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168 lines
2.2 KiB
Plaintext
168 lines
2.2 KiB
Plaintext
version = 2021
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[proc]
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pid = 1006
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type = 0
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name = 取料
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start =
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pause =
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step_count = 11
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[step]
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sid = 20601
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bDisable = 0
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desc = 更换料盘
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script =
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node_count = 1
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[node]
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nid = 3060101
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task = 1006
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type = 18
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state = 0
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desc = 获取料盘数量
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cmd = 1007
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[step]
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sid = 20611
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bDisable = 0
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desc = 初始化
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script =
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node_count = 4
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[node]
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nid = 3061101
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task = 1006
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type = 27
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state = 0
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desc = 获取料盘数量
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cmd = v1 = rio("吸料真空1检测")
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[node]
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nid = 3061102
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task = 1006
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type = 27
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state = 0
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desc = node2
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cmd = v2 = rio("吸料真空2检测")
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[node]
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nid = 3061103
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task = 1006
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type = 27
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state = 0
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desc = node3
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cmd = v3 = rio("吸料真空3检测")
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[node]
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nid = 3061104
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task = 1006
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type = 27
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state = 0
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desc = node4
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cmd = v4 = rio("吸料真空4检测")
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[step]
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sid = 20603
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bDisable = 0
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desc = 判断吸嘴1是否取料
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script = if (v1+v2+v3+v4>2) jump(20610)\
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\
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elseif (v1==1) jump(20604)
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node_count = 0
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[step]
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sid = 20602
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bDisable = 0
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desc = 吸嘴1取料
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script =
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node_count = 8
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[node]
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nid = 3060211
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task = 1
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type = 10
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state = 0
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desc = node1
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cmd = p2 1
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[node]
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nid = 3060212
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task = 1
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type = 27
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state = 0
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desc = 判断料盘是否结束
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cmd = if (t1==0) jump(20601)
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[node]
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nid = 3060213
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task = 1
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type = 7
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state = 0
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desc = node3
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cmd = p2
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[node]
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nid = 3060214
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task = 1
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type = 20
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state = 0
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desc = node4
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cmd = 71 1
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[node]
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nid = 3060215
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task = 1
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type = 21
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state = 0
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desc = node5
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cmd = 71 1 5000 offsetx offsety sn
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[node]
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nid = 3060216
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task = 1
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type = 6
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state = 0
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desc = node6
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cmd = p3 = p2 +x(offsetx) +z(offsety)
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[node]
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nid = 3060217
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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 = p3 = p3 +x(v2x) +z(v2y)
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[node]
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nid = 3060218
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task = 1
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type = 7
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state = 0
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desc = node8
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cmd = p3
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[step]
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sid = 20604
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bDisable = 0
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desc = 判断吸嘴2是否取料
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script = if (v1+v2+v3+v4>2) jump(20610)\
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\
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elseif (v2==1) jump(20606)
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node_count = 0
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[step]
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sid = 20605
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bDisable = 0
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desc = 吸嘴2取料
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script =
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node_count = 0
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[step]
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sid = 20606
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bDisable = 0
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desc = 判断吸嘴3是否取料
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script = if (v3==1) jump(20606)
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node_count = 0
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[step]
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sid = 20607
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bDisable = 0
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desc = 吸嘴3取料
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script =
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node_count = 0
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[step]
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sid = 20608
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bDisable = 0
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desc = 判断吸嘴4是否取料
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script =
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node_count = 0
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[step]
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sid = 20609
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bDisable = 0
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desc = 吸嘴4取料
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script =
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node_count = 0
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[step]
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sid = 20610
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bDisable = 0
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desc = 到放料位
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script =
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node_count = 0
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