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946 lines
12 KiB
Plaintext
946 lines
12 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 = 自动标定吸嘴偏移
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start =
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pause =
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step_count = 10
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[step]
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sid = 21001
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bDisable = 0
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desc = 初始化
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script:
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//必须示教好 P20 P21
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i = 0 //总偏移量
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j = 5 //每次x轴偏移量
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count = 0 //压印次数
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exit = 0 //失败退出信号
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x1 = 0 //标定偏移
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y1 = 0
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x2 = 0
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y2 = 0
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x3 = 0
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y3 = 0
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x4 = 0
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y4 = 0
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cab_zpos = 0 //z拍照位置
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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 = 14
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state = 0
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desc = node1
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cmd = 吸料上下气缸1 = 0
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[node]
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nid = 3100102
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task = 1010
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type = 14
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state = 0
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desc = node2
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cmd = 吸料上下气缸2 = 0
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[node]
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nid = 3100103
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task = 1010
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type = 14
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state = 0
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desc = node3
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cmd = 吸料上下气缸3 = 0
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[node]
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nid = 3100104
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task = 1010
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type = 14
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state = 0
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desc = node4
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cmd = 吸料上下气缸4 = 0
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[step]
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sid = 21002
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bDisable = 0
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desc = 取印尼
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script:
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script_end
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node_count = 17
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[node]
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nid = 3100251
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task = 1
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type = 2
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state = 0
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desc = node1
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cmd = 20 20 20
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[node]
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nid = 3100252
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task = 1
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type = 6
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state = 0
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desc = node2
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cmd = p2 = p0 :z(safez)
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[node]
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nid = 3100253
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task = 1
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type = 7
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state = 0
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desc = node3
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cmd = p2
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[node]
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nid = 3100254
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task = 1
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type = 6
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state = 0
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desc = node4
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cmd = p2 = p20 :z(safez)
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[node]
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nid = 3100255
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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 = 3100256
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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 = p20
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[node]
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nid = 3100257
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task = 1
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type = 14
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state = 0
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desc = node7
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cmd = 吸料上下气缸1 = 1
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[node]
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nid = 3100258
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task = 1
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type = 14
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state = 0
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desc = node8
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cmd = 吸料上下气缸2 = 1
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[node]
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nid = 3100259
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task = 1
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type = 14
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state = 0
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desc = node9
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cmd = 吸料上下气缸3 = 1
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[node]
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nid = 3100260
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task = 1
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type = 14
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state = 0
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desc = node10
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cmd = 吸料上下气缸4 = 1
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[node]
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nid = 3100261
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task = 1
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type = 1
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state = 0
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desc = node11
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cmd = 500
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[node]
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nid = 3100262
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task = 1
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type = 14
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state = 0
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desc = node12
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cmd = 吸料上下气缸1 = 0
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[node]
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nid = 3100263
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task = 1
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type = 14
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state = 0
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desc = node13
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cmd = 吸料上下气缸2 = 0
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[node]
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nid = 3100264
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task = 1
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type = 14
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state = 0
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desc = node14
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cmd = 吸料上下气缸3 = 0
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[node]
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nid = 3100265
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task = 1
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type = 14
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state = 0
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desc = node15
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cmd = 吸料上下气缸4 = 0
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[node]
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nid = 3100266
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task = 1
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type = 7
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state = 0
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desc = node16
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cmd = p2
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[node]
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nid = 3100267
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task = 1
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type = 1
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state = 0
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desc = node17
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cmd = 0
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[step]
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sid = 21003
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bDisable = 0
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desc = 压印尼
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script:
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script_end
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node_count = 15
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[node]
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nid = 3100351
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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 = p3 = p21 +x(i)
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[node]
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nid = 3100352
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task = 1
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type = 6
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state = 0
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desc = node2
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cmd = p2 = p3 :z(safez)
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[node]
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nid = 3100353
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task = 1
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type = 7
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state = 0
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desc = node3
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cmd = p2
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[node]
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nid = 3100354
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task = 1
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type = 14
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state = 0
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desc = node4
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cmd = 吸料上下气缸1 = 1
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[node]
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nid = 3100355
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task = 1
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type = 14
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state = 0
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desc = node5
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cmd = 吸料上下气缸2 = 1
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[node]
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nid = 3100356
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task = 1
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type = 14
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state = 0
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desc = node6
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cmd = 吸料上下气缸3 = 1
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[node]
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nid = 3100357
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task = 1
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type = 14
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state = 0
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desc = node7
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cmd = 吸料上下气缸4 = 1
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[node]
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nid = 3100358
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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 = p3
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[node]
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nid = 3100359
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task = 1
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type = 1
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state = 0
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desc = node9
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cmd = 500
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[node]
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nid = 3100360
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task = 1
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type = 14
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state = 0
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desc = node10
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cmd = 吸料上下气缸1 = 0
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[node]
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nid = 3100361
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task = 1
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type = 14
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state = 0
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desc = node11
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cmd = 吸料上下气缸2 = 0
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[node]
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nid = 3100362
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task = 1
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type = 14
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state = 0
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desc = node12
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cmd = 吸料上下气缸3 = 0
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[node]
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nid = 3100363
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task = 1
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type = 14
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state = 0
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desc = node13
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cmd = 吸料上下气缸4 = 0
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[node]
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nid = 3100364
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task = 1
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type = 7
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state = 0
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desc = node14
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cmd = p2
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[node]
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nid = 3100365
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task = 1
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type = 1
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state = 0
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desc = node15
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cmd = 0
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[step]
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sid = 21004
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bDisable = 0
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desc = 1号吸嘴拍照
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script:
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x = -1*cameraoffsetx
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y = -1*cameraoffsety
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script_end
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node_count = 14
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[node]
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nid = 3100451
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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 = p3 +x(x) +y(y) :z(cab_zpos)
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[node]
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nid = 3100452
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task = 1
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type = 7
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state = 0
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desc = node2
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cmd = p2
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[node]
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nid = 3100453
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task = 1
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type = 22
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state = 0
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desc = node3
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cmd = 31 "M7"
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[node]
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nid = 3100454
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task = 1
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type = 23
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state = 0
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desc = node4
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cmd = 31 "WaitM7" 5000 ret offsetx offsety
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[node]
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nid = 3100455
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task = 1
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type = 27
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state = 0
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desc = node5
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cmd = if(ret == 0) jump(3100462)//-->next
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[node]
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nid = 3100456
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task = 1
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type = 27
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state = 0
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desc = node6
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cmd = redLight = 1
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[node]
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nid = 3100457
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task = 1
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type = 27
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state = 0
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desc = node7
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cmd = wlog("ERROR START",-1,"Camera capture failed","")
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[node]
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nid = 3100458
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task = 1
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type = 24
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state = 0
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desc = node8
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cmd = 1 "Camera fail Are you Try again?"
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[node]
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nid = 3100459
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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 = redLight = 0
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[node]
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nid = 3100460
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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 (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100453);}
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[node]
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nid = 3100461
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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 = wlog("ERROR END",-1,"Camera To Next","");exit=1
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[node]
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nid = 3100462
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task = 1
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type = 27
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state = 0
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desc = node12
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cmd = x1 += offsetx
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[node]
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nid = 3100463
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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 = y1 += offsety
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[node]
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nid = 3100464
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task = 1
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type = 1
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state = 0
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desc = node14
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cmd = 0
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[step]
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sid = 21005
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bDisable = 0
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desc = 2号吸嘴拍照
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script:
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x = -1*(v2x+cameraoffsetx)
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y = -1*(v2y+cameraoffsety)
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script_end
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node_count = 14
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[node]
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nid = 3100551
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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 = p3 +x(x) +y(y) :z(cab_zpos)
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[node]
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nid = 3100552
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task = 1
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type = 7
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state = 0
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desc = node2
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cmd = p2
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[node]
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nid = 3100553
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task = 1
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type = 22
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state = 0
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desc = node3
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cmd = 31 "M7"
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[node]
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nid = 3100554
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task = 1
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type = 23
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state = 0
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desc = node4
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cmd = 31 "WaitM7" 5000 ret offsetx offsety
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[node]
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nid = 3100555
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task = 1
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type = 27
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state = 0
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desc = node5
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cmd = if(ret == 0) jump(3100562)//-->next
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[node]
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nid = 3100556
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task = 1
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type = 27
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state = 0
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desc = node6
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cmd = redLight = 1
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[node]
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nid = 3100557
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task = 1
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type = 27
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state = 0
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desc = node7
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cmd = wlog("ERROR START",-1,"Camera capture failed","")
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[node]
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nid = 3100558
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task = 1
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type = 24
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state = 0
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desc = node8
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cmd = 1 "Camera fail Are you Try again?"
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[node]
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nid = 3100559
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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 = redLight = 0
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[node]
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nid = 3100560
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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 (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100553);}
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[node]
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nid = 3100561
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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 = wlog("ERROR END",-1,"Camera To Next","");exit=1
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[node]
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nid = 3100562
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task = 1
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type = 27
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state = 0
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desc = node12
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cmd = x2 += offsetx
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[node]
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nid = 3100563
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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 = y2 += offsety
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[node]
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nid = 3100564
|
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task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node14
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cmd = 0
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|
[step]
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|
sid = 21006
|
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bDisable = 0
|
|
desc = 3号吸嘴拍照
|
|
script:
|
|
x = -1*(v3x+cameraoffsetx)
|
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y = -1*(v3y+cameraoffsety)
|
|
script_end
|
|
node_count = 14
|
|
[node]
|
|
nid = 3100651
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node1
|
|
cmd = p2 = p3 +x(x) +y(y) :z(cab_zpos)
|
|
[node]
|
|
nid = 3100652
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node2
|
|
cmd = p2
|
|
[node]
|
|
nid = 3100653
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node3
|
|
cmd = 31 "M7"
|
|
[node]
|
|
nid = 3100654
|
|
task = 1
|
|
type = 23
|
|
state = 0
|
|
desc = node4
|
|
cmd = 31 "WaitM7" 5000 ret offsetx offsety
|
|
[node]
|
|
nid = 3100655
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = if(ret == 0) jump(3100662)//-->next
|
|
[node]
|
|
nid = 3100656
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node6
|
|
cmd = redLight = 1
|
|
[node]
|
|
nid = 3100657
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = wlog("ERROR START",-1,"Camera capture failed","")
|
|
[node]
|
|
nid = 3100658
|
|
task = 1
|
|
type = 24
|
|
state = 0
|
|
desc = node8
|
|
cmd = 1 "Camera fail Are you Try again?"
|
|
[node]
|
|
nid = 3100659
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node9
|
|
cmd = redLight = 0
|
|
[node]
|
|
nid = 3100660
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100653);}
|
|
[node]
|
|
nid = 3100661
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
|
|
[node]
|
|
nid = 3100662
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node12
|
|
cmd = x3 += offsetx
|
|
[node]
|
|
nid = 3100663
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node13
|
|
cmd = y3 += offsety
|
|
[node]
|
|
nid = 3100664
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node14
|
|
cmd = 0
|
|
[step]
|
|
sid = 21007
|
|
bDisable = 0
|
|
desc = 4号吸嘴拍照
|
|
script:
|
|
x = -1*(v4x+cameraoffsetx)
|
|
y = -1*(v4y+cameraoffsety)
|
|
script_end
|
|
node_count = 14
|
|
[node]
|
|
nid = 3100751
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node1
|
|
cmd = p2 = p3 +x(x) +y(y) :z(cab_zpos)
|
|
[node]
|
|
nid = 3100752
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node2
|
|
cmd = p2
|
|
[node]
|
|
nid = 3100753
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node3
|
|
cmd = 31 "M7"
|
|
[node]
|
|
nid = 3100754
|
|
task = 1
|
|
type = 23
|
|
state = 0
|
|
desc = node4
|
|
cmd = 31 "WaitM7" 5000 ret offsetx offsety
|
|
[node]
|
|
nid = 3100755
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = if(ret == 0) jump(3100762)//-->next
|
|
[node]
|
|
nid = 3100756
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node6
|
|
cmd = redLight = 1
|
|
[node]
|
|
nid = 3100757
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = wlog("ERROR START",-1,"Camera capture failed","")
|
|
[node]
|
|
nid = 3100758
|
|
task = 1
|
|
type = 24
|
|
state = 0
|
|
desc = node8
|
|
cmd = 1 "Camera fail Are you Try again?"
|
|
[node]
|
|
nid = 3100759
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node9
|
|
cmd = redLight = 0
|
|
[node]
|
|
nid = 3100760
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100753);}
|
|
[node]
|
|
nid = 3100761
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
|
|
[node]
|
|
nid = 3100762
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node12
|
|
cmd = x4 += offsetx
|
|
[node]
|
|
nid = 3100763
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node13
|
|
cmd = y4 += offsety
|
|
[node]
|
|
nid = 3100764
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node14
|
|
cmd = 0
|
|
[step]
|
|
sid = 21008
|
|
bDisable = 0
|
|
desc = 循环3次
|
|
script:
|
|
count++
|
|
i += j //偏移量增加
|
|
if (exit==0 && count < 3)
|
|
{
|
|
jump(21003)
|
|
return;
|
|
}
|
|
script_end
|
|
node_count = 2
|
|
[node]
|
|
nid = 3100801
|
|
task = 1010
|
|
type = 16
|
|
state = 0
|
|
desc = node1
|
|
cmd = exit=1
|
|
[node]
|
|
nid = 3100802
|
|
task = 1010
|
|
type = 24
|
|
state = 0
|
|
desc = node2
|
|
cmd = 0 "标定失败."
|
|
[step]
|
|
sid = 21009
|
|
bDisable = 0
|
|
desc = 计算偏移量
|
|
script:
|
|
if (exit==1)
|
|
{
|
|
jump(21010)
|
|
return;
|
|
}
|
|
//取平均值
|
|
x1 /= count
|
|
y1 /= count
|
|
x2 /= count
|
|
y2 /= count
|
|
x3 /= count
|
|
y3 /= count
|
|
x4 /= count
|
|
y4 /= count
|
|
|
|
msg = "标定完成\n吸嘴1误差:x=" + str(x1) + " y=" + str(y1) + "\n吸嘴2误差:x=" + str(x2) + " y=" + str(y2)+ "\n吸嘴3误差:x=" + str(x3) + " y=" + str(y3)+ "\n吸嘴4误差:x=" + str(x4) + " y=" + str(y4) + "\n\n确认更新到配置吗?"
|
|
script_end
|
|
node_count = 23
|
|
[node]
|
|
nid = 3100901
|
|
task = 1010
|
|
type = 24
|
|
state = 0
|
|
desc = node1
|
|
cmd = 1 msg
|
|
[node]
|
|
nid = 3100902
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = if (4 != t1010) jump(3100923)
|
|
[node]
|
|
nid = 3100903
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = v1x = 0 v1y = 0
|
|
[node]
|
|
nid = 3100904
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = v2x = x2 - x1
|
|
[node]
|
|
nid = 3100905
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = v2y = y2 - y1
|
|
[node]
|
|
nid = 3100906
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node6
|
|
cmd = v3x = x3 - x1
|
|
[node]
|
|
nid = 3100907
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = v3y = y3 - y1
|
|
[node]
|
|
nid = 3100908
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node8
|
|
cmd = v4x = x4 - x1
|
|
[node]
|
|
nid = 3100909
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node9
|
|
cmd = v4y = y4 - y1
|
|
[node]
|
|
nid = 3100910
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = cameraoffsetx += x1
|
|
[node]
|
|
nid = 3100911
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = cameraoffsety += y1
|
|
[node]
|
|
nid = 3100912
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node12
|
|
cmd = config("vacm", "xoffset1", v1x)
|
|
[node]
|
|
nid = 3100913
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node13
|
|
cmd = config("vacm", "yoffset1", v1y)
|
|
[node]
|
|
nid = 3100914
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node14
|
|
cmd = config("vacm", "xoffset2", v2x)
|
|
[node]
|
|
nid = 3100915
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node15
|
|
cmd = config("vacm", "yoffset2", v2y)
|
|
[node]
|
|
nid = 3100916
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node16
|
|
cmd = config("vacm", "xoffset3", v3x)
|
|
[node]
|
|
nid = 3100917
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node17
|
|
cmd = config("vacm", "yoffset3", v3y)
|
|
[node]
|
|
nid = 3100918
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node18
|
|
cmd = config("vacm", "xoffset4", v4x)
|
|
[node]
|
|
nid = 3100919
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node19
|
|
cmd = config("vacm", "yoffset4", v4y)
|
|
[node]
|
|
nid = 3100920
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node20
|
|
cmd = config("vacm", "cameraoffsetx", cameraoffsetx)
|
|
[node]
|
|
nid = 3100921
|
|
task = 1010
|
|
type = 27
|
|
state = 0
|
|
desc = node21
|
|
cmd = config("vacm", "cameraoffsety", cameraoffsety)
|
|
[node]
|
|
nid = 3100922
|
|
task = 1010
|
|
type = 24
|
|
state = 0
|
|
desc = node22
|
|
cmd = 0 "更新成功，可重复启动一次验证标定."
|
|
[node]
|
|
nid = 3100923
|
|
task = 1010
|
|
type = 1
|
|
state = 0
|
|
desc = node23
|
|
cmd = 0
|
|
[step]
|
|
sid = 21010
|
|
bDisable = 0
|
|
desc = end
|
|
script:
|
|
|
|
script_end
|
|
node_count = 0
|