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.
299 lines
3.8 KiB
Plaintext
299 lines
3.8 KiB
Plaintext
version = 2021
|
|
[proc]
|
|
pid = 1012
|
|
type = 0
|
|
name = 治具取料
|
|
start =
|
|
pause =
|
|
step_count = 3
|
|
[step]
|
|
sid = 21201
|
|
state = 0
|
|
desc = 到取料位上方
|
|
script:
|
|
if (t==1)
|
|
{//1号夹具
|
|
downh=st1
|
|
fixair = "治具气缸1"
|
|
}
|
|
elseif (t==2)
|
|
{//2号
|
|
downh=st2
|
|
fixair = "治具气缸2"
|
|
}
|
|
elseif (t==3)
|
|
{//3号
|
|
downh=st3
|
|
fixair = "治具气缸3"
|
|
}
|
|
elseif (t==4)
|
|
{//4号
|
|
downh=st4
|
|
fixair = "治具气缸4"
|
|
}
|
|
elseif (t==5)
|
|
{//5号
|
|
downh=st5
|
|
fixair = "治具气缸5"
|
|
}
|
|
elseif (t==6)
|
|
{//6号
|
|
downh=st6
|
|
fixair = "治具气缸6"
|
|
}
|
|
else downh=0
|
|
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
|
|
downh += v1z
|
|
e = "吸料真空1检测"
|
|
f = "吸料真空1破"
|
|
}
|
|
elseif (v==2)
|
|
{//2号
|
|
a = "吸料上下气缸2"
|
|
b = "吸料真空2吸"
|
|
c = v2x
|
|
d = v2y
|
|
downh += v2z
|
|
e = "吸料真空2检测"
|
|
f = "吸料真空2破"
|
|
}
|
|
elseif (v==3)
|
|
{//3号
|
|
a = "吸料上下气缸3"
|
|
b = "吸料真空3吸"
|
|
c = v3x
|
|
d = v3y
|
|
downh += v3z
|
|
e = "吸料真空3检测"
|
|
f = "吸料真空3破"
|
|
}
|
|
elseif (v==4)
|
|
{//3号
|
|
a = "吸料上下气缸4"
|
|
b = "吸料真空4吸"
|
|
c = v4x
|
|
d = v4y
|
|
downh += v4z
|
|
e = "吸料真空4检测"
|
|
f = "吸料真空4破"
|
|
}
|
|
script_end
|
|
node_count = 5
|
|
[node]
|
|
nid = 3120101
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node1
|
|
cmd = vlog("Test cell-"+str(t),str(v)+"-Take")
|
|
[node]
|
|
nid = 3120102
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node2
|
|
cmd = c += cameraoffsetx
|
|
[node]
|
|
nid = 3120103
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = d += cameraoffsety
|
|
[node]
|
|
nid = 3120104
|
|
task = 1012
|
|
type = 18
|
|
state = 0
|
|
desc = node4
|
|
cmd = 1056
|
|
[node]
|
|
nid = 3120105
|
|
task = 1012
|
|
type = 18
|
|
state = 0
|
|
desc = node5
|
|
cmd = 1053
|
|
[step]
|
|
sid = 21202
|
|
state = 0
|
|
desc = 取料
|
|
script:
|
|
|
|
script_end
|
|
node_count = 16
|
|
[node]
|
|
nid = 3120201
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = aa
|
|
cmd = h = upz
|
|
[node]
|
|
nid = 3120202
|
|
task = 1012
|
|
type = 18
|
|
state = 0
|
|
desc = node2
|
|
cmd = 1054
|
|
[node]
|
|
nid = 3120203
|
|
task = 1012
|
|
type = 14
|
|
state = 0
|
|
desc = node3
|
|
cmd = fixair = 0
|
|
[node]
|
|
nid = 3120204
|
|
task = 1012
|
|
type = 14
|
|
state = 0
|
|
desc = node4
|
|
cmd = b=1
|
|
[node]
|
|
nid = 3120205
|
|
task = 1012
|
|
type = 1
|
|
state = 0
|
|
desc = node5
|
|
cmd = 400
|
|
[node]
|
|
nid = 3120206
|
|
task = 1012
|
|
type = 18
|
|
state = 0
|
|
desc = node6
|
|
cmd = 1055
|
|
[node]
|
|
nid = 3120207
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = if(1==rio(str(e))) jump(3120215)//-->end
|
|
[node]
|
|
nid = 3120208
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node8
|
|
cmd = redLight = 1
|
|
[node]
|
|
nid = 3120209
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node9
|
|
cmd = wlog("ERROR START",-12,"Vacuum fail","")
|
|
[node]
|
|
nid = 3120210
|
|
task = 1012
|
|
type = 24
|
|
state = 0
|
|
desc = node10
|
|
cmd = 1 "Vacuum fail Are you Try again?"
|
|
[node]
|
|
nid = 3120211
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node11
|
|
cmd = redLight = 0
|
|
[node]
|
|
nid = 3120212
|
|
task = 1012
|
|
type = 27
|
|
state = 1
|
|
desc = node12
|
|
cmd = h += 0.1
|
|
[node]
|
|
nid = 3120213
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node13
|
|
cmd = if (4==t1012){ wlog("ERROR END",-12,"Vacuum Try Again","");jump(3120202);}//-->try
|
|
[node]
|
|
nid = 3120214
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node14
|
|
cmd = wlog("ERROR END",-12,"Vacuum To Next","");
|
|
[node]
|
|
nid = 3120215
|
|
task = 1012
|
|
type = 22
|
|
state = 0
|
|
desc = node15
|
|
cmd = 31 "test_to_vacm "+str(t)+" "+str(v)
|
|
[node]
|
|
nid = 3120216
|
|
task = 1012
|
|
type = 1
|
|
state = 0
|
|
desc = node16
|
|
cmd = 0
|
|
[step]
|
|
sid = 21203
|
|
state = 0
|
|
desc = log记录
|
|
script:
|
|
|
|
script_end
|
|
node_count = 7
|
|
[node]
|
|
nid = 3120301
|
|
task = 1012
|
|
type = 0
|
|
state = 1
|
|
desc = aa
|
|
cmd =
|
|
[node]
|
|
nid = 3120302
|
|
task = 1012
|
|
type = 1
|
|
state = 0
|
|
desc = node2
|
|
cmd = 0
|
|
[node]
|
|
nid = 3120303
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node3
|
|
cmd = vlog("Test cell-"+str(t),str(v)+"-Take end")
|
|
[node]
|
|
nid = 3120304
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node4
|
|
cmd = if(1==v) vacuum1=1
|
|
[node]
|
|
nid = 3120305
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node5
|
|
cmd = if(2==v) vacuum2=1
|
|
[node]
|
|
nid = 3120306
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node6
|
|
cmd = if(3==v) vacuum3=1
|
|
[node]
|
|
nid = 3120307
|
|
task = 1012
|
|
type = 27
|
|
state = 0
|
|
desc = node7
|
|
cmd = if(4==v) vacuum4=1
|