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145 lines
1.8 KiB
Plaintext
145 lines
1.8 KiB
Plaintext
version = 2021
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[proc]
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pid = 1011
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type = 0
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name = 放料到治具
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start =
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pause =
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step_count = 2
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[step]
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sid = 21101
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bDisable = 0
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desc = step1
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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 = 0
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d = 0
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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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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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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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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
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node_count = 12
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[node]
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nid = 3110121
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task = 1
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type = 27
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state = 0
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desc = 计算点位索引
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cmd = h = 5 + t - 1
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[node]
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nid = 3110122
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task = 1
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type = 6
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state = 0
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desc = 判断料盘是否结束
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cmd = p3 = p(h) +x(c) +y(d)
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[node]
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nid = 3110123
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task = 1
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type = 7
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state = 1
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desc = node3
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cmd = p3
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[node]
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nid = 3110124
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task = 1
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type = 14
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state = 1
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desc = node3
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cmd = a=1
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[node]
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nid = 3110125
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task = 1
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type = 1
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state = 0
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desc = node4
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cmd = 50
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[node]
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nid = 3110126
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task = 1
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type = 14
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state = 1
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desc = node5
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cmd = b=0
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[node]
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nid = 3110127
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task = 1
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type = 22
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state = 0
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desc = 夹爪夹紧
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cmd = 31 "grip " + str(t) + " 1"
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[node]
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nid = 3110128
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task = 1
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type = 1
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state = 0
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desc = node7
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cmd = 50
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[node]
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nid = 3110129
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task = 1
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type = 14
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state = 1
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desc = node7
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cmd = a=0
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[node]
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nid = 3110130
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task = 1
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type = 1
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state = 0
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desc = node8
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cmd = 700
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[node]
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nid = 3110131
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task = 1
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type = 14
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state = 1
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desc = node9
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cmd = f=0
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[node]
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nid = 3110132
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task = 1
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type = 22
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state = 0
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desc = node12
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cmd = 31 "vacm_to_test "+str(v)+" "+str(t)
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[step]
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sid = 21102
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bDisable = 0
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desc = end
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script:
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script_end
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node_count = 0
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