<?xml version="1.0" encoding="UTF-8"?>
<AuboProgram lastModifiedTime="2025-07-08 10:26:22" name="chuansongdai_biaoding" installation="csd" installationRelativePath="csd.ins" directory="/root/arcs_ws/program" createdIn="0.32.0-alpha.123" lastSaveIn="0.31.1-beta.21" robotSerialNumber="A1136362DOO0644" crcValue="225635">
    <kinematics status="NOT_INITIALIZED" validChecksum="false">
        <theta value="3.14159265358979,-1.5707963267949,0,-1.5707963267949,0,0"/>
        <a value="0,-0.000148100007208996,0.40849060001038,0.375726100009866,2.18999994103797e-05,-4.46000012743752e-05"/>
        <d value="0.122,0.121540399998397,-4.03999983973335e-05,4.03999983973335e-05,0.1025,0.094"/>
        <alpha value="0,-1.57059735679906,3.14314250357496,3.14285103360238,-1.57043678680458,1.57125883680675"/>
        <jointChecksum value="0,0,0,0,0,0"/>
    </kinematics>
    <WaypointModel>
        <Waypoint name="路点_1">
            <RobotPose pose="-0.3764545432404466,-0.6416244569794648,-0.08066155053796357,-3.140984609891754,-0.0011073822131843,0.0006101210783225175"/>
            <JointPositions angles="-1.937839474170174,-1.15541968448981,1.230484168047304,0.8146048875911714,1.569528641021673,-0.3683025432451432"/>
            <TcpOffset pose="0,0,0,0,0,0"/>
            <Kinematics status="NOT_INITIALIZED" validChecksum="false">
                <theta value="0,0,0,0,0,0"/>
                <a value="0,0,0,0,0,0"/>
                <d value="0,0,0,0,0,0"/>
                <alpha value="0,0,0,0,0,0"/>
                <beta value="0,0,0,0,0,0"/>
                <jointChecksum value="beta_value"/>
            </Kinematics>
        </Waypoint>
        <Waypoint name="路点_0">
            <RobotPose pose="0.418799536781868,-0.5937658879016575,-0.09041431411307985,-3.141033605997409,-0.001078479288895748,0.0005712970625502109"/>
            <JointPositions angles="-0.78907070215794,-1.144217258034441,1.297981576496881,0.8722285636917857,1.569933652450819,0.7804718743809513"/>
            <TcpOffset pose="0,0,0,0,0,0"/>
            <Kinematics status="NOT_INITIALIZED" validChecksum="false">
                <theta value="0,0,0,0,0,0"/>
                <a value="0,0,0,0,0,0"/>
                <d value="0,0,0,0,0,0"/>
                <alpha value="0,0,0,0,0,0"/>
                <beta value="0,0,0,0,0,0"/>
                <jointChecksum value="beta_value"/>
            </Kinematics>
        </Waypoint>
        <Waypoint name="路点_2">
            <RobotPose pose="0.8360315895180731,0.5504537588799971,0.1979152515831011,-3.136758615564259,0.004061832470805526,1.567737830359373"/>
            <JointPositions angles="0.7752944782783846,-0.7437413878718163,1.376999707987243,0.5457475006201267,1.572338070301841,0.7766269658802707"/>
            <TcpOffset pose="0,0,0,0,0,0"/>
            <Kinematics status="NOT_INITIALIZED" validChecksum="false">
                <theta value="0,0,0,0,0,0"/>
                <a value="0,0,0,0,0,0"/>
                <d value="0,0,0,0,0,0"/>
                <alpha value="0,0,0,0,0,0"/>
                <beta value="0,0,0,0,0,0"/>
                <jointChecksum value="beta_value"/>
            </Kinematics>
        </Waypoint>
        <Waypoint name="路点_3">
            <RobotPose pose="0.8389839043414232,0.5519176379187338,0.4134748023887504,-3.136759310951569,0.004058352758295606,1.567733358660552"/>
            <JointPositions angles="0.774057843381396,-0.6027137081674292,1.195095574777376,0.2228183877820669,1.57210181363484,0.7754753833834025"/>
            <TcpOffset pose="0,0,0,0,0,0"/>
            <Kinematics status="NOT_INITIALIZED" validChecksum="false">
                <theta value="0,0,0,0,0,0"/>
                <a value="0,0,0,0,0,0"/>
                <d value="0,0,0,0,0,0"/>
                <alpha value="0,0,0,0,0,0"/>
                <beta value="0,0,0,0,0,0"/>
                <jointChecksum value="beta_value"/>
            </Kinematics>
        </Waypoint>
    </WaypointModel>
    <TimerModel/>
    <VariableModel>
        <GlobalVariable name="ticks"/>
        <GlobalVariable name="distance"/>
    </VariableModel>
    <SubProgModel/>
    <InitVariablesNode title="初始变量" id="4fa08ac9-2967-43c0-a36d-1ace856be1de">
        <datamodel/>
    </InitVariablesNode>
    <MainProgramNode title="机器人编程" id="7e79ed58-185b-4430-9d08-7d6026ebdb1a">
        <datamodel>
            <Bool key="addBeforeStartSequence" value="false"/>
            <Bool key="loopForever" value="false"/>
            <String key="startWaypoint" value="#IGNORE"/>
        </datamodel>
        <children>
            <ScriptNode title="biaoding.lua" id="d45733bc-d706-4554-87b3-ad3736275965">
                <datamodel>
                    <Expression key="expression"/>
                    <String key="file_path" value="biaoding.lua"/>
                    <Bool key="use_file" value="true"/>
                </datamodel>
            </ScriptNode>
            <FolderNode title="标定方向1" isSuppress="true" suppressedComment="" id="1e74a2dc-4daf-47df-abd9-b98e5322dd63">
                <datamodel>
                    <String key="folder_name" value="标定方向1"/>
                </datamodel>
                <children>
                    <MoveNode title="关节运动" id="697c3e9b-d980-42e1-a2f4-271b9d7f5d56">
                        <datamodel>
                            <Float64 key="blendRadius" value="0.025000000000000001"/>
                            <Feature key="feature" name="Base" id="559baad1-9153-354f-8eaf-71aa93a482c4"/>
                            <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                            <Float64 key="jointSpeed" value="1.0471975511965976"/>
                            <Float64 key="toolAcceleration" value="1.2"/>
                            <Float64 key="toolSpeed" value="0.25"/>
                            <String key="type" value="MOVE_J"/>
                            <Bool key="useActiveTCP" value="true"/>
                            <Bool key="useJoints" value="false"/>
                        </datamodel>
                        <children>
                            <WaypointNode title="路点_1" id="76d230b6-7152-4911-976b-8aae7d9ff0ab">
                                <datamodel>
                                    <VectorDouble key="baseToFeature" value="0,0,0,0,0,0"/>
                                    <Float64 key="blendRadius" value="0.02"/>
                                    <String key="blendType" value="NO_BLEND"/>
                                    <Float64 key="cartesianAcceleration" value="1.2"/>
                                    <Float64 key="cartesianSpeed" value="0.25"/>
                                    <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                                    <Float64 key="jointSpeed" value="1.0471975511965976"/>
                                    <Float64 key="motionTime" value="0"/>
                                    <String key="motionType" value="SHARED"/>
                                    <Feature key="offset_feature" name="Base" id="acb9ff82-c720-31eb-8ea8-d9946530dcf9"/>
                                    <Expression key="offset_rx">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_ry">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_rz">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="offset_tool_flange" value="false"/>
                                    <String key="offset_type" value="CUSTOM"/>
                                    <Expression key="offset_x">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_y">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_z">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="relative_last_waypoint" value="false"/>
                                    <String key="relative_type" value="INPUT"/>
                                    <String key="relative_variable_type" value="VARIABLE_POSE"/>
                                    <String key="type" value="POSITION"/>
                                    <String key="variableType" value="VARIABLE_POSE"/>
                                    <Waypoint key="waypoint" name="路点_1"/>
                                </datamodel>
                                <children>
                                    <UntilNode title="直到到达：" id="be47a87d-99ad-4ea4-b0ab-cb7606c00683">
                                        <datamodel>
                                            <Float64 key="analogValue" value="0"/>
                                            <Float64 key="angularDeceleration" value="1.3962634015954636"/>
                                            <Float64 key="blendRadius" value="0.02"/>
                                            <Float64 key="cartesionDeceleration" value="1.2"/>
                                            <String key="compareOperator" value="LESS_THAN"/>
                                            <Float64 key="distance" value="0.02"/>
                                            <String key="ioInputSelection" value="DIGITAL"/>
                                            <Bool key="moveToContactPoint" value="true"/>
                                            <String key="type" value="REACHED_WAYPOINT"/>
                                            <Bool key="useBlend" value="false"/>
                                            <Bool key="useExpression" value="false"/>
                                            <Bool key="useSharedDec" value="true"/>
                                        </datamodel>
                                    </UntilNode>
                                </children>
                            </WaypointNode>
                        </children>
                    </MoveNode>
                    <AssignmentNode title="bd_pose1:=getTcpPose()" id="997e7ef2-92a7-4a8d-b6ac-efea5458b200">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getTcpPose"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_pose1"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="bd_tick1:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick1"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="847a5391-882b-4b6e-a09f-af83f8fa4c02">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：方向标定步骤1完成" id="cf852447-b678-4247-a38d-d8df1c21fd9f">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="方向标定步骤1完成"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                </children>
            </FolderNode>
            <FolderNode title="标定方向2" isSuppress="true" suppressedComment="" id="1e74a2dc-4daf-47df-abd9-b98e5322dd63">
                <datamodel>
                    <String key="folder_name" value="标定方向2"/>
                </datamodel>
                <children>
                    <MoveNode title="关节运动" id="7a33e11c-3f29-46ba-b2df-375bc636efb4">
                        <datamodel>
                            <Float64 key="blendRadius" value="0.025000000000000001"/>
                            <Feature key="feature" name="Base" id="559baad1-9153-354f-8eaf-71aa93a482c4"/>
                            <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                            <Float64 key="jointSpeed" value="1.0471975511965976"/>
                            <Float64 key="toolAcceleration" value="1.2"/>
                            <Float64 key="toolSpeed" value="0.25"/>
                            <String key="type" value="MOVE_J"/>
                            <Bool key="useActiveTCP" value="true"/>
                            <Bool key="useJoints" value="false"/>
                        </datamodel>
                        <children>
                            <WaypointNode title="路点_0" id="34dbfe77-5227-4d12-a84f-06d99e809026">
                                <datamodel>
                                    <VectorDouble key="baseToFeature" value="0,0,0,0,0,0"/>
                                    <Float64 key="blendRadius" value="0.02"/>
                                    <String key="blendType" value="NO_BLEND"/>
                                    <Float64 key="cartesianAcceleration" value="1.2"/>
                                    <Float64 key="cartesianSpeed" value="0.25"/>
                                    <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                                    <Float64 key="jointSpeed" value="1.0471975511965976"/>
                                    <Float64 key="motionTime" value="0"/>
                                    <String key="motionType" value="SHARED"/>
                                    <Feature key="offset_feature" name="Base" id="d35c5a54-da38-35da-9524-9a3ddb42d461"/>
                                    <Expression key="offset_rx">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_ry">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_rz">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="offset_tool_flange" value="false"/>
                                    <String key="offset_type" value="CUSTOM"/>
                                    <Expression key="offset_x">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_y">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_z">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="relative_last_waypoint" value="false"/>
                                    <String key="relative_type" value="INPUT"/>
                                    <String key="relative_variable_type" value="VARIABLE_POSE"/>
                                    <String key="type" value="POSITION"/>
                                    <String key="variableType" value="VARIABLE_POSE"/>
                                    <Waypoint key="waypoint" name="路点_0"/>
                                </datamodel>
                                <children>
                                    <UntilNode title="直到到达：" id="79b2cfd4-1af7-4aeb-b66c-8be93bda097e">
                                        <datamodel>
                                            <Float64 key="analogValue" value="0"/>
                                            <Float64 key="angularDeceleration" value="1.3962634015954636"/>
                                            <Float64 key="blendRadius" value="0.02"/>
                                            <Float64 key="cartesionDeceleration" value="1.2"/>
                                            <String key="compareOperator" value="LESS_THAN"/>
                                            <Float64 key="distance" value="0.02"/>
                                            <String key="ioInputSelection" value="DIGITAL"/>
                                            <Bool key="moveToContactPoint" value="true"/>
                                            <String key="type" value="REACHED_WAYPOINT"/>
                                            <Bool key="useBlend" value="false"/>
                                            <Bool key="useExpression" value="false"/>
                                            <Bool key="useSharedDec" value="true"/>
                                        </datamodel>
                                    </UntilNode>
                                </children>
                            </WaypointNode>
                        </children>
                    </MoveNode>
                    <AssignmentNode title="bd_pose2:=getTcpPose()" id="997e7ef2-92a7-4a8d-b6ac-efea5458b200">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getTcpPose"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_pose2"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="bd_tick2:=getEncTickCount()" id="16113d42-7f78-4d70-a6eb-d27c2e10df23">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick2"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="ticks:=unwindEncDeltaTickCount(bd_tick2 - bd_tick1)" id="e0ebfde2-1e21-4dae-a658-252422f53414">
                        <datamodel>
                            <Expression key="expression">
                                <String string="unwindEncDeltaTickCount"/>
                                <String string="("/>
                                <Variable name="bd_tick2"/>
                                <String string=" "/>
                                <String string="-"/>
                                <String string=" "/>
                                <Variable name="bd_tick1"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="ticks"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="distance:=distance_cal(bd_pose1,bd_pose2)" id="aa0b4220-1285-40bd-8b82-aeaf6b8147aa">
                        <datamodel>
                            <Expression key="expression">
                                <String string="d"/>
                                <String string="i"/>
                                <String string="s"/>
                                <String string="t"/>
                                <String string="a"/>
                                <String string="n"/>
                                <String string="c"/>
                                <String string="e"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <Variable name="bd_pose1"/>
                                <String string=","/>
                                <Variable name="bd_pose2"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="distance"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="direction:=direction_cal(bd_pose1,bd_pose2,distance)" id="2dd4a696-a6fa-4a83-a488-5f142c197a8f">
                        <datamodel>
                            <Expression key="expression">
                                <String string="d"/>
                                <String string="i"/>
                                <String string="r"/>
                                <String string="e"/>
                                <String string="c"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <Variable name="bd_pose1"/>
                                <String string=","/>
                                <Variable name="bd_pose2"/>
                                <String string=","/>
                                <Variable name="distance"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="direction"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="tickPerMeter:=tickPerMeter_cal(ticks,distance)" id="5a6e278f-ab2e-4510-ad85-d14cd0fcc100">
                        <datamodel>
                            <Expression key="expression">
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="P"/>
                                <String string="e"/>
                                <String string="r"/>
                                <String string="M"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="e"/>
                                <String string="r"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <Variable name="ticks"/>
                                <String string=","/>
                                <Variable name="distance"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="tickPerMeter"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="98721ad3-d673-4e5b-8d1e-bea97e291152">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：方向标定完成" id="cf852447-b678-4247-a38d-d8df1c21fd9f">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="方向标定完成"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                </children>
            </FolderNode>
            <FolderNode title="标定启动窗口和工作区域" isSuppress="true" suppressedComment="" id="631ef08c-6032-403e-9200-8dc40b624409">
                <datamodel>
                    <String key="folder_name" value="标定启动窗口和工作区域"/>
                </datamodel>
                <children>
                    <PopupNode title="弹窗 消息：将工件摆放到同步开关刚好触发处,摆放完成后点击继续" id="a277f03e-bc83-4fd6-a4ed-a15ac8922c8b">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="将工件摆放到同步开关刚好触发处,摆放完成后点击继续"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <AssignmentNode title="bd_tick1:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick1"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="2957b3c8-958f-4c0f-949d-a1016ffa726e">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：开启传送带,工件到达启动窗口开始处停止传送带,停稳后点击继续" id="a277f03e-bc83-4fd6-a4ed-a15ac8922c8b">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="开启传送带,工件到达启动窗口开始处停止传送带,停稳后点击继续"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <AssignmentNode title="bd_tick2:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick2"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="39bc6def-d0c1-4c86-a2c6-d78f29856b1b">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：开启传送带,工件到达启动窗口结束处停止传送带,停稳后点击继续" id="a277f03e-bc83-4fd6-a4ed-a15ac8922c8b">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="开启传送带,工件到达启动窗口结束处停止传送带,停稳后点击继续"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <AssignmentNode title="bd_tick3:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick3"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="a6fbb6af-478b-46a0-94f9-52bcdf78ab1b">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：开启传送带,工件到达最大限制区域处停止传送带,停稳后点击继续" id="a277f03e-bc83-4fd6-a4ed-a15ac8922c8b">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="开启传送带,工件到达最大限制区域处停止传送带,停稳后点击继续"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <AssignmentNode title="bd_tick4:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick4"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="a6fbb6af-478b-46a0-94f9-52bcdf78ab1b">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <AssignmentNode title="conveyor_start:=ws_cal(bd_tick2, bd_tick1, tickPerMeter)" id="e0ebfde2-1e21-4dae-a658-252422f53414">
                        <datamodel>
                            <Expression key="expression">
                                <String string="w"/>
                                <String string="s"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="2"/>
                                <String string=","/>
                                <String string=" "/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="1"/>
                                <String string=","/>
                                <String string=" "/>
                                <Variable name="tickPerMeter"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="conveyor_start"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="conveyor_end:=ws_cal(bd_tick3, bd_tick1, tickPerMeter)" id="e0ebfde2-1e21-4dae-a658-252422f53414">
                        <datamodel>
                            <Expression key="expression">
                                <String string="w"/>
                                <String string="s"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="3"/>
                                <String string=","/>
                                <String string=" "/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="1"/>
                                <String string=","/>
                                <String string=" "/>
                                <Variable name="tickPerMeter"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="conveyor_end"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <AssignmentNode title="conveyor_limit:=ws_cal(bd_tick4, bd_tick1, tickPerMeter)" id="e0ebfde2-1e21-4dae-a658-252422f53414">
                        <datamodel>
                            <Expression key="expression">
                                <String string="w"/>
                                <String string="s"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="4"/>
                                <String string=","/>
                                <String string=" "/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="1"/>
                                <String string=","/>
                                <String string=" "/>
                                <Variable name="tickPerMeter"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="conveyor_limit"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="2cd5a46d-50a7-48e4-8177-549c4d780849">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <ScriptNode title="setConveyorTrackStartWindow(0,conveyor_start,conveyor_end)" id="8b521c27-20b3-4aca-bf35-c98af534b0b8">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="S"/>
                                <String string="t"/>
                                <String string="a"/>
                                <String string="r"/>
                                <String string="t"/>
                                <String string="W"/>
                                <String string="i"/>
                                <String string="n"/>
                                <String string="d"/>
                                <String string="o"/>
                                <String string="w"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="conveyor_start"/>
                                <String string=","/>
                                <Variable name="conveyor_end"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="setConveyorTrackLimit(0,conveyor_limit)" id="8b521c27-20b3-4aca-bf35-c98af534b0b8">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="L"/>
                                <String string="i"/>
                                <String string="m"/>
                                <String string="i"/>
                                <String string="t"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="conveyor_limit"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <WaitNode title="等待：2.00s" id="d59c7f27-6484-4337-b6ae-e6f5316aac89">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：启动窗口标定完成" id="cf852447-b678-4247-a38d-d8df1c21fd9f">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="启动窗口标定完成"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                </children>
            </FolderNode>
            <FolderNode title="标定同步开关偏移" isSuppress="true" suppressedComment="" id="80be857b-9c19-476f-8b22-247df3577b8a">
                <datamodel>
                    <String key="folder_name" value="标定同步开关偏移"/>
                </datamodel>
                <children>
                    <PopupNode title="弹窗 消息：将工件摆放到同步开关刚好触发处" id="a277f03e-bc83-4fd6-a4ed-a15ac8922c8b">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="将工件摆放到同步开关刚好触发处"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <AssignmentNode title="bd_tick1:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick1"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="5ea1c318-e560-4423-b6a6-ffb251a122fa">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：开启传送带,将工件移动到虚拟开关处" id="a277f03e-bc83-4fd6-a4ed-a15ac8922c8b">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="开启传送带,将工件移动到虚拟开关处"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                    <AssignmentNode title="bd_tick2:=getEncTickCount()" id="38fbed21-a5b6-42c4-9eac-d5171ad725e7">
                        <datamodel>
                            <Expression key="expression">
                                <String string="getEncTickCount"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="bd_tick2"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：2.00s" id="79a72e99-9082-43d7-98d6-d00018f7ab89">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <AssignmentNode title="sensor_offset:=ws_cal(bd_tick2, bd_tick1, tickPerMeter)" id="2abb2ddd-a1cf-49a7-a21d-76f68bbe3baf">
                        <datamodel>
                            <Expression key="expression">
                                <String string="w"/>
                                <String string="s"/>
                                <String string="_"/>
                                <String string="c"/>
                                <String string="a"/>
                                <String string="l"/>
                                <String string="("/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="2"/>
                                <String string=","/>
                                <String string=" "/>
                                <String string="b"/>
                                <String string="d"/>
                                <String string="_"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="1"/>
                                <String string=","/>
                                <String string=" "/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="P"/>
                                <String string="e"/>
                                <String string="r"/>
                                <String string="M"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="e"/>
                                <String string="r"/>
                                <String string=")"/>
                            </Expression>
                            <String key="inputMode" value="bool"/>
                            <String key="operatorMessage" value=""/>
                            <Bool key="syncProgramPointer" value="false"/>
                            <String key="type" value="EXPRESSION"/>
                            <Variable key="variable">
                                <variable name="sensor_offset"/>
                            </Variable>
                        </datamodel>
                    </AssignmentNode>
                    <WaitNode title="等待：1.00s" id="026e41cb-4f8b-4944-9ce7-203439b14d7e">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="1"/>
                        </datamodel>
                    </WaitNode>
                    <ScriptNode title="setConveyorTrackSensorOffset(0,sensor_offset)" id="138b5f79-507a-410c-815b-2af514f4e1bd">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="S"/>
                                <String string="e"/>
                                <String string="n"/>
                                <String string="s"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="O"/>
                                <String string="f"/>
                                <String string="f"/>
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="sensor_offset"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <WaitNode title="等待：2.00s" id="130f6243-d2b0-420d-970f-1292d64e71ac">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="2"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：同步开关偏移标定完成,请进行点位示教" id="cf852447-b678-4247-a38d-d8df1c21fd9f">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="同步开关偏移标定完成,请进行点位示教"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                </children>
            </FolderNode>
            <FolderNode title="标定补偿" isSuppress="true" suppressedComment="" id="67d6ff6c-d87a-4b93-bc54-ab57bfb7ee11">
                <datamodel>
                    <String key="folder_name" value="标定补偿"/>
                </datamodel>
                <children>
                    <ScriptNode title="setConveyorTrackStartWindow(0,conveyor_start,conveyor_end)" id="8b521c27-20b3-4aca-bf35-c98af534b0b8">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="S"/>
                                <String string="t"/>
                                <String string="a"/>
                                <String string="r"/>
                                <String string="t"/>
                                <String string="W"/>
                                <String string="i"/>
                                <String string="n"/>
                                <String string="d"/>
                                <String string="o"/>
                                <String string="w"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="conveyor_start"/>
                                <String string=","/>
                                <Variable name="conveyor_end"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="setConveyorTrackSyncSeparation(0,0.0,0.0)" id="e85867db-1b59-4ab9-acd6-d016524dd779">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="S"/>
                                <String string="y"/>
                                <String string="n"/>
                                <String string="c"/>
                                <String string="S"/>
                                <String string="e"/>
                                <String string="p"/>
                                <String string="a"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="t"/>
                                <String string="i"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <String string="0"/>
                                <String string="."/>
                                <String string="0"/>
                                <String string=","/>
                                <String string="0"/>
                                <String string="."/>
                                <String string="0"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="setConveyorTrackEncoder(0,tickPerMeter)" id="21195e30-9a36-415e-814f-c3e265d1bfb6">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="E"/>
                                <String string="n"/>
                                <String string="c"/>
                                <String string="o"/>
                                <String string="d"/>
                                <String string="e"/>
                                <String string="r"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="tickPerMeter"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="setConveyorTrackCompensate(0,conveyor_comp)" id="1f50f6e2-3fd4-4ae9-b24d-b9d9df07fde6">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="m"/>
                                <String string="p"/>
                                <String string="e"/>
                                <String string="n"/>
                                <String string="s"/>
                                <String string="a"/>
                                <String string="t"/>
                                <String string="e"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="conveyor_comp"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="setConveyorTrackLimit(0,conveyor_limit)" id="1f50f6e2-3fd4-4ae9-b24d-b9d9df07fde6">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="L"/>
                                <String string="i"/>
                                <String string="m"/>
                                <String string="i"/>
                                <String string="t"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="conveyor_limit"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="setConveyorTrackSensorOffset(0,sensor_offset)" id="138b5f79-507a-410c-815b-2af514f4e1bd">
                        <datamodel>
                            <Expression key="expression">
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string="S"/>
                                <String string="e"/>
                                <String string="n"/>
                                <String string="s"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="O"/>
                                <String string="f"/>
                                <String string="f"/>
                                <String string="s"/>
                                <String string="e"/>
                                <String string="t"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="sensor_offset"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <MoveNode title="关节运动" id="eba37fc2-da7e-4320-8dea-d72cf42c44ce">
                        <datamodel>
                            <Float64 key="blendRadius" value="0.025000000000000001"/>
                            <Feature key="feature" name="Base" id="559baad1-9153-354f-8eaf-71aa93a482c4"/>
                            <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                            <Float64 key="jointSpeed" value="1.0471975511965976"/>
                            <Float64 key="toolAcceleration" value="1.2"/>
                            <Float64 key="toolSpeed" value="0.25"/>
                            <String key="type" value="MOVE_J"/>
                            <Bool key="useActiveTCP" value="true"/>
                            <Bool key="useJoints" value="false"/>
                        </datamodel>
                        <children>
                            <WaypointNode title="路点_3" id="fc283c53-9f5b-40c9-b0f5-646273ad9d60">
                                <datamodel>
                                    <VectorDouble key="baseToFeature" value="0,0,0,0,0,0"/>
                                    <Float64 key="blendRadius" value="0.02"/>
                                    <String key="blendType" value="NO_BLEND"/>
                                    <Float64 key="cartesianAcceleration" value="1.2"/>
                                    <Float64 key="cartesianSpeed" value="0.25"/>
                                    <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                                    <Float64 key="jointSpeed" value="1.0471975511965976"/>
                                    <Float64 key="motionTime" value="0"/>
                                    <String key="motionType" value="SHARED"/>
                                    <Feature key="offset_feature" name="Base" id="b89d86ca-a88b-3d91-bfc1-0b98c123182d"/>
                                    <Expression key="offset_rx">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_ry">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_rz">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="offset_tool_flange" value="false"/>
                                    <String key="offset_type" value="CUSTOM"/>
                                    <Expression key="offset_x">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_y">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_z">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="relative_last_waypoint" value="false"/>
                                    <String key="relative_type" value="INPUT"/>
                                    <String key="relative_variable_type" value="VARIABLE_POSE"/>
                                    <String key="type" value="POSITION"/>
                                    <String key="variableType" value="VARIABLE_POSE"/>
                                    <Waypoint key="waypoint" name="路点_3"/>
                                </datamodel>
                            </WaypointNode>
                        </children>
                    </MoveNode>
                    <WaitNode title="等待：hasItemOnConveyorToTrack  == true" id="80638ceb-5bae-4752-a097-0a86faa307c1">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression">
                                <String string="h"/>
                                <String string="a"/>
                                <String string="s"/>
                                <String string="I"/>
                                <String string="t"/>
                                <String string="e"/>
                                <String string="m"/>
                                <String string="O"/>
                                <String string="n"/>
                                <String string="C"/>
                                <String string="o"/>
                                <String string="n"/>
                                <String string="v"/>
                                <String string="e"/>
                                <String string="y"/>
                                <String string="o"/>
                                <String string="r"/>
                                <String string="T"/>
                                <String string="o"/>
                                <String string="T"/>
                                <String string="r"/>
                                <String string="a"/>
                                <String string="c"/>
                                <String string="k"/>
                                <String string=" "/>
                                <String string=" == "/>
                                <String string="true"/>
                            </Expression>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="EXPRESSION_INPUT"/>
                            <Float64 key="waitTime" value="0.01"/>
                        </datamodel>
                    </WaitNode>
                    <ScriptNode title="conveyorTrackLine(0,direction)" id="14b1ea15-f9fe-4ff3-90bb-147fac4e6f1b">
                        <datamodel>
                            <Expression key="expression">
                                <String string="conveyorTrackLine"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <Variable name="direction"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <MoveNode title="关节运动" id="dfd821e1-ee53-4773-b8d5-35dd4f0edd80">
                        <datamodel>
                            <Float64 key="blendRadius" value="0.025000000000000001"/>
                            <Feature key="feature" name="Base" id="559baad1-9153-354f-8eaf-71aa93a482c4"/>
                            <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                            <Float64 key="jointSpeed" value="1.0471975511965976"/>
                            <Float64 key="toolAcceleration" value="1.2"/>
                            <Float64 key="toolSpeed" value="0.25"/>
                            <String key="type" value="MOVE_J"/>
                            <Bool key="useActiveTCP" value="true"/>
                            <Bool key="useJoints" value="false"/>
                        </datamodel>
                        <children>
                            <WaypointNode title="路点_2" id="b3961f5c-a0e0-4b4f-9734-19e00039897b">
                                <datamodel>
                                    <VectorDouble key="baseToFeature" value="0,0,0,0,0,0"/>
                                    <Float64 key="blendRadius" value="0.02"/>
                                    <String key="blendType" value="NO_BLEND"/>
                                    <Float64 key="cartesianAcceleration" value="1.2"/>
                                    <Float64 key="cartesianSpeed" value="0.25"/>
                                    <Float64 key="jointAcceleration" value="1.3962634015954636"/>
                                    <Float64 key="jointSpeed" value="1.0471975511965976"/>
                                    <Float64 key="motionTime" value="0"/>
                                    <String key="motionType" value="SHARED"/>
                                    <Feature key="offset_feature" name="Base" id="057fa369-253b-3cef-98fd-2870ed366f91"/>
                                    <Expression key="offset_rx">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_ry">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_rz">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="offset_tool_flange" value="false"/>
                                    <String key="offset_type" value="CUSTOM"/>
                                    <Expression key="offset_x">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_y">
                                        <String string="0"/>
                                    </Expression>
                                    <Expression key="offset_z">
                                        <String string="0"/>
                                    </Expression>
                                    <Bool key="relative_last_waypoint" value="false"/>
                                    <String key="relative_type" value="INPUT"/>
                                    <String key="relative_variable_type" value="VARIABLE_POSE"/>
                                    <String key="type" value="POSITION"/>
                                    <String key="variableType" value="VARIABLE_POSE"/>
                                    <Waypoint key="waypoint" name="路点_2"/>
                                </datamodel>
                            </WaypointNode>
                        </children>
                    </MoveNode>
                    <WaitNode title="等待：3.00s" id="36eeab22-bc50-4c21-8de5-1360b8e9aa97">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression"/>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="TIME"/>
                            <Float64 key="waitTime" value="3"/>
                        </datamodel>
                    </WaitNode>
                    <ScriptNode title="conveyorTrackStop(0,0.0)" id="de81b1e1-be19-4263-a217-31c4676d63f4">
                        <datamodel>
                            <Expression key="expression">
                                <String string="conveyorTrackStop"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=","/>
                                <String string="0"/>
                                <String string="."/>
                                <String string="0"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <ScriptNode title="conveyorTrackSwitch(0)" id="60bc67c2-f735-4742-8cce-3e45df6601ff">
                        <datamodel>
                            <Expression key="expression">
                                <String string="conveyorTrackSwitch"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=")"/>
                            </Expression>
                            <Bool key="use_file" value="false"/>
                        </datamodel>
                    </ScriptNode>
                    <WaitNode title="等待：isSteady()" id="2928c9a5-bff4-4500-8e86-d4f184af4ed0">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression">
                                <String string="isSteady"/>
                                <String string="("/>
                                <String string=")"/>
                            </Expression>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="EXPRESSION_INPUT"/>
                            <Float64 key="waitTime" value="0.01"/>
                        </datamodel>
                    </WaitNode>
                </children>
            </FolderNode>
        </children>
    </MainProgramNode>
    <ThreadNode title="线程_0" isSuppress="true" suppressedComment="" id="54ccf151-1be6-4288-b685-218d7f13ab76">
        <datamodel>
            <Bool key="loopForever" value="false"/>
            <String key="threadName" value="线程_0"/>
            <Bool key="trackExcution" value="false"/>
        </datamodel>
        <children>
            <FolderNode title="limit测试" id="e4cbbea0-fb29-4102-8bdf-30ef7950586b">
                <datamodel>
                    <String key="folder_name" value="limit测试"/>
                </datamodel>
                <children>
                    <WaitNode title="等待：isConveyorTrackExceed(0)" id="f7517a3e-3ea2-4763-9192-0ec136dd4416">
                        <datamodel>
                            <String key="compareOperator" value="LESS_THAN"/>
                            <Bool key="di_value" value="false"/>
                            <Expression key="expression">
                                <String string="isConveyorTrackExceed"/>
                                <String string="("/>
                                <String string="0"/>
                                <String string=")"/>
                            </Expression>
                            <Float32 key="floatValue" value="4"/>
                            <Float64 key="timeout" value="0"/>
                            <String key="type" value="EXPRESSION_INPUT"/>
                            <Float64 key="waitTime" value="0.01"/>
                        </datamodel>
                    </WaitNode>
                    <PopupNode title="弹窗 消息：传送带超限" id="202ff45a-ce62-4db3-90e8-314e522cb205">
                        <datamodel>
                            <Bool key="haltAtHere" value="false"/>
                            <String key="message" value="传送带超限"/>
                            <String key="type" value="MESSAGE"/>
                            <Bool key="useVariable" value="false"/>
                        </datamodel>
                    </PopupNode>
                </children>
            </FolderNode>
        </children>
    </ThreadNode>
</AuboProgram>
