You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
187 lines
2.2 KiB
Plaintext
187 lines
2.2 KiB
Plaintext
version = 2021
|
|
[proc]
|
|
pid = 1012
|
|
type = 0
|
|
name = 治具取料
|
|
start =
|
|
pause =
|
|
step_count = 2
|
|
[step]
|
|
sid = 21201
|
|
bDisable = 0
|
|
desc = step1
|
|
script:
|
|
if (v==1)
|
|
{//1号吸嘴
|
|
a = "吸料上下气缸1"
|
|
b = "吸料真空1吸"
|
|
c = 0
|
|
d = 0
|
|
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
|
|
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
|
|
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
|
|
e = "吸料真空4检测"
|
|
f = "吸料真空4破"
|
|
}
|
|
|
|
script_end
|
|
node_count = 16
|
|
[node]
|
|
nid = 3120121
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = 计算点位索引
|
|
cmd = h = 5 + t - 1
|
|
[node]
|
|
nid = 3120122
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = 判断料盘是否结束
|
|
cmd = p3 = p(h) +x(c) +y(d) :z(0)
|
|
[node]
|
|
nid = 3120123
|
|
task = 1
|
|
type = 6
|
|
state = 0
|
|
desc = node3
|
|
cmd = p2 = p(h) +x(c) +y(d)
|
|
[node]
|
|
nid = 3120124
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node3
|
|
cmd = p3
|
|
[node]
|
|
nid = 3120125
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node4
|
|
cmd = a=1
|
|
[node]
|
|
nid = 3120131
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = a111
|
|
cmd = b=1
|
|
[node]
|
|
nid = 3120126
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = if(v==4)jump(3120135)
|
|
[node]
|
|
nid = 3120134
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node8
|
|
cmd = p2 +Z(0.15)
|
|
[node]
|
|
nid = 3120132
|
|
task = 1
|
|
type = 27
|
|
state = 0
|
|
desc = a111
|
|
cmd = jump(3120127)
|
|
[node]
|
|
nid = 3120135
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node10
|
|
cmd = p2 +Z(1)
|
|
[node]
|
|
nid = 3120127
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node6
|
|
cmd = 300
|
|
[node]
|
|
nid = 3120128
|
|
task = 1
|
|
type = 7
|
|
state = 0
|
|
desc = node7
|
|
cmd = p3
|
|
[node]
|
|
nid = 3120129
|
|
task = 1
|
|
type = 14
|
|
state = 0
|
|
desc = node7
|
|
cmd = a=0
|
|
[node]
|
|
nid = 3120130
|
|
task = 1
|
|
type = 1
|
|
state = 0
|
|
desc = node8
|
|
cmd = 50
|
|
[node]
|
|
nid = 3120133
|
|
task = 1
|
|
type = 15
|
|
state = 1
|
|
desc = node15
|
|
cmd = e=1 1000
|
|
[node]
|
|
nid = 3120136
|
|
task = 1
|
|
type = 22
|
|
state = 0
|
|
desc = node16
|
|
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
|
|
[step]
|
|
sid = 21202
|
|
bDisable = 0
|
|
desc = log记录
|
|
script:
|
|
|
|
script_end
|
|
node_count = 2
|
|
[node]
|
|
nid = 3120201
|
|
task = 1012
|
|
type = 0
|
|
state = 0
|
|
desc = aa
|
|
cmd =
|
|
[node]
|
|
nid = 3120202
|
|
task = 1012
|
|
type = 1
|
|
state = 0
|
|
desc = node2
|
|
cmd = 0
|