version = 2021
[proc]
pid = 1009
type = 0
name = 料仓取料
start = 
pause = 
step_count = 4
[step]
sid = 20901
bDisable = 0
desc = 判断是否需要换盘
script:

script_end
node_count = 5
[node]
nid = 3090101
task = 1009
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3090102
task = 1009
type = 19
state = 0
desc = node2
cmd = 1014
[node]
nid = 3090103
task = 1009
type = 22
state = 0
desc = 获取位置
cmd = 31 "posget 1"
[node]
nid = 3090104
task = 1009
type = 27
state = 0
desc = node4
cmd = if (res!=0) {pstart(1014);jump(3090102)}
[node]
nid = 3090105
task = 1009
type = 27
state = 0
desc = node5
cmd = ntake--
[step]
sid = 20904
bDisable = 0
desc = 避位判断
script:

script_end
node_count = 11
[node]
nid = 3090431
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+ "-Point_s")
[node]
nid = 3090432
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3090433
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3090434
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3090441)
[node]
nid = 3090435
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3090436
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3090437
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3090438
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3090441)
[node]
nid = 3090439
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3090440
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3090441
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 20903
bDisable = 0
desc = 取料
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 = 24
[node]
nid = 3090321
task = 1
type = 27
state = 0
desc = node1
cmd = x += c + cameraoffsetx
[node]
nid = 3090322
task = 1
type = 27
state = 0
desc = node2
cmd = y += d + cameraoffsety
[node]
nid = 3090323
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3090324
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3090329)
[node]
nid = 3090325
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3090326
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3090327
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p14 :x(x) :y(y) :z(safez)
[node]
nid = 3090328
task = 1
type = 7
state = 0
desc = node8
cmd = p2
[node]
nid = 3090329
task = 1
type = 6
state = 1
desc = node9
cmd = p2 = p14 :x(x) :y(y) +z(cameraoffsetz)
[node]
nid = 3090342
task = 1
type = 6
state = 0
desc = 直接定位高度
cmd = p2 = p14 :x(x) :y(y) :z(zhTrayTake)
[node]
nid = 3090330
task = 1
type = 14
state = 0
desc = node10
cmd = a=1
[node]
nid = 3090331
task = 1
type = 14
state = 0
desc = node11
cmd = b=1
[node]
nid = 3090332
task = 1
type = 7
state = 0
desc = 取料点上方一点点
cmd = p2 +z(-10)
[node]
nid = 3090340
task = 1
type = 2
state = 0
desc = node13
cmd = 50 30 30
[node]
nid = 3090333
task = 1
type = 7
state = 0
desc = node13
cmd = p2 +z(h)
[node]
nid = 3090334
task = 1
type = 1
state = 0
desc = node14
cmd = 300
[node]
nid = 3090335
task = 1
type = 14
state = 1
desc = node15
cmd = a=0
[node]
nid = 3090339
task = 1
type = 1
state = 1
desc = node16
cmd = 100
[node]
nid = 3090336
task = 1
type = 7
state = 0
desc = node16
cmd = p2 +z(-10)
[node]
nid = 3090343
task = 1
type = 14
state = 0
desc = node20
cmd = a=0
[node]
nid = 3090341
task = 1
type = 2
state = 0
desc = node19
cmd = 100 100 100
[node]
nid = 3090337
task = 1
type = 15
state = 0
desc = node17
cmd = e=1 1000
[node]
nid = 3090338
task = 1
type = 22
state = 0
desc = node18
cmd = 31 "create " + str(sn) + " " + str(v)
[node]
nid = 3090344
task = 1
type = 27
state = 0
desc = node24
cmd = totalall++
[step]
sid = 20902
bDisable = 0
desc = 发送log记录
script:

script_end
node_count = 3
[node]
nid = 3090201
task = 1009
type = 0
state = 0
desc = 区11
cmd = 
[node]
nid = 3090202
task = 1009
type = 1
state = 0
desc = node2
cmd = 0
[node]
nid = 3090203
task = 1009
type = 27
state = 0
desc = node3
cmd = vlog("Tray-"+str(t),str(v)+"-Point_e")