updown/distribute/Release32/data_模拟/flow/1031.proc

version = 2021
[proc]
pid = 1031
type = 0
name = 固定料仓放料拍照
start = 
pause = 
step_count = 6
[step]
sid = 23101
bDisable = 0
desc = 初始化
script:

script_end
node_count = 0
[step]
sid = 23102
bDisable = 0
desc = 获取工作盘位置
script:

script_end
node_count = 2
[node]
nid = 3310201
task = 1031
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3310203
task = 1031
type = 10
state = 0
desc = node3
cmd = t x y
[step]
sid = 23106
bDisable = 0
desc = 到料仓避位
script:

script_end
node_count = 11
[node]
nid = 3310631
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray - "+str(t),"Camera Point")
[node]
nid = 3310632
task = 1
type = 24
state = 0
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3310633
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3310634
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3310641)
[node]
nid = 3310635
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3310636
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3310637
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3310638
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3310641)
[node]
nid = 3310639
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3310640
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3310641
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 23103
bDisable = 0
desc = 拍照
script:

script_end
node_count = 23
[node]
nid = 3310321
task = 1
type = 27
state = 0
desc = 只移动xy
cmd = tmp = rpos(51002)
[node]
nid = 3310322
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = if (tmp>0) jump(3310327)
[node]
nid = 3310323
task = 1
type = 6
state = 0
desc = 只移动Z
cmd = p2 = p0 :z(safez)
[node]
nid = 3310324
task = 1
type = 7
state = 0
desc = node3
cmd = p2
[node]
nid = 3310325
task = 1
type = 6
state = 0
desc = node3
cmd = p2 = p16 :x(x) :y(y) :z(safez)
[node]
nid = 3310326
task = 1
type = 7
state = 0
desc = node4
cmd = p2
[node]
nid = 3310327
task = 1
type = 27
state = 0
desc = 获取Z轴当前高度
cmd = tmp = rpos(51004)
[node]
nid = 3310328
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p16 :x(x) :y(y) :z(tmp)
[node]
nid = 3310329
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3310330
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p16 :x(x) :y(y)
[node]
nid = 3310331
task = 1
type = 7
state = 0
desc = node23
cmd = p2
[node]
nid = 3310332
task = 1
type = 1
state = 0
desc = node8
cmd = 100
[node]
nid = 3310333
task = 1
type = 22
state = 0
desc = qq111
cmd = 31 "M4"
[node]
nid = 3310334
task = 1
type = 23
state = 0
desc = node23
cmd = 31 "WaitM4" 5000 ret offsetx offsety
[node]
nid = 3310335
task = 1
type = 27
state = 0
desc = node6
cmd = if(ret == 0) jump(3310340)
[node]
nid = 3310336
task = 1
type = 0
state = 1
desc = node7
cmd = 
[node]
nid = 3310337
task = 1
type = 24
state = 0
desc = node14
cmd = 1 "camera fail Are you Try again?"
[node]
nid = 3310338
task = 1
type = 27
state = 0
desc = node15
cmd = if (4==t1) {wlog("ERROR END",-1,"Camera Try Again","");jump(3310333)}
[node]
nid = 3310339
task = 1
type = 27
state = 0
desc = node16
cmd = count--;wlog("ERROR END",-1,"Camera To Next","");jump(3220339)
[node]
nid = 3310340
task = 1
type = 27
state = 0
desc = node16
cmd = x += offsetx
[node]
nid = 3310341
task = 1
type = 27
state = 0
desc = node17
cmd = y += offsety
[node]
nid = 3310342
task = 1
type = 22
state = 1
desc = 将拍照数据暂存起来
cmd = 31 "posset 2 sn12 " +str(sn)+" "+str(x)+" "+str(y)
[node]
nid = 3310343
task = 1
type = 1
state = 0
desc = node19
cmd = 0
[step]
sid = 23104
bDisable = 0
desc = 循环
script:

script_end
node_count = 0
[step]
sid = 23105
bDisable = 1
desc = z轴上升结束
script:

script_end
node_count = 2
[node]
nid = 3310521
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p0 +z(-10)
[node]
nid = 3310522
task = 1
type = 7
state = 0
desc = node2
cmd = p2