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Debonding/word/jel_robot_script_20260318.idt

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IR1 //SP0//01//03//02//04//$30//!$3//!M $1G1-OK-1//!E//*所有轴慢速回原
IR2 //MP30//SP0//11//13//12//14//!M $1G2-OK-2//!E//*所有轴快速回原
IR3 //BC0//!M $1G3-BANK0-OK-3//!E//*指定BANK0
IR4 //BC1//!M $1G4-BANK0-OK-4//!E//*指定BANK1
IR5 //BC2//!M $1G5-BANK0-OK-5//!E//*指定BANK2
IR6 //BC3//!M $1G6-BANK0-OK-6//!E//*指定BANK3
IR7 //MP30//!M $1G7-OK-SP30//!E//
IR8 //MP50//!M $1G8-OK-SP50//!E//
IR9 //MP80//!M $1G9-OK-SP80//!E//
IR10 //MP50//SP0//11//13//12//14//$30//!$3//!M OK-2//!E//*所有轴快速回原
IR11 //WCP1//!M $1G11-OK-11//!E//*指定料盒1
IR12 //WCP2//!M $1G12-OK-12//!E//*指定料盒2
IR13 //WCP3//!M $1G13-OK-13//!E//
IR14 //WCP4//!M $1G14-OK-14//!E//
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IR21 //WCD1//!M $1G21-OK-21//!E//*指定第一层
IR22 //WCD2//!M $1G22-OK-22//!E//
IR23 //WCD3//!M $1G23-OK-23//!E//
IR24 //WCD4//!M $1G24-OK-24//!E//
IR25 //WCD5//!M $1G25-OK-25//!E//
IR26 //WCD6//!M $1G26-OK-26//!E//
IR27 //WCD7//!M $1G27-OK-27//!E//
IR28 //WCD8//!M $1G28-OK-28//!E//
IR29 //WCD9//!M $1G29-OK-29//!E//
IR30 //WCD10//!M $1G30-OK-30//!E//
IR31 //WCD11//!M $1G31-OK-31//!E//
IR32 //WCD12//!M $1G32-OK-32//!E//
IR33 //WCD13//!M $1G33-OK-33//!E//
IR34 //WCD14//!M $1G34-OK-34//!E//
IR35 //WCD15//!M $1G35-OK-35//!E//
IR36 //WCD16//!M $1G36-OK-36//!E//
IR37 //WCD17//!M $1G37-OK-37//!E//
IR38 //WCD18//!M $1G38-OK-38//!E//
IR39 //WCD19//!M $1G39-OK-39//!E//
IR40 //WCD20//!M $1G40-OK-40//!E//
IR41 //WCD21//!M $1G41-OK-41//!E//
IR42 //WCD22//!M $1G42-OK-42//!E//
IR43 //WCD23//!M $1G43-OK-43//!E//
IR44 //WCD24//!M $1G44-OK-44//!E//
IR45 //WCD25//!M $1G45-OK-45//!E//
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IR50 //%1//PM896//PM897//SP2//M4PM898//DS11//T50//%2//SP0//PM899//11//!M $1G50-GET-OK-50//!E//*上臂取片
IR51 //%2//PM899//PM898//SP2//DS10//T50//%1//M4PM897//SP0//PM896//11//!M $1G51-PUT-OK-51//!E//*上臂放片
IR52 //%3//PM900//PM901//SP2//M4PM902//DS21//T50//%4//SP0//PM903//13//!M $1G52-GET-OK-52//!E//*下臂取片
IR53 //%4//PM903//PM902//SP2//DS20//T50//M4PM901//%3//SP0//PM900//13//!M $1G53-PUT-OK-53//!E//*下臂放片
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IR61 //WCP1//PM1//WS1//T20//SP5//WFS//WS0//SP0//13//!M $1G61-MAPPING-01-OK//!E//*CST1扫片
IR62 //WCP2//PM2//WS1//T20//SP5//WFS//WS0//SP0//13//!M $1G62-MAPPING-02-OK//!E//*CST2扫片
IR63 //WCP3//PM3//WS1//T20//SP5//WFS//WS0//SP0//13//!M $1G63-MAPPING-03-OK//!E//*CST3扫片
IR64 //WCP4//PM4//WS1//T20//SP5//WFS//WS0//SP0//13//!M $1G64-MAPPING-04-OK//!E//*CST4扫片
IR65 //WCP5//PM5//WS1//T20//SP5//WFS//WS0//SP0//13//!M $1G65-MAPPING-05-OK//!E//*CST5扫片
IR66 //WCP1//PM6//WS1//T20//SP5//WFS//WS0//SP0//13//!M $1G67-MAPPING-06-OK//!E//*CST6扫片
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IR71 //$3BC,0//!$3//$3PM,1/PM896//!$3//!M $1G71-X-OK-71//!E//*FOSB料盒工位1X轴到上臂取等待位
IR72 //$3BC,0//!$3//$3PM,1/PM899//!$3//!M $1G72-X-OK-72//!E//
IR73 //$3BC,0//!$3//$3PM,1/PM900//!$3//!M $1G73-X-OK-73//!E//*FOSB料盒工位1X轴到下臂取等待位
IR74 //$3BC,0//!$3//$3PM,1/PM903//!$3//!M $1G74-X-OK-74//!E//
IR75 //$3BC,0//!$3//$3PM,2/PM896//!$3//!M $1G75-X-OK-75//!E//*FOSB料盒工位2X轴到上臂位
IR76 //$3BC,0//!$3//$3PM,2/PM899//!$3//!M $1G76-X-OK-76//!E//
IR77 //$3BC,0//!$3//$3PM,2/PM900//!$3//!M $1G77-X-OK-77//!E//*FOSB料盒工位2X轴到下臂取等待位
IR78 //$3BC,0//!$3//$3PM,2/PM903//!$3//!M $1G78-X-OK-78//!E//
IR79 //$3BC,0//!$3//$3PM,3/PM896//!$3//!M $1G79-X-OK-79//!E//*FOSB料盒工位3X轴到上臂位
IR80 //$3BC,0//!$3//$3PM,3/PM899//!$3//!M $1G80-X-OK-80//!E//
IR81 //$3BC,0//!$3//$3PM,3/PM900//!$3//!M $1G81-X-OK-81//!E//*FOSB料盒工位3X轴到下臂取等待位
IR82 //$3BC,0//!$3//$3PM,3/PM903//!$3//!M $1G82-X-OK-82//!E//
IR83 //$3BC,0//!$3//$3PM,4/PM896//!$3//!M $1G83-X-OK-83//!E//*FOSB料盒工位4X轴到上臂位
IR84 //$3BC,0//!$3//$3PM,4/PM899//!$3//!M $1G84-X-OK-84//!E//
IR85 //$3BC,0//!$3//$3PM,4/PM900//!$3//!M $1G85-X-OK-85//!E//*FOSB料盒工位4X轴到下臂取等待位
IR86 //$3BC,0//!$3//$3PM,4/PM903//!$3//!M $1G86-X-OK-86//!E//
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IR112 //
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IR161 //$161//!M $1G161-OK//!E//
IR162 //$162//!M $1G162-OK//!E//
IR163 //$163//!M $1G163-OK//!E//
IR164 //$164//!M $1G164-OK//!E//
IR165 //$165//!M $1G165-OK//!E//
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IR200 //%1//PM1//!M $1G200-OK//!E//
IR201 //%2//PM2//!M $1G201-OK//!E//
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IR282 //MP30//$2W0//!$2//$2WAT0//!$2//$2WAS9//!$2//$2WOP10000//!$2//$2WMC//!$2//$2WDF//!$2//!M $1G282//!E//
IR283 //MP30//$2W0//!$2//$2WAT0//!$2//$2WAS6//!$2//$2WOP10000//!$2//$2WMC//!$2//$2WDF//!$2//!M $1G283//!E//
IR284 //MP30//$2W0//!$2//$2WAT0//!$2//$2WAS8//!$2//$2WOP10000//!$2//$2WMC//!$2//$2WDF//!$2//!M $1G284//!E//
IR285 //$2WUC//T50//$2WA//!$2//!M $1G285//!E//*吸片
IR286 //$2WDF//!$2//!M $1G286//!E//*取片
IR287 //$2WUC//!$2//!M $1G287//!E//*吸片
IR288 //$2WMC//!$2//!M $1G288//!E//*准直器接料位
IR289 //$2WUC//!$2//!M $1G289//!E//
IR290 //$2WDF//PM146//SP1//M4PM176//M3PM176//DS11//T50//%3//CQ11//CQ41//SP0//11//13//!M $1G290//!E//
IR291 //$2WMC//PM176//CQ10//DS10//T100//SP1//M4PM146//SP0//11//13//!M $1G291//!E//
IR292 //%2//PM146//$2WDF//SP1//M4PM176//M3PM176//DS21//T50//%4//CQ21//CQ81//SP0//11//13//!M $1G292//!E//
IR293 //%4//$2WMC//PM176//CQ20//DS20//T100//SP1//M4PM146//SP0//11//13//!M $1G293//!E//
IR294 //$2WUC//T50//$2WA//!$2//!M $1G294//!E//
IR295 //PM87//PM117//!M $1G295//!E//
IR296 //PM147//PM177//!M $1G296//!E//
IR297 //%2//PM206//SP1//M4PM236//M3PM236//DS21//T50//%4//CQ21//CQ81//SP0//11//13//!M $1G297//!E//
IR298 //%4//PM236//CQ80//CQ20//DS20//T100//SP1//M4PM206//SP0//11//13//!M $1G298//!E//
IR299 //$2W0//!$2//$2WAS6//$2WMC//!$2//$2WDF//!M $1G299//
IR300 //$2W0//!$2//$2WAS8//$2WMC//!$2//$2WDF//!M $1G300//
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IRS1 //T100//?A1CS6/!A A,01//JZ*A1//!P G,70/!Q G//*A1//?A1CS5/!A A,01//JNZ*B1//!P G,71/!Q G//*B1//?A1CS4//!A A,01//JZ*C1//!P G,72//!Q G//*C1//%R//*上臂取片前判断
IRS2 //T100//?A1CS6/!A A,01//JNZ*A1//!P G,73/!Q G//*A1//?A1CS5/!A A,01//JZ*B1//!P G,74/!Q G//*B1//?A1CS4//!A A,01//JNZ*C2//!P G,75//!Q G//*C2//%R//*上臂取片完成或放片前判断
IRS3 //T50//?A1CS9/!A A,01//JNZ*A1//!P G,90/!Q G//*A1//?A1CSA/!A A,01//JZ*B1//!P G,91/!Q G//*B1//?A1CS8//!A A,01//JZ*C3//!P G,92//!Q G//*C3//%R//*下臂取片前判断
IRS4 //T50//?A1CS9/!A A,01//JZ*A1//!P G,93/!Q G//*A1//?A1CSA/!A A,01//JNZ*B1//!P G,94/!Q G//*B1//?A1CS8//!A A,01//JNZ*C4//!P G,95//!Q G//*C4//%R//*下臂取片完成或放片前判断
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IRSF
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