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2033 lines
26 KiB
Plaintext
2033 lines
26 KiB
Plaintext
version = 2021
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[proc]
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pid = 1033
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type = 0
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name = GRR
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start =
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pause =
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step_count = 23
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[step]
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sid = 23301
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bDisable = 0
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desc = 启动
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script:
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wlog("START",0,"","Start GRR")
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script_end
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node_count = 6
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[node]
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nid = 3330101
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task = 1033
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type = 1
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state = 0
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desc = node1
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cmd = 0
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[node]
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nid = 3330102
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task = 1033
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type = 27
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state = 0
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desc = node2
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cmd = yellowLight = 1
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[node]
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nid = 3330103
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task = 1033
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type = 24
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state = 0
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desc = node3
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cmd = 0 "The current mode is GRR. If you are inconsistent with your will, please turn off the software."
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[node]
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nid = 3330104
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task = 1033
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type = 27
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state = 0
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desc = node4
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cmd = yellowLight = 0
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[node]
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nid = 3330105
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task = 1033
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type = 27
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state = 1
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desc = node5
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cmd = wlog("START",0,"","Start GRR")
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[node]
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nid = 3330106
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task = 1033
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type = 27
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state = 0
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desc = node6
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cmd = vlog("GRR","start")
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[step]
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sid = 23302
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bDisable = 0
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desc = 初始化参数
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script:
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script_end
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node_count = 4
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[node]
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nid = 3330201
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task = 1033
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type = 27
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state = 0
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desc = node1
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cmd = v = 1//吸嘴
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[node]
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nid = 3330202
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task = 1033
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type = 27
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state = 0
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desc = node2
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cmd = t = 3//料盘
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[node]
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nid = 3330203
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task = 1033
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type = 27
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state = 0
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desc = node3
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cmd = work_set_next(t,1)
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[node]
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nid = 3330204
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task = 1033
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type = 27
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state = 0
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desc = 物料测试计数
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cmd = j = 1//待检查是否重复使用
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[step]
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sid = 23303
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bDisable = 0
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desc = 料盘检测
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script:
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script_end
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node_count = 8
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[node]
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nid = 3330301
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task = 1033
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type = 27
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state = 0
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desc = node1
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cmd = if(1==rio("重测1")) jump(3330308)
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[node]
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nid = 3330302
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task = 1033
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type = 27
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state = 0
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desc = node2
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cmd = redLight = 1
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[node]
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nid = 3330303
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task = 1033
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type = 27
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state = 0
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desc = node3
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cmd = wlog("ERROR START",-21,"Tray lose","")
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[node]
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nid = 3330304
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task = 1033
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type = 24
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state = 0
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desc = node4
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cmd = 0 "Tray not find"
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[node]
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nid = 3330305
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task = 1033
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type = 27
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state = 0
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desc = node5
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cmd = wlog("ERROR END",-21,"Tray try find","")
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[node]
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nid = 3330306
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task = 1033
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type = 27
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state = 0
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desc = node6
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cmd = redLight = 0
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[node]
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nid = 3330307
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task = 1033
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type = 27
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state = 0
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desc = node7
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cmd = if(0==rio("重测1")) jump(3330301)
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[node]
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nid = 3330308
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task = 1033
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type = 1
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state = 0
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desc = node8
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cmd = 0
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[step]
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sid = 23304
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bDisable = 0
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desc = 料盘点位获取
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script:
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script_end
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node_count = 3
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[node]
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nid = 3330401
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task = 1033
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type = 27
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state = 0
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desc = node1
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cmd = v = 1//吸嘴
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[node]
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nid = 3330402
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task = 1033
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type = 27
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state = 0
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desc = node2
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cmd = t = 3//料盘
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[node]
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nid = 3330403
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task = 1033
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type = 10
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state = 0
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desc = node3
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cmd = t x y
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[step]
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sid = 23305
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bDisable = 0
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desc = 料盘拍照位
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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 = 3330531
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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 = vlog("Tray - "+str(t),"Camera Point")
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[node]
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nid = 3330532
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task = 1
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type = 2
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state = 0
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desc = node2
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cmd = 50 50 50
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[node]
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nid = 3330533
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task = 1
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type = 27
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state = 0
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desc = node3
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cmd = tmp = rpos(51002)
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[node]
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nid = 3330534
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task = 1
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type = 27
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state = 0
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desc = node4
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cmd = if (tmp>0) jump(3330541)
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[node]
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nid = 3330535
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task = 1
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type = 6
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state = 0
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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 = 3330536
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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 = p2
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[node]
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nid = 3330537
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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 = tmp = rpos(51001)
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[node]
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nid = 3330538
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task = 1
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type = 27
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state = 0
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desc = node8
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cmd = if (tmp<872) jump(3330541)
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[node]
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nid = 3330539
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task = 1
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type = 6
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state = 0
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desc = node9
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cmd = p2 = p0 :x(872) :z(safez)
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[node]
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nid = 3330540
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task = 1
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type = 7
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state = 0
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desc = node10
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cmd = p2
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[node]
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nid = 3330541
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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 = tmp = rpos(51004)
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[node]
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nid = 3330542
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task = 1
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type = 6
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state = 0
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desc = node12
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cmd = p2 = p16 :x(x) :y(y) :z(tmp)
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[node]
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nid = 3330543
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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 = 3330544
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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 = 3330545
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task = 1
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type = 6
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state = 0
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desc = node15
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cmd = p2 = p16 :x(x) :y(y)
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[node]
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nid = 3330546
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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 = 3330547
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task = 1
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type = 2
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state = 0
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desc = node17
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cmd = 100 100 100
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[step]
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sid = 23306
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bDisable = 0
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desc = GRR料盘取料拍照
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script:
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script_end
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node_count = 24
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[node]
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nid = 3330601
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task = 1033
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type = 1
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state = 0
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desc = node1
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cmd = 100
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[node]
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nid = 3330602
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task = 1033
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type = 27
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state = 0
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desc = node2
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cmd = vlog("Tray - "+str(t),"Camera M1")
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[node]
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nid = 3330603
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task = 1033
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type = 22
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state = 1
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desc = node3
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cmd = 31 "M1"
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[node]
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nid = 3330604
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task = 1033
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type = 23
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state = 1
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desc = node4
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cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
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[node]
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nid = 3330605
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task = 1033
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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(3330613)//-->next
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[node]
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nid = 3330606
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task = 1033
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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 = 3330607
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task = 1033
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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 = 3330608
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task = 1033
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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 = 3330609
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task = 1033
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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 = 3330610
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task = 1033
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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==t1033){ wlog("ERROR END",-1,"Camera Try Again","");jump(3330601);}//-->newStart
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[node]
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nid = 3330611
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task = 1033
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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","");
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[node]
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nid = 3330612
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task = 1033
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type = 27
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state = 0
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desc = node12
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cmd = jump(3330624)//-->end
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[node]
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nid = 3330613
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task = 1033
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type = 27
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state = 0
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desc = node13
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cmd = if(""!=str(sn)) {sn=debug;debug++;}//空跑使用
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[node]
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nid = 3330614
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task = 1033
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type = 27
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state = 0
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desc = node14
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cmd = if("NG"!=str(sn)) jump(3330621)//-->next
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[node]
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nid = 3330615
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task = 1033
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type = 27
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state = 0
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desc = node15
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cmd = redLight = 1
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[node]
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nid = 3330616
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task = 1033
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type = 27
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state = 0
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desc = node16
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cmd = wlog("ERROR START",-2,"SN capture fail","")
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[node]
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nid = 3330617
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task = 1033
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type = 24
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state = 0
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desc = node17
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cmd = 1 "SN fail Are you Try again?"
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[node]
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nid = 3330618
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task = 1033
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type = 27
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state = 0
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desc = node18
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cmd = redLight = 0
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[node]
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nid = 3330619
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task = 1033
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type = 27
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state = 0
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desc = node19
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cmd = if (4==t1){ wlog("ERROR END",-2,"SN Try Again","");jump(3330601);}//-->newStart
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[node]
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nid = 3330620
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task = 1033
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type = 27
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state = 0
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desc = node20
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cmd = wlog("ERROR END",-2,"SN Set failure","");
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[node]
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nid = 3330621
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task = 1033
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type = 1
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state = 0
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desc = node21
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cmd = 0
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[node]
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nid = 3330622
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task = 1033
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type = 27
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state = 0
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desc = node22
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cmd = x += offsetx
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[node]
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nid = 3330623
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task = 1033
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type = 27
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state = 0
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desc = node23
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cmd = y += offsety
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[node]
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nid = 3330624
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task = 1033
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type = 1
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state = 0
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desc = node24
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cmd = 0
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[step]
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sid = 23307
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bDisable = 0
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desc = 拍照结果检测
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script:
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if(0 != ret) {jump(23301);return}//end
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if("NG"==str(sn)) {jump(23301)}//end
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script_end
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node_count = 0
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[step]
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sid = 23308
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bDisable = 0
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desc = 料盘取料位
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script:
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script_end
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node_count = 0
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[step]
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sid = 23309
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bDisable = 0
|
|
desc = 料盘取料
|
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script:
|
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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
|
|
node_count = 27
|
|
[node]
|
|
nid = 3330921
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = vlog("Tray - "+str(t),str(v)+" - Take")
|
|
[node]
|
|
nid = 3330922
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = x += c + cameraoffsetx
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|
[node]
|
|
nid = 3330923
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = y += d + cameraoffsety
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|
[node]
|
|
nid = 3330924
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node4
|
|
cmd = a=1
|
|
[node]
|
|
nid = 3330925
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node5
|
|
cmd = b=1
|
|
[node]
|
|
nid = 3330926
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node6
|
|
cmd = p2 = p16 :x(x) :y(y) :z(zhNGPut)
|
|
[node]
|
|
nid = 3330927
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node7
|
|
cmd = 50 30 30
|
|
[node]
|
|
nid = 3330928
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node8
|
|
cmd = p2 +z(-10)
|
|
[node]
|
|
nid = 3330929
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node9
|
|
cmd = 100
|
|
[node]
|
|
nid = 3330930
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node10
|
|
cmd = p2 +z(h)
|
|
[node]
|
|
nid = 3330931
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node11
|
|
cmd = 300
|
|
[node]
|
|
nid = 3330932
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node12
|
|
cmd = p2 +z(-10)
|
|
[node]
|
|
nid = 3330933
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node13
|
|
cmd = 100 100 100
|
|
[node]
|
|
nid = 3330934
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node14
|
|
cmd = a=0
|
|
[node]
|
|
nid = 3330935
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node15
|
|
cmd = jump(3330944)//空跑用
|
|
[node]
|
|
nid = 3330936
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node16
|
|
cmd = if(1==rio(str(e))) jump(3330944)//-->end
|
|
[node]
|
|
nid = 3330937
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node17
|
|
cmd = redLight = 1
|
|
[node]
|
|
nid = 3330938
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node18
|
|
cmd = wlog("ERROR START",-11,"Vacuum fail","")
|
|
[node]
|
|
nid = 3330939
|
|
task = 1
|
|
type = 24
|
|
state = 0
|
|
desc = node19
|
|
cmd = 1 "Vacuum fail Are you Try again?"
|
|
[node]
|
|
nid = 3330940
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node20
|
|
cmd = redLight = 0
|
|
[node]
|
|
nid = 3330941
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node21
|
|
cmd = h=h+0.01
|
|
[node]
|
|
nid = 3330942
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node22
|
|
cmd = if (4==t1){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3330927);}//-->try
|
|
[node]
|
|
nid = 3330943
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node23
|
|
cmd = wlog("ERROR END",-11,"Vacuum To Next","");
|
|
[node]
|
|
nid = 3330944
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node24
|
|
cmd = 100
|
|
[node]
|
|
nid = 3330945
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node25
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3330946
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node26
|
|
cmd = p2
|
|
[node]
|
|
nid = 3330947
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node27
|
|
cmd = 31 "create " + str(sn) + " " + str(v)
|
|
[step]
|
|
sid = 23310
|
|
bDisable = 0
|
|
desc = 设置治具编号
|
|
script:
|
|
|
|
script_end
|
|
node_count = 2
|
|
[node]
|
|
nid = 3331001
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = t = 1
|
|
[node]
|
|
nid = 3331002
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = 单个物料测试几次
|
|
cmd = k = 1//待检查是否重复使用
|
|
[step]
|
|
sid = 23311
|
|
bDisable = 0
|
|
desc = 获取治具编号
|
|
script:
|
|
|
|
script_end
|
|
node_count = 8
|
|
[node]
|
|
nid = 3331101
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node1
|
|
cmd = 1
|
|
[node]
|
|
nid = 3331102
|
|
task = 1033
|
|
type = 0
|
|
state = 0
|
|
desc = node2
|
|
cmd =
|
|
[node]
|
|
nid = 3331103
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node3
|
|
cmd = 1
|
|
[node]
|
|
nid = 3331104
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if(t>6){jump(3331108)}
|
|
[node]
|
|
nid = 3331105
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = k=1
|
|
[node]
|
|
nid = 3331106
|
|
task = 1033
|
|
type = 24
|
|
state = 0
|
|
desc = node6
|
|
cmd = 1 "准备测试 "+str(t)+" 号治具"
|
|
[node]
|
|
nid = 3331107
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = if(5==t1033){t++;jump(3331101)}
|
|
[node]
|
|
nid = 3331108
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node8
|
|
cmd = 1
|
|
[step]
|
|
sid = 23312
|
|
bDisable = 0
|
|
desc = 治具放料拍照
|
|
script:
|
|
if(t>6) {jump(23319)}
|
|
|
|
script_end
|
|
node_count = 0
|
|
[step]
|
|
sid = 23313
|
|
bDisable = 0
|
|
desc = 治具放料
|
|
script:
|
|
if (v==1)
|
|
{//1号吸嘴
|
|
a = "吸料上下气缸1"
|
|
b = "吸料真空1吸"
|
|
c = v1x
|
|
d = v1y
|
|
h = v1z
|
|
e = "吸料真空1检测"
|
|
f = "吸料真空1破"
|
|
}
|
|
else if (v==2)
|
|
{//2号吸嘴
|
|
a = "吸料上下气缸2"
|
|
b = "吸料真空2吸"
|
|
c = v2x
|
|
d = v2y
|
|
h = v2z
|
|
e = "吸料真空2检测"
|
|
f = "吸料真空2破"
|
|
}
|
|
else if (v==3)
|
|
{//3号吸嘴
|
|
a = "吸料上下气缸3"
|
|
b = "吸料真空3吸"
|
|
c = v3x
|
|
d = v3y
|
|
h = v3z
|
|
e = "吸料真空3检测"
|
|
f = "吸料真空3破"
|
|
}
|
|
else if (v==4)
|
|
{//3号吸嘴
|
|
a = "吸料上下气缸4"
|
|
b = "吸料真空4吸"
|
|
c = v4x
|
|
d = v4y
|
|
h = v4z
|
|
e = "吸料真空4检测"
|
|
f = "吸料真空4破"
|
|
}
|
|
if (t==1)
|
|
{//1号夹具
|
|
fixair = "治具气缸1"
|
|
}
|
|
else if (t==2)
|
|
{//2号夹具
|
|
fixair = "治具气缸2"
|
|
}
|
|
else if (t==3)
|
|
{//3号夹具
|
|
fixair = "治具气缸3"
|
|
}
|
|
else if (t==4)
|
|
{//4号夹具
|
|
fixair = "治具气缸4"
|
|
}
|
|
else if (t==5)
|
|
{//5号夹具
|
|
fixair = "治具气缸5"
|
|
}
|
|
else if (t==6)
|
|
{//6号夹具
|
|
fixair = "治具气缸6"
|
|
}
|
|
|
|
script_end
|
|
node_count = 29
|
|
[node]
|
|
nid = 3331321
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = vlog("Silo - "+str(t),str(v)+" - Put")
|
|
[node]
|
|
nid = 3331322
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = i = 5 + t - 1
|
|
[node]
|
|
nid = 3331323
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = tmp = rpos(51002)//取料Y1轴
|
|
[node]
|
|
nid = 3331324
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if (tmp<0) jump(3331327)//在治具侧 跳转
|
|
[node]
|
|
nid = 3331325
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node5
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3331326
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node6
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331327
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = if (t<4) jump(3331330)//要到1-5号治具 跳转
|
|
[node]
|
|
nid = 3331328
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node8
|
|
cmd = p2 = p0 :u(-332)
|
|
[node]
|
|
nid = 3331329
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node9
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331330
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = tmp = rpos(51004)//取料Z轴
|
|
[node]
|
|
nid = 3331331
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node11
|
|
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
|
|
[node]
|
|
nid = 3331332
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node12
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331333
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node13
|
|
cmd = a=1
|
|
[node]
|
|
nid = 3331334
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node14
|
|
cmd = 50
|
|
[node]
|
|
nid = 3331335
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node15
|
|
cmd = 50 30 30
|
|
[node]
|
|
nid = 3331336
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node16
|
|
cmd = p(i) +x(c) +y(d) +z(h)
|
|
[node]
|
|
nid = 3331337
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node17
|
|
cmd = b=0
|
|
[node]
|
|
nid = 3331338
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node18
|
|
cmd = f=1
|
|
[node]
|
|
nid = 3331339
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node19
|
|
cmd = 200
|
|
[node]
|
|
nid = 3331340
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node20
|
|
cmd = fixair = 1
|
|
[node]
|
|
nid = 3331341
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node21
|
|
cmd = 200
|
|
[node]
|
|
nid = 3331342
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node22
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331343
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node23
|
|
cmd = 100 100 100
|
|
[node]
|
|
nid = 3331344
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node24
|
|
cmd = a=0
|
|
[node]
|
|
nid = 3331345
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node25
|
|
cmd = f=0
|
|
[node]
|
|
nid = 3331346
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node26
|
|
cmd = 10
|
|
[node]
|
|
nid = 3331347
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node27
|
|
cmd = 31 "vacm_to_test "+str(v)+" "+str(t)
|
|
[node]
|
|
nid = 3331348
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node28
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3331349
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node29
|
|
cmd = p2
|
|
[step]
|
|
sid = 23314
|
|
bDisable = 0
|
|
desc = 测试等待
|
|
script:
|
|
|
|
script_end
|
|
node_count = 3
|
|
[node]
|
|
nid = 3331401
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node1
|
|
cmd = 1
|
|
[node]
|
|
nid = 3331402
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = i = "waitOk " + str(t)
|
|
[node]
|
|
nid = 3331403
|
|
task = 1033
|
|
type = 23
|
|
state = 0
|
|
desc = node3
|
|
cmd = 31 i 150000
|
|
[step]
|
|
sid = 23315
|
|
bDisable = 0
|
|
desc = 治具取料拍照
|
|
script:
|
|
|
|
script_end
|
|
node_count = 0
|
|
[step]
|
|
sid = 23316
|
|
bDisable = 0
|
|
desc = 治具取料
|
|
script:
|
|
if (v==1)
|
|
{//1号吸嘴
|
|
a = "吸料上下气缸1"
|
|
b = "吸料真空1吸"
|
|
c = v1x
|
|
d = v1y
|
|
h = v1z
|
|
e = "吸料真空1检测"
|
|
f = "吸料真空1破"
|
|
}
|
|
else if (v==2)
|
|
{//2号吸嘴
|
|
a = "吸料上下气缸2"
|
|
b = "吸料真空2吸"
|
|
c = v2x
|
|
d = v2y
|
|
h = v2z
|
|
e = "吸料真空2检测"
|
|
f = "吸料真空2破"
|
|
}
|
|
else if (v==3)
|
|
{//3号吸嘴
|
|
a = "吸料上下气缸3"
|
|
b = "吸料真空3吸"
|
|
c = v3x
|
|
d = v3y
|
|
h = v3z
|
|
e = "吸料真空3检测"
|
|
f = "吸料真空3破"
|
|
}
|
|
else if (v==4)
|
|
{//3号吸嘴
|
|
a = "吸料上下气缸4"
|
|
b = "吸料真空4吸"
|
|
c = v4x
|
|
d = v4y
|
|
h = v4z
|
|
e = "吸料真空4检测"
|
|
f = "吸料真空4破"
|
|
}
|
|
if (t==1)
|
|
{//1号夹具
|
|
fixair = "治具气缸1"
|
|
}
|
|
else if (t==2)
|
|
{//2号夹具
|
|
fixair = "治具气缸2"
|
|
}
|
|
else if (t==3)
|
|
{//3号夹具
|
|
fixair = "治具气缸3"
|
|
}
|
|
else if (t==4)
|
|
{//4号夹具
|
|
fixair = "治具气缸4"
|
|
}
|
|
else if (t==5)
|
|
{//5号夹具
|
|
fixair = "治具气缸5"
|
|
}
|
|
else if (t==6)
|
|
{//6号夹具
|
|
fixair = "治具气缸6"
|
|
}
|
|
|
|
script_end
|
|
node_count = 37
|
|
[node]
|
|
nid = 3331631
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = vlog("Silo - "+str(t),str(v)+" - Take")
|
|
[node]
|
|
nid = 3331632
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = i = 5 + t - 1
|
|
[node]
|
|
nid = 3331633
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = tmp = rpos(51002)//取料Y1轴
|
|
[node]
|
|
nid = 3331634
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if (tmp<0) jump(3331637)//在治具侧 跳转
|
|
[node]
|
|
nid = 3331635
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node5
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3331636
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node6
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331637
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = if (t<6) jump(3331640)//要到1-5号治具 跳转
|
|
[node]
|
|
nid = 3331638
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node8
|
|
cmd = p2 = p0 :u(-332)
|
|
[node]
|
|
nid = 3331639
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node9
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331640
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = tmp = rpos(51004)//取料Z轴
|
|
[node]
|
|
nid = 3331641
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node11
|
|
cmd = p2 = p(i) +x(c) +y(d) :z(tmp)
|
|
[node]
|
|
nid = 3331642
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node12
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331643
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node13
|
|
cmd = a=1
|
|
[node]
|
|
nid = 3331644
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node14
|
|
cmd = b=1
|
|
[node]
|
|
nid = 3331645
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node15
|
|
cmd = 50
|
|
[node]
|
|
nid = 3331646
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node16
|
|
cmd = 50 30 30
|
|
[node]
|
|
nid = 3331647
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node17
|
|
cmd = p(i) +x(c) +y(d) +z(h)
|
|
[node]
|
|
nid = 3331648
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node18
|
|
cmd = fixair = 0
|
|
[node]
|
|
nid = 3331649
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node19
|
|
cmd = 300
|
|
[node]
|
|
nid = 3331650
|
|
task = 1
|
|
type = 15
|
|
state = 1
|
|
desc = node20
|
|
cmd = e=1 1000
|
|
[node]
|
|
nid = 3331651
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node21
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331652
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node22
|
|
cmd = 100 100 100
|
|
[node]
|
|
nid = 3331653
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node23
|
|
cmd = a=0
|
|
[node]
|
|
nid = 3331654
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node24
|
|
cmd = jump(3331663)//空跑用
|
|
[node]
|
|
nid = 3331655
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node25
|
|
cmd = if(1==rio(str(e))) jump(3331663)//-->end
|
|
[node]
|
|
nid = 3331656
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node26
|
|
cmd = redLight = 1
|
|
[node]
|
|
nid = 3331657
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node27
|
|
cmd = wlog("ERROR START",-12,"Vacuum fail","")
|
|
[node]
|
|
nid = 3331658
|
|
task = 1
|
|
type = 24
|
|
state = 0
|
|
desc = node28
|
|
cmd = 1 "Vacuum fail Are you Try again?"
|
|
[node]
|
|
nid = 3331659
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node29
|
|
cmd = redLight = 0
|
|
[node]
|
|
nid = 3331660
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node30
|
|
cmd = h=h+0.01
|
|
[node]
|
|
nid = 3331661
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node31
|
|
cmd = if (4==t1){ wlog("ERROR END",-12,"Vacuum Try Again","");jump(3331643);}//-->try
|
|
[node]
|
|
nid = 3331662
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node32
|
|
cmd = wlog("ERROR END",-12,"Vacuum To Next","");
|
|
[node]
|
|
nid = 3331663
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node33
|
|
cmd = 10
|
|
[node]
|
|
nid = 3331664
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node34
|
|
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
|
|
[node]
|
|
nid = 3331665
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node35
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3331666
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node36
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331667
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node33
|
|
cmd = 2000
|
|
[step]
|
|
sid = 23317
|
|
bDisable = 0
|
|
desc = 单治具循环
|
|
script:
|
|
if(k<2) {k++;jump(23312)}
|
|
|
|
script_end
|
|
node_count = 0
|
|
[step]
|
|
sid = 23318
|
|
bDisable = 0
|
|
desc = 多治具循环
|
|
script:
|
|
if(t<6) {t=t+1;jump(23311)}
|
|
|
|
script_end
|
|
node_count = 3
|
|
[node]
|
|
nid = 3331801
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = t = 3
|
|
[node]
|
|
nid = 3331802
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = work_set_next(t,1)
|
|
[node]
|
|
nid = 3331803
|
|
task = 1033
|
|
type = 10
|
|
state = 0
|
|
desc = node3
|
|
cmd = t x y
|
|
[step]
|
|
sid = 23319
|
|
bDisable = 0
|
|
desc = 料盘拍照位
|
|
script:
|
|
|
|
script_end
|
|
node_count = 17
|
|
[node]
|
|
nid = 3331931
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = vlog("Tray - "+str(t),"Camera Point")
|
|
[node]
|
|
nid = 3331932
|
|
task = 1
|
|
type = 24
|
|
state = 0
|
|
desc = node2
|
|
cmd = 0 "准备料盘点位运动"
|
|
[node]
|
|
nid = 3331933
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = tmp = rpos(51002)
|
|
[node]
|
|
nid = 3331934
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if (tmp>0) jump(3331941)
|
|
[node]
|
|
nid = 3331935
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node5
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3331936
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node6
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331937
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = tmp = rpos(51001)
|
|
[node]
|
|
nid = 3331938
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node8
|
|
cmd = if (tmp<572) jump(3331941)
|
|
[node]
|
|
nid = 3331939
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node9
|
|
cmd = p2 = p0 :x(872) :z(safez)
|
|
[node]
|
|
nid = 3331940
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node10
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331941
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = tmp = rpos(51004)
|
|
[node]
|
|
nid = 3331942
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node12
|
|
cmd = p2 = p16 :x(x) :y(y) :z(tmp)
|
|
[node]
|
|
nid = 3331943
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node13
|
|
cmd = 50 30 30
|
|
[node]
|
|
nid = 3331944
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node14
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331945
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node15
|
|
cmd = p2 = p16 :x(x) :y(y)
|
|
[node]
|
|
nid = 3331946
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node16
|
|
cmd = p2
|
|
[node]
|
|
nid = 3331947
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node17
|
|
cmd = 100 100 100
|
|
[step]
|
|
sid = 23320
|
|
bDisable = 0
|
|
desc = GRR料盘放料拍照
|
|
script:
|
|
|
|
script_end
|
|
node_count = 16
|
|
[node]
|
|
nid = 3332001
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node1
|
|
cmd = 100
|
|
[node]
|
|
nid = 3332002
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = vlog("Tray - "+str(t),"Camera M4")
|
|
[node]
|
|
nid = 3332003
|
|
task = 1033
|
|
type = 22
|
|
state = 1
|
|
desc = node3
|
|
cmd = 31 "M4"
|
|
[node]
|
|
nid = 3332004
|
|
task = 1033
|
|
type = 23
|
|
state = 1
|
|
desc = node4
|
|
cmd = 31 "WaitM4" 5000 ret offsetx offsety
|
|
[node]
|
|
nid = 3332005
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = if(ret == 0) jump(3332012)//-->next
|
|
[node]
|
|
nid = 3332006
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node6
|
|
cmd = redLight = 1
|
|
[node]
|
|
nid = 3332007
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = wlog("ERROR START",-7,"Camera capture failed","")
|
|
[node]
|
|
nid = 3332008
|
|
task = 1033
|
|
type = 24
|
|
state = 0
|
|
desc = node8
|
|
cmd = 1 "Camera fail Are you Try again?"
|
|
[node]
|
|
nid = 3332009
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node9
|
|
cmd = redLight = 0
|
|
[node]
|
|
nid = 3332010
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node10
|
|
cmd = if (4==t1033){ wlog("ERROR END",-7,"Camera Try Again","");jump(3332001);}//-->newStart
|
|
[node]
|
|
nid = 3332011
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = wlog("ERROR END",-7,"Camera To Next","");
|
|
[node]
|
|
nid = 3332012
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node12
|
|
cmd = 0
|
|
[node]
|
|
nid = 3332013
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node13
|
|
cmd = 0
|
|
[node]
|
|
nid = 3332014
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node14
|
|
cmd = x += offsetx
|
|
[node]
|
|
nid = 3332015
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node15
|
|
cmd = y += offsety
|
|
[node]
|
|
nid = 3332016
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node16
|
|
cmd = 0
|
|
[step]
|
|
sid = 23321
|
|
bDisable = 0
|
|
desc = 料盘放料
|
|
script:
|
|
if (v==1)
|
|
{//1号吸嘴
|
|
a = "吸料上下气缸1"
|
|
b = "吸料真空1吸"
|
|
c = v1x
|
|
d = v1y
|
|
e = "吸料真空1检测"
|
|
f = "吸料真空1破"
|
|
h = v1z
|
|
}
|
|
else if (v==2)
|
|
{//2号吸嘴
|
|
a = "吸料上下气缸2"
|
|
b = "吸料真空2吸"
|
|
c = v2x
|
|
d = v2y
|
|
h = v2z
|
|
e = "吸料真空2检测"
|
|
f = "吸料真空2破"
|
|
}
|
|
else if (v==3)
|
|
{//3号吸嘴
|
|
a = "吸料上下气缸3"
|
|
b = "吸料真空3吸"
|
|
c = v3x
|
|
d = v3y
|
|
h = v3z
|
|
e = "吸料真空3检测"
|
|
f = "吸料真空3破"
|
|
}
|
|
else if (v==4)
|
|
{//3号吸嘴
|
|
a = "吸料上下气缸4"
|
|
b = "吸料真空4吸"
|
|
c = v4x
|
|
d = v4y
|
|
h = v4z
|
|
e = "吸料真空4检测"
|
|
f = "吸料真空4破"
|
|
}
|
|
t = 3//料盘
|
|
|
|
script_end
|
|
node_count = 22
|
|
[node]
|
|
nid = 3332131
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = vlog("Tray - "+str(t),str(v)+" - Put")
|
|
[node]
|
|
nid = 3332132
|
|
task = 1
|
|
type = 27
|
|
state = 1
|
|
desc = node2
|
|
cmd = x += c + cameraoffsetx
|
|
[node]
|
|
nid = 3332133
|
|
task = 1
|
|
type = 27
|
|
state = 1
|
|
desc = node3
|
|
cmd = y += d + cameraoffsety
|
|
[node]
|
|
nid = 3332134
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = tmp = rpos(51004)
|
|
[node]
|
|
nid = 3332135
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node5
|
|
cmd = p2 = p16 :x(x) :y(y) :z(tmp)
|
|
[node]
|
|
nid = 3332136
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node6
|
|
cmd = p2
|
|
[node]
|
|
nid = 3332137
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node7
|
|
cmd = a=1
|
|
[node]
|
|
nid = 3332138
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node8
|
|
cmd = 10
|
|
[node]
|
|
nid = 3332139
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node9
|
|
cmd = p2 = p16 :x(x) :y(y) :z(zhNGPut)
|
|
[node]
|
|
nid = 3332140
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node10
|
|
cmd = 50 30 30
|
|
[node]
|
|
nid = 3332141
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node11
|
|
cmd = p2 +z(h)
|
|
[node]
|
|
nid = 3332142
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node12
|
|
cmd = b=0
|
|
[node]
|
|
nid = 3332143
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node13
|
|
cmd = f=1
|
|
[node]
|
|
nid = 3332144
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node14
|
|
cmd = 300
|
|
[node]
|
|
nid = 3332145
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node15
|
|
cmd = p2 +z(-10)
|
|
[node]
|
|
nid = 3332146
|
|
task = 1
|
|
type = 2
|
|
state = 0
|
|
desc = node16
|
|
cmd = 100 100 100
|
|
[node]
|
|
nid = 3332147
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node17
|
|
cmd = a=0
|
|
[node]
|
|
nid = 3332148
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node18
|
|
cmd = f=0
|
|
[node]
|
|
nid = 3332149
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node19
|
|
cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
|
|
[node]
|
|
nid = 3332150
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node20
|
|
cmd = p2 = p0 :z(safez)
|
|
[node]
|
|
nid = 3332151
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node21
|
|
cmd = p2
|
|
[node]
|
|
nid = 3332152
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node21
|
|
cmd = p12
|
|
[step]
|
|
sid = 23322
|
|
bDisable = 0
|
|
desc = 物料循环
|
|
script:
|
|
if(j<3) {j++;jump(23304)}
|
|
|
|
script_end
|
|
node_count = 0
|
|
[step]
|
|
sid = 23323
|
|
bDisable = 0
|
|
desc = end
|
|
script:
|
|
|
|
script_end
|
|
node_count = 6
|
|
[node]
|
|
nid = 3332301
|
|
task = 1033
|
|
type = 1
|
|
state = 0
|
|
desc = node1
|
|
cmd = 0
|
|
[node]
|
|
nid = 3332302
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = yellowLight = 1
|
|
[node]
|
|
nid = 3332303
|
|
task = 1033
|
|
type = 24
|
|
state = 0
|
|
desc = node3
|
|
cmd = 0 "Finished test."
|
|
[node]
|
|
nid = 3332304
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = wlog("END",0,"","End GRR")
|
|
[node]
|
|
nid = 3332305
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = vlog("GRR","end")
|
|
[node]
|
|
nid = 3332306
|
|
task = 1033
|
|
type = 27
|
|
state = 0
|
|
desc = node6
|
|
cmd = work_set_next(6,1)
|