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342 lines
4.1 KiB
Plaintext
342 lines
4.1 KiB
Plaintext
version = 2021
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[proc]
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pid = 1010
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type = 0
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name = 放料到料仓
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start =
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pause =
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step_count = 3
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[step]
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sid = 21001
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bDisable = 0
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desc = 判断是否需要换盘
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script:
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script_end
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node_count = 4
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[node]
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nid = 3100101
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task = 1010
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type = 1
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state = 0
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desc = node1
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cmd = 0
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[node]
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nid = 3100102
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task = 1010
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type = 19
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state = 0
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desc = node2
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cmd = 1008
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[node]
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nid = 3100103
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task = 1010
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type = 10
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state = 0
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desc = node3
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cmd = t x y
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[node]
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nid = 3100104
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task = 1010
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type = 27
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state = 0
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desc = node4
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cmd = if (t1009==0) {pstart(1008);jump(3100102)}
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[step]
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sid = 21003
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bDisable = 0
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desc = 放料
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script:
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if (v==1)
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{//1号吸嘴
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a = "吸料上下气缸1"
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b = "吸料真空1吸"
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c = 0
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d = 0
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e = "吸料真空1检测"
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f = "吸料真空1破"
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}
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else if (v==2)
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{//2号吸嘴
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a = "吸料上下气缸2"
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b = "吸料真空2吸"
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c = v2x
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d = v2y
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e = "吸料真空2检测"
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f = "吸料真空2破"
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}
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else if (v==3)
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{//3号吸嘴
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a = "吸料上下气缸3"
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b = "吸料真空3吸"
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c = v3x
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d = v3y
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e = "吸料真空3检测"
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f = "吸料真空3破"
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}
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else if (v==4)
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{//3号吸嘴
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a = "吸料上下气缸4"
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b = "吸料真空4吸"
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c = v4x
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d = v4y
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e = "吸料真空4检测"
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f = "吸料真空4破"
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}
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script_end
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node_count = 33
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[node]
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nid = 3100321
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task = 1
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type = 6
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state = 0
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desc = node1
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cmd = p2 = p14
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[node]
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nid = 3100322
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task = 1
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type = 6
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state = 0
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desc = 判断料盘是否结束
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cmd = p2 = p2 :x(x) :y(y) :z(0)
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[node]
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nid = 3100324
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task = 1
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type = 27
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state = 0
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desc = node3
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cmd = offsety =0;offsetx =0
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[node]
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nid = 3100325
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task = 1
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type = 27
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state = 0
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desc = node4
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cmd = if(t!=2) jump(3100331)
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[node]
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nid = 3100326
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task = 1
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type = 7
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state = 0
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desc = node5
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cmd = p2
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[node]
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nid = 3100327
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task = 1
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type = 7
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state = 0
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desc = node6
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cmd = p2 +Z(61)
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[node]
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nid = 3100328
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task = 1
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type = 22
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state = 0
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desc = node7
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cmd = 31 "M3"
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[node]
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nid = 3100329
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task = 1
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type = 23
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state = 0
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desc = node7
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cmd = 31 "WaitM3" 5000 ret offsetx offsety
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[node]
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nid = 3100330
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task = 1
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type = 7
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state = 0
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desc = node8
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cmd = p2
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[node]
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nid = 3100348
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task = 1
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type = 27
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state = 0
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desc = node10
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cmd = if(ret ==-1)jump(3100350)
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[node]
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nid = 3100331
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task = 1
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type = 27
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state = 0
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desc = node9
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cmd = offsetx += c
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[node]
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nid = 3100333
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task = 1
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type = 27
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state = 0
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desc = node10
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cmd = offsety += d
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[node]
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nid = 3100334
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task = 1
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type = 27
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state = 0
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desc = node11
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cmd = offsetx += cameraoffsetx
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[node]
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nid = 3100335
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task = 1
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type = 27
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state = 0
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desc = node13
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cmd = offsety += cameraoffsety
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[node]
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nid = 3100336
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task = 1
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type = 6
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state = 0
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desc = node8
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cmd = p3 = p2 +x(offsetx) +y(offsety)
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[node]
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nid = 3100337
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task = 1
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type = 7
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state = 0
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desc = node17
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cmd = p3
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[node]
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nid = 3100338
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task = 1
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type = 14
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state = 0
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desc = node18
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cmd = a=1
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[node]
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nid = 3100340
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task = 1
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type = 27
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state = 0
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desc = node20
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cmd = if(t==2)jump(3100339)
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[node]
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nid = 3100341
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task = 1
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type = 7
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state = 0
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desc = node21
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cmd = p3 +Z(PutNGHeight)
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[node]
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nid = 3100323
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task = 1
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type = 27
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state = 0
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desc = node20
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cmd = jump(3100342)
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[node]
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nid = 3100339
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task = 1
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type = 7
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state = 0
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desc = node21
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cmd = p3 +Z(PutHeight)
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[node]
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nid = 3100342
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task = 1
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type = 14
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state = 0
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desc = node22
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cmd = b=0
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[node]
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nid = 3100343
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task = 1
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type = 14
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state = 0
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desc = node23
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cmd = f=1
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[node]
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nid = 3100344
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task = 1
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type = 1
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state = 0
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desc = node24
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cmd = 300
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[node]
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nid = 3100345
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task = 1
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type = 14
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state = 0
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desc = node25
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cmd = a=0
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[node]
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nid = 3100332
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task = 1
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type = 7
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state = 0
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desc = node25
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cmd = p3
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[node]
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nid = 3100346
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task = 1
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type = 14
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state = 0
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desc = node26
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cmd = f=0
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[node]
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nid = 3100347
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task = 1
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type = 22
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state = 0
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desc = node27
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cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
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[node]
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nid = 3100349
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task = 1
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type = 27
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state = 0
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desc = node29
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cmd = jump(3100353)
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[node]
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nid = 3100350
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task = 1
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type = 24
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state = 0
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desc = node30
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cmd = 1 "camera fail Are you Try again?"
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[node]
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nid = 3100351
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task = 1
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type = 0
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state = 0
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desc = 11qqqq
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cmd =
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[node]
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nid = 3100352
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task = 1
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type = 27
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state = 0
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desc = node32
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cmd = if(t1 == 4)jump(3100321)
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[node]
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nid = 3100353
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task = 1
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type = 1
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state = 0
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desc = node33
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cmd = 0
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[step]
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sid = 21002
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bDisable = 0
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desc = log记录
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script:
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if(t1 == 5) jump(21001)
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script_end
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node_count = 2
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[node]
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nid = 3100201
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task = 1010
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type = 0
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state = 0
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desc = 111QQ
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cmd =
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[node]
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nid = 3100202
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task = 1010
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type = 1
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state = 0
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desc = node2
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cmd = 0
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