable = 0
desc = 真空检测
script:

script_end
node_count = 5
[node]
nid = 3440401
task = 1044
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3440402
task = 1044
type = 27
state = 2
desc = node2
cmd = if(1==v) vacuum1=1
[node]
nid = 3440403
task = 1044
type = 27
state = 2
desc = node3
cmd = if(2==v) vacuum2=1
[node]
nid = 3440404
task = 1044
type = 27
state = 2
desc = node4
cmd = if(3==v) vacuum3=1
[node]
nid = 3440405
task = 1044
type = 27
state = 2
desc = node5
cmd = if(4==v) vacuum4=1