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version = 2021
[proc]
pid = 1022
type = 0
name = OK仓拍照
start =
pause =
step_count = 8
[step]
sid = 22201
bDisable = 0
desc = 初始化
script:
count = 0
nput = 1
script_end
node_count = 0
[step]
sid = 22202
bDisable = 0
desc = 获取工作盘位置
script:
script_end
node_count = 3
[node]
nid = 3220201
task = 1022
type = 1
state = 0
desc = node1
cmd = 0
[node]
nid = 3220202
task = 1022
type = 19
state = 0
desc = node2
cmd = 1008
[node]
nid = 3220203
task = 1022
type = 10
state = 0
desc = node3
cmd = 2 x1 y1
[step]
sid = 22207
bDisable = 0
desc = 判断是否换盘
script:
if (t1022==0)
{//两个都为0，
if (count==0)
{
pstart(1008);
jump(22201)
}
else jump(22205) //结束拍照
}
script_end
node_count = 0
[step]
sid = 22206
bDisable = 1
desc = 到料仓避位
script:
script_end
node_count = 11
[node]
nid = 3220631
task = 1
type = 27
state = 0
desc = node1
cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point_s")
[node]
nid = 3220632
task = 1
type = 24
state = 1
desc = node2
cmd = 0 "调试 准备料盘点位运动"
[node]
nid = 3220633
task = 1
type = 27
state = 0
desc = node3
cmd = tmp = rpos(51002)
[node]
nid = 3220634
task = 1
type = 27
state = 0
desc = node4
cmd = if (tmp>0) jump(3220641)
[node]
nid = 3220635
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p0 :z(safez)
[node]
nid = 3220636
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3220637
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51001)
[node]
nid = 3220638
task = 1
type = 27
state = 0
desc = node8
cmd = if (tmp<872) jump(3220641)
[node]
nid = 3220639
task = 1
type = 6
state = 0
desc = node9
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3220640
task = 1
type = 7
state = 0
desc = node10
cmd = p2
[node]
nid = 3220641
task = 1
type = 1
state = 0
desc = node11
cmd = 1
[step]
sid = 22208
bDisable = 1
desc = 到拍照位
script:
script_end
node_count = 12
[node]
nid = 3220852
task = 1
type = 27
state = 0
desc = node1
cmd = tmp = rpos(51002)
[node]
nid = 3220851
task = 1
type = 27
state = 0
desc = node2
cmd = if (tmp>0) jump(3220857)
[node]
nid = 3220853
task = 1
type = 6
state = 0
desc = node3
cmd = p2 = p0 :z(safez)
[node]
nid = 3220854
task = 1
type = 7
state = 0
desc = node4
cmd = p2
[node]
nid = 3220855
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p15 :x(x1) :y(y1) :z(safez)
[node]
nid = 3220856
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3220857
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51004)
[node]
nid = 3220858
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p15 :x(x1) :y(y1) :z(tmp)
[node]
nid = 3220859
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3220860
task = 1
type = 6
state = 0
desc = node10
cmd = p2 = p15 :x(x1) :y(y1)
[node]
nid = 3220861
task = 1
type = 7
state = 0
desc = node11
cmd = p2
[node]
nid = 3220862
task = 1
type = 1
state = 0
desc = node12
cmd = 100
[step]
sid = 22203
bDisable = 0
desc = 拍照
script:
script_end
node_count = 11
[node]
nid = 3220301
task = 1022
type = 22
state = 0
desc = node1
cmd = 31 "M3"
[node]
nid = 3220302
task = 1022
type = 27
state = 0
desc = node2
cmd = tmp=0
[node]
nid = 3220303
task = 1022
type = 23
state = 0
desc = node3
cmd = 31 "WaitM3" 5000 ret offsetx offsety
[node]
nid = 3220304
task = 1022
type = 27
state = 0
desc = node4
cmd = tmp++
[node]
nid = 3220305
task = 1022
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3220307)
[node]
nid = 3220306
task = 1022
type = 27
state = 0
desc = node6
cmd = wlog("ERROR START", -1, "Put marital camera fail", "");jump(3220310)
[node]
nid = 3220307
task = 1022
type = 27
state = 0
desc = node7
cmd = count++
[node]
nid = 3220308
task = 1022
type = 27
state = 0
desc = node8
cmd = x=x1+offsetx;y=y1+offsety
[node]
nid = 3220309
task = 1022
type = 22
state = 0
desc = node9
cmd = 31 "posset 2 " +str(tmp) + " sn12 "+str(x)+" "+str(y)
[node]
nid = 3220310
task = 1022
type = 27
state = 0
desc = node10
cmd = if(tmp<pic){jump(3220303)}
[node]
nid = 3220311
task = 1022
type = 1
state = 0
desc = node11
cmd = 0
[step]
sid = 22204
bDisable = 0
desc = 循环
script:
if (count < nput)
{
jump(22202)
}
script_end
node_count = 0
[step]
sid = 22205
bDisable = 0
desc = z轴上升结束
script:
script_end
node_count = 4
[node]
nid = 3220521
task = 1
type = 6
state = 1
desc = node1
cmd = p2 = p0 +z(-10)
[node]
nid = 3220523
task = 1
type = 6
state = 1
desc = node1
cmd = p2 = p0 :z(safez)
[node]
nid = 3220522
task = 1
type = 7
state = 1
desc = node2
cmd = p2
[node]
nid = 3220531
task = 1
type = 27
state = 0
desc = node4
cmd = vlog("Tray-"+str(t),str(v)+"-Camera Point_e")