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version = 2021
[proc]
pid = 1014
type = 0
name = 料仓取料拍照
start =
pause =
step_count = 7
[step]
sid = 21401
bDisable = 0
desc = 初始化
script:
count = 0
ntake = 1
script_end
node_count = 0
[step]
sid = 21402
bDisable = 0
desc = 获取工作盘位置
script:
script_end
node_count = 3
[node]
nid = 3140201
task = 1014
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3140202
task = 1014
type = 19
state = 0
desc = node2
cmd = 1007
[node]
nid = 3140203
task = 1014
type = 10
state = 0
desc = node3
cmd = 1 x1 y1
[step]
sid = 21406
bDisable = 0
desc = 到料仓避位
script:
if (t1014==0)
{//两个都为0，那必须换盘
if (count==0)
{
pstart(1007);
jump(21401)
}
else jump(21405) //结束
}
script_end
node_count = 11
[node]
nid = 3140631
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point")
[node]
nid = 3140632
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3140633
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3140634
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3140641)
[node]
nid = 3140635
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3140636
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3140637
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3140638
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3140641)
[node]
nid = 3140639
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3140640
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3140641
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 21403
bDisable = 0
desc = 到拍照位
script:
script_end
node_count = 15
[node]
nid = 3140321
task = 1
type = 27
state = 0
desc = 只移动xy
cmd = tmp = rpos(51002)
[node]
nid = 3140322
task = 1
type = 27
state = 0
desc = 判断料盘是否结束
cmd = if (tmp>0) jump(3140342)
[node]
nid = 3140323
task = 1
type = 6
state = 0
desc = 只移动Z
cmd = p2 = p0 :z(safez)
[node]
nid = 3140324
task = 1
type = 7
state = 0
desc = 抬起Z轴
cmd = p2
[node]
nid = 3140325
task = 1
type = 6
state = 0
desc = node3
cmd = p2 = p14 :x(x1) :y(y1) :z(safez)
[node]
nid = 3140326
task = 1
type = 7
state = 0
desc = 到拍照位上方
cmd = p2
[node]
nid = 3140342
task = 1
type = 27
state = 0
desc = 获取Z轴当前高度
cmd = tmp = rpos(51004)
[node]
nid = 3140343
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p14 :x(x1) :y(y1) :z(tmp)
[node]
nid = 3140346
task = 1
type = 2
state = 1
desc = node9
cmd = 50 30 30
[node]
nid = 3140344
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3140327
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p14 :x(x1) :y(y1)
[node]
nid = 3140345
task = 1
type = 2
state = 0
desc = node12
cmd = 50 30 30
[node]
nid = 3140328
task = 1
type = 7
state = 0
desc = 到拍照位
cmd = p2
[node]
nid = 3140347
task = 1
type = 2
state = 0
desc = node14
cmd = 100 100 100
[node]
nid = 3140329
task = 1
type = 1
state = 0
desc = node8
cmd = 100
[step]
sid = 21408
bDisable = 0
desc = 拍照
script:
script_end
node_count = 28
[node]
nid = 3140801
task = 1014
type = 22
state = 0
desc = node1
cmd = 31 "posreset 1"
[node]
nid = 3140802
task = 1014
type = 22
state = 0
desc = node2
cmd = 31 "M1"
[node]
nid = 3140803
task = 1014
type = 27
state = 0
desc = node3
cmd = k=0
[node]
nid = 3140804
task = 1014
type = 23
state = 0
desc = node4
cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
[node]
nid = 3140805
task = 1014
type = 27
state = 0
desc = 判断拍照失败
cmd = k++
[node]
nid = 3140825
task = 1014
type = 27
state = 0
desc = node6
cmd = if(ret == 0) jump(3140810)
[node]
nid = 3140823
task = 1014
type = 27
state = 0
desc = 确认是否重拍
cmd = redLight = 1
[node]
nid = 3140826
task = 1014
type = 24
state = 0
desc = node8
cmd = 0 "取料拍照失败，物料定位失败！"
[node]
nid = 3140824
task = 1014
type = 27
state = 0
desc = node7
cmd = redLight = 0
[node]
nid = 3140806
task = 1014
type = 27
state = 1
desc = 确认是否重拍
cmd = jump(3140822)
[node]
nid = 3140807
task = 1014
type = 24
state = 0
desc = 确定重拍
cmd = 1 "camera fail are you tay again?"
[node]
nid = 3140808
task = 1014
type = 27
state = 0
desc = 跳过此次拍照
cmd = if(4==t1014) jump(3140801)
[node]
nid = 3140809
task = 1014
type = 27
state = 0
desc = node9
cmd = wlog("ERROR START", -1, "Get marital camera fail", "");jump(3140822)