You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
378 lines
4.6 KiB
Plaintext
378 lines
4.6 KiB
Plaintext
version = 2021
|
|
[proc]
|
|
pid = 1010
|
|
type = 0
|
|
name = 放料到料仓
|
|
start =
|
|
pause =
|
|
step_count = 3
|
|
[step]
|
|
sid = 21001
|
|
bDisable = 0
|
|
desc = 判断是否需要换盘
|
|
script:
|
|
|
|
script_end
|
|
node_count = 4
|
|
[node]
|
|
nid = 3100101
|
|
task = 1010
|
|
type = 1
|
|
state = 0
|
|
desc = node1
|
|
cmd = 0
|
|
[node]
|
|
nid = 3100102
|
|
task = 1010
|
|
type = 19
|
|
state = 0
|
|
desc = node2
|
|
cmd = 1008
|
|
[node]
|
|
nid = 3100103
|
|
task = 1010
|
|
type = 10
|
|
state = 0
|
|
desc = node3
|
|
cmd = t x y
|
|
[node]
|
|
nid = 3100104
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if (t1009==0) {pstart(1008);jump(3100102)}
|
|
[step]
|
|
sid = 21003
|
|
bDisable = 0
|
|
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 = 0
|
|
d = 0
|
|
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
|
|
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
|
|
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
|
|
e = "吸料真空4检测"
|
|
f = "吸料真空4破"
|
|
}
|
|
|
|
script_end
|
|
node_count = 38
|
|
[node]
|
|
nid = 3100321
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node1
|
|
cmd = p2 = p14
|
|
[node]
|
|
nid = 3100322
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = 判断料盘是否结束
|
|
cmd = p2 = p2 :x(x) :y(y) :z(0)
|
|
[node]
|
|
nid = 3100324
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = offsety =0;offsetx =0;ret=0
|
|
[node]
|
|
nid = 3100325
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if(t!=2) jump(3100331)
|
|
[node]
|
|
nid = 3100326
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node5
|
|
cmd = p2
|
|
[node]
|
|
nid = 3100327
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node6
|
|
cmd = p2 +Z(73)
|
|
[node]
|
|
nid = 3100354
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = 光源到位延时
|
|
cmd = 100
|
|
[node]
|
|
nid = 3100328
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node7
|
|
cmd = 31 "M3"
|
|
[node]
|
|
nid = 3100329
|
|
task = 1
|
|
type = 23
|
|
state = 0
|
|
desc = node7
|
|
cmd = 31 "WaitM3" 5000 ret offsetx offsety
|
|
[node]
|
|
nid = 3100330
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node8
|
|
cmd = p2
|
|
[node]
|
|
nid = 3100348
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = if(ret ==-1)jump(3100350)
|
|
[node]
|
|
nid = 3100331
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node9
|
|
cmd = offsetx += c
|
|
[node]
|
|
nid = 3100333
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = offsety += d
|
|
[node]
|
|
nid = 3100334
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = offsetx += cameraoffsetx
|
|
[node]
|
|
nid = 3100335
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node13
|
|
cmd = offsety += cameraoffsety
|
|
[node]
|
|
nid = 3100336
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node8
|
|
cmd = p3 = p2 +x(offsetx) +y(offsety)
|
|
[node]
|
|
nid = 3100337
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node17
|
|
cmd = p3
|
|
[node]
|
|
nid = 3100338
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node18
|
|
cmd = a=1
|
|
[node]
|
|
nid = 3100340
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node20
|
|
cmd = if(t==2)jump(3100355)
|
|
[node]
|
|
nid = 3100341
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node21
|
|
cmd = p3 +Z(PutNGHeight)
|
|
[node]
|
|
nid = 3100323
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node20
|
|
cmd = jump(3100342)
|
|
[node]
|
|
nid = 3100355
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node22
|
|
cmd = if(v==4)jump(3100357)
|
|
[node]
|
|
nid = 3100339
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node21
|
|
cmd = p3 +Z(PutHeight)
|
|
[node]
|
|
nid = 3100356
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node24
|
|
cmd = jump(3100342)
|
|
[node]
|
|
nid = 3100357
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node25
|
|
cmd = PutTotalZ = PutHeight+PutHeight4
|
|
[node]
|
|
nid = 3100358
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node26
|
|
cmd = p3 +Z(PutTotalZ)
|
|
[node]
|
|
nid = 3100342
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node22
|
|
cmd = b=0
|
|
[node]
|
|
nid = 3100343
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node23
|
|
cmd = f=1
|
|
[node]
|
|
nid = 3100344
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node24
|
|
cmd = 300
|
|
[node]
|
|
nid = 3100345
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node25
|
|
cmd = a=0
|
|
[node]
|
|
nid = 3100332
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node25
|
|
cmd = p3
|
|
[node]
|
|
nid = 3100346
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node26
|
|
cmd = f=0
|
|
[node]
|
|
nid = 3100347
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node27
|
|
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
|
|
[node]
|
|
nid = 3100349
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node29
|
|
cmd = jump(3100353)
|
|
[node]
|
|
nid = 3100350
|
|
task = 1
|
|
type = 24
|
|
state = 0
|
|
desc = node30
|
|
cmd = 1 "camera fail Are you Try again?"
|
|
[node]
|
|
nid = 3100351
|
|
task = 1
|
|
type = 0
|
|
state = 0
|
|
desc = 11qqqq
|
|
cmd =
|
|
[node]
|
|
nid = 3100352
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node32
|
|
cmd = if(t1 == 4)jump(3100321)
|
|
[node]
|
|
nid = 3100353
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node33
|
|
cmd = 0
|
|
[step]
|
|
sid = 21002
|
|
bDisable = 0
|
|
desc = log记录
|
|
script:
|
|
if(t1 == 5) jump(21001)
|
|
|
|
script_end
|
|
node_count = 2
|
|
[node]
|
|
nid = 3100201
|
|
task = 1010
|
|
type = 0
|
|
state = 0
|
|
desc = 111QQ
|
|
cmd =
|
|
[node]
|
|
nid = 3100202
|
|
task = 1010
|
|
type = 1
|
|
state = 0
|
|
desc = node2
|
|
cmd = 0
|