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305 lines
3.8 KiB
Plaintext
305 lines
3.8 KiB
Plaintext
version = 2021
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[proc]
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pid = 1044
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type = 0
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name = 料仓取料动作
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start =
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pause =
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step_count = 2
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[step]
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sid = 24402
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bDisable = 1
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desc = 避位判断
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script:
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script_end
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node_count = 1
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[node]
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nid = 3440201
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task = 1044
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type = 18
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state = 0
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desc = node1
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cmd = 1046
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[step]
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sid = 24403
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bDisable = 0
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desc = 取料
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script:
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//计算点位索引
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i = 14 // + t - 1
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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 = v1x
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d = v1y
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h = v1z
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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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h = v2z
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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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h = v3z
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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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h = v4z
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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 = 3440351
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task = 1
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type = 27
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state = 0
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desc = node1
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cmd = x += c + cameraoffsetx
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[node]
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nid = 3440352
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task = 1
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type = 27
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state = 0
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desc = node2
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cmd = y += d + cameraoffsety
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[node]
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nid = 3440353
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task = 1
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type = 27
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state = 1
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desc = node3
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cmd = tmp = rpos(51002)
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[node]
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nid = 3440354
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task = 1
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type = 27
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state = 1
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desc = node4
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cmd = if (tmp>0) jump(3440360)
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[node]
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nid = 3440355
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task = 1
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type = 6
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state = 1
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desc = node5
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cmd = p2 = p0 :z(safez)
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[node]
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nid = 3440356
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task = 1
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type = 7
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state = 1
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desc = node6
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cmd = p2
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[node]
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nid = 3440357
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task = 1
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type = 6
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state = 1
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desc = node7
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cmd = p2 = p(i) :x(x) :y(y) :z(safez)
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[node]
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nid = 3440358
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task = 1
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type = 7
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state = 1
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desc = node8
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cmd = p2
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[node]
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nid = 3440359
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task = 1
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type = 6
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state = 1
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desc = node9
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cmd = p2 = p(i) :x(x) :y(y) +z(cameraoffsetz)
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[node]
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nid = 3440360
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task = 1
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type = 6
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state = 1
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desc = 直接定位高度
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cmd = p2 = p(i) :x(x) :y(y) :z(zhTrayTake)
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[node]
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nid = 3440361
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task = 1
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type = 14
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state = 1
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desc = node10
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cmd = a=1
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[node]
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nid = 3440362
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task = 1
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type = 14
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state = 1
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desc = node11
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cmd = b=1
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[node]
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nid = 3440363
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task = 1
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type = 7
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state = 1
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desc = 取料点上方一点点
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cmd = p2 +z(-10)
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[node]
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nid = 3440364
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task = 1
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type = 2
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state = 0
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desc = node13
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cmd = 50 30 30
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[node]
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nid = 3440365
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task = 1
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type = 7
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state = 1
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desc = node13
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cmd = p2 +z(h)
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[node]
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nid = 3440366
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task = 1
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type = 1
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state = 1
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desc = node14
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cmd = 300
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[node]
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nid = 3440367
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task = 1
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type = 14
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state = 1
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desc = node15
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cmd = a=0
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[node]
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nid = 3440368
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task = 1
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type = 1
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state = 1
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desc = node16
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cmd = 100
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[node]
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nid = 3440369
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task = 1
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type = 7
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state = 1
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desc = node16
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cmd = p2 +z(-10)
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[node]
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nid = 3440370
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task = 1
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type = 14
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state = 1
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desc = node20
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cmd = a=0
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[node]
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nid = 3440371
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task = 1
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type = 2
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state = 1
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desc = node19
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cmd = 100 100 100
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[node]
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nid = 3440372
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task = 1
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type = 15
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state = 1
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desc = node17
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cmd = e=1 1000
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[node]
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nid = 3440376
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task = 1
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type = 27
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state = 0
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desc = node23
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cmd = jump(3440375)//-->next
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[node]
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nid = 3440377
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task = 1
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type = 27
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state = 0
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desc = node24
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cmd = redLight = 1
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[node]
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nid = 3440378
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task = 1
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type = 27
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state = 0
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desc = node25
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cmd = wlog("ERROR START",-11,"Vacuum fail","")
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[node]
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nid = 3440379
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task = 1
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type = 24
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state = 0
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desc = node26
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cmd = 1 "Vacuum fail Are you Try again?"
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[node]
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nid = 3440380
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task = 1
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type = 27
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state = 0
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desc = node27
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cmd = redLight = 0
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[node]
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nid = 3440381
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task = 1
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type = 27
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state = 0
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desc = node28
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cmd = h=h+0.01
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[node]
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nid = 3440382
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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 = if (4==t1){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3440360);}//-->try
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[node]
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nid = 3440383
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task = 1
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type = 27
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state = 0
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desc = node30
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cmd = wlog("ERROR END",-11,"Vacuum To Next","");
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[node]
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nid = 3440375
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task = 1
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type = 1
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state = 0
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desc = node23
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cmd = 500
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[node]
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nid = 3440373
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task = 1
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type = 22
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state = 0
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desc = node18
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cmd = 31 "create " + str(sn) + " " + str(v)
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[node]
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nid = 3440374
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task = 1
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type = 27
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state = 0
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desc = node24
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cmd = totalall++
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