This file contains ambiguous Unicode characters that may be confused with others in your current locale. If your use case is intentional and legitimate, you can safely ignore this warning. Use the Escape button to highlight these characters.
version = 2021
[proc]
pid = 1014
type = 0
name = 料仓取料拍照
start =
pause =
step_count = 6
[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 y x
[step]
sid = 21406
bDisable = 0
desc = 到料仓避位
script:
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 = 拍照
script:
if (t1014==0)
{//两个都为0，那必须换盘
work_set_next(1,1)
if (count==0)
{
//pstart(1007);
//重置料盘
//work_set_next(1,1)
jump(21401)
}
else jump(21405) //结束
}
else count++
script_end
node_count = 34
[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(x) :y(y) :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(x) :y(y) :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(x) :y(y)
[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
[node]
nid = 3140330
task = 1
type = 22
state = 0
desc = qq111
cmd = 31 "M1"
[node]
nid = 3140331
task = 1
type = 27
state = 0
desc = node23
cmd = tmp=0
[node]
nid = 3140332
task = 1
type = 23
state = 0
desc = node6
cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
[node]
nid = 3140333
task = 1
type = 27
state = 0
desc = node7
cmd = tmp++
[node]
nid = 3140334
task = 1
type = 27
state = 0
desc = node14
cmd = if(ret == 0) jump(3140336)
[node]
nid = 3140352
task = 1
type = 24
state = 0
desc = node21
cmd = 1 "camera fail are you tay again?"
[node]
nid = 3140353
task = 1
type = 27
state = 0
desc = node22
cmd = if(4==t1) jump(3140330)
[node]
nid = 3140335
task = 1
type = 27
state = 0
desc = node15
cmd = wlog("ERROR START", -1, "Get marital camera fail", "");jump(3140340)