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version = 2021
[proc]
pid = 1014
type = 0
name = 料仓取料拍照
start =
pause =
step_count = 5
[step]
sid = 21401
bDisable = 0
desc = 初始化
script:
count = 0
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 = 21403
bDisable = 0
desc = 拍照
script:
if (t1014 == 0)
{//两个都为0，
work_set_next(1,0)
if (count==0)
{
pstart(1007);
jump(21401)
}
else jump(21405) //结束
}
else count++
script_end
node_count = 24
[node]
nid = 3140321
task = 1
type = 0
state = 1
desc = 只移动xy
cmd =
[node]
nid = 3140322
task = 1
type = 27
state = 1
desc = 判断料盘是否结束
cmd = if (tmp>0) jump(3140342)
[node]
nid = 3140323
task = 1
type = 6
state = 1
desc = 只移动Z
cmd = p2 = p0 :z(safez)
[node]
nid = 3140324
task = 1
type = 7
state = 1
desc = 抬起Z轴
cmd = p2
[node]
nid = 3140325
task = 1
type = 6
state = 1
desc = node3
cmd = p2 = p14 :x(x) :y(y) :z(safez)
[node]
nid = 3140326
task = 1
type = 7
state = 1
desc = 到拍照位上方
cmd = p2
[node]
nid = 3140342
task = 1
type = 27
state = 1
desc = node7
cmd = tmp = rpos(51004)
[node]
nid = 3140343
task = 1
type = 6
state = 1
desc = node8
cmd = p2 = p14 :x(x) :y(y) :z(tmp)
[node]
nid = 3140344
task = 1
type = 7
state = 1
desc = node9
cmd = p2
[node]
nid = 3140327
task = 1
type = 6
state = 1
desc = node7
cmd = p2 = p14 :x(x) :y(y)
[node]
nid = 3140328
task = 1
type = 7
state = 1
desc = 到拍照位
cmd = p2
[node]
nid = 3140329
task = 1
type = 1
state = 0
desc = node8
cmd = 100
[node]
nid = 3140330
task = 1
type = 22
state = 1
desc = qq111
cmd = 31 "M1"
[node]
nid = 3140331
task = 1
type = 23
state = 1
desc = node23
cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
[node]
nid = 3140332
task = 1
type = 27
state = 0
desc = node6
cmd = if(ret == 0) jump(3140337)
[node]
nid = 3140333
task = 1
type = 0
state = 0
desc = node7
cmd =
[node]
nid = 3140334
task = 1
type = 24
state = 1
desc = node14
cmd = 1 "camera fail Are you Try again?"
[node]
nid = 3140335
task = 1
type = 27
state = 1
desc = node15
cmd = if (4==t1) jump(3140330)
[node]
nid = 3140336
task = 1
type = 27
state = 1
desc = node16
cmd = count--;jump(3140341)
[node]
nid = 3140337
task = 1
type = 27
state = 0
desc = node17
cmd = sn = "sn" + str(v1++)
[node]
nid = 3140338
task = 1
type = 27
state = 0
desc = node18
cmd = x += offsetx
[node]
nid = 3140339
task = 1
type = 27
state = 0
desc = node19
cmd = y += offsety
[node]
nid = 3140340
task = 1
type = 22
state = 0
desc = node20
cmd = 31 "posset 1 " +str(sn)+" "+str(x)+" "+str(y)
[node]
nid = 3140341
task = 1
type = 27
state = 0
desc = node21
cmd = print("取料拍照")
[step]
sid = 21404
bDisable = 0
desc = 循环
script:
if (count < ntake)
{
jump(21402)
}
script_end
node_count = 0
[step]
sid = 21405
bDisable = 1
desc = Z轴抬升后结束
script:
script_end
node_count = 2
[node]
nid = 3140521
task = 1
type = 6
state = 0
desc = 1qqq
cmd = p2 = p0 +Z(-10)
[node]
nid = 3140522
task = 1
type = 7
state = 0
desc = 11qqq
cmd = p2