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269 lines
3.3 KiB
Plaintext
269 lines
3.3 KiB
Plaintext
version = 2021
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[proc]
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pid = 1023
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type = 0
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name = OK仓放料
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start =
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pause =
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step_count = 3
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[step]
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sid = 22301
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bDisable = 0
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desc = 判断是否需要换盘
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script:
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script_end
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node_count = 5
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[node]
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nid = 3230101
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task = 1023
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type = 1
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state = 0
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desc = node1
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cmd = 0
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[node]
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nid = 3230102
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task = 1023
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type = 19
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state = 0
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desc = node2
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cmd = 1022
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[node]
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nid = 3230103
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task = 1023
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type = 22
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state = 0
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desc = 获取位置
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cmd = 31 "posget 2"
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[node]
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nid = 3230104
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task = 1023
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type = 27
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state = 0
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desc = node4
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cmd = if (res!=0) {pstart(1022);jump(3230102)}
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[node]
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nid = 3230105
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task = 1023
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type = 27
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state = 0
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desc = node5
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cmd = nput--
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[step]
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sid = 22302
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bDisable = 0
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desc = 放料
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script:
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if (v==1)
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{//1号吸嘴
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a = "吸料上下气缸1"
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b = "吸料真空1吸"
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c = v1x
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d = v1y
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e = "吸料真空1检测"
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f = "吸料真空1破"
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h = v1z
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}
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else if (v==2)
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{//2号吸嘴
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a = "吸料上下气缸2"
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b = "吸料真空2吸"
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c = v2x
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d = v2y
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h = v2z
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e = "吸料真空2检测"
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f = "吸料真空2破"
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}
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else if (v==3)
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{//3号吸嘴
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a = "吸料上下气缸3"
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b = "吸料真空3吸"
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c = v3x
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d = v3y
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h = v3z
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e = "吸料真空3检测"
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f = "吸料真空3破"
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}
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else if (v==4)
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{//3号吸嘴
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a = "吸料上下气缸4"
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b = "吸料真空4吸"
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c = v4x
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d = v4y
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h = v4z
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e = "吸料真空4检测"
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f = "吸料真空4破"
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}
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script_end
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node_count = 21
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[node]
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nid = 3230221
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task = 1
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type = 27
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state = 0
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desc = node1
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cmd = x += c + cameraoffsetx
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[node]
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nid = 3230222
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task = 1
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type = 27
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state = 0
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desc = 判断料盘是否结束
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cmd = y += d + cameraoffsety
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[node]
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nid = 3230223
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task = 1
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type = 27
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state = 1
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desc = 1qqqq
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cmd = tmp = rpos(51002)
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[node]
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nid = 3230224
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task = 1
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type = 27
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state = 1
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desc = 气缸下去
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cmd = if (tmp>0) jump(3230229)
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[node]
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nid = 3230225
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task = 1
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type = 6
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state = 1
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desc = 打开真空
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cmd = p2 = p0 :z(safez)
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[node]
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nid = 3230226
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task = 1
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type = 7
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state = 1
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desc = 到取料位上方
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cmd = p2
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[node]
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nid = 3230227
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task = 1
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type = 6
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state = 1
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desc = 到取料位
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cmd = p2 = p14 :x(x) :y(y) :z(safez)
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[node]
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nid = 3230228
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task = 1
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type = 7
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state = 1
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desc = node23
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cmd = p2
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[node]
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nid = 3230229
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task = 1
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type = 14
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state = 1
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desc = 气缸上来
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cmd = a=0
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[node]
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nid = 3230230
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task = 1
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type = 27
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state = 0
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desc = 回到上方
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cmd = h += cameraoffsetz
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[node]
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nid = 3230231
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task = 1
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type = 6
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state = 1
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desc = 等待真空吸
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cmd = p2 = p14 :x(x) :y(y) +z(h)
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[node]
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nid = 3230232
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task = 1
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type = 7
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state = 1
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desc = node6
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cmd = p2 +z(upz)
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[node]
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nid = 3230233
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task = 1
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type = 14
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state = 1
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desc = node13
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cmd = a=1
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[node]
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nid = 3230235
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task = 1
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type = 7
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state = 1
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desc = node15
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cmd = p2
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[node]
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nid = 3230236
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task = 1
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type = 14
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state = 1
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desc = node16
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cmd = b=0
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[node]
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nid = 3230237
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task = 1
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type = 14
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state = 1
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desc = node17
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cmd = f=1
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[node]
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nid = 3230238
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task = 1
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type = 1
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state = 0
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desc = node18
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cmd = 1000
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[node]
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nid = 3230239
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task = 1
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type = 14
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state = 1
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desc = node19
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cmd = a=0
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[node]
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nid = 3230240
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task = 1
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type = 7
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state = 1
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desc = node20
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cmd = p2 +z(upz)
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[node]
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nid = 3230241
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task = 1
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type = 14
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state = 1
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desc = node21
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cmd = f=0
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[node]
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nid = 3230242
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task = 1
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type = 22
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state = 0
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desc = node22
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cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
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[step]
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sid = 22303
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bDisable = 0
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desc = 发送log记录
|
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script:
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script_end
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node_count = 2
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[node]
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nid = 3230301
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task = 1023
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type = 27
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state = 0
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desc = 区11
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cmd = wlog("log",0,"","test")
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[node]
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nid = 3230302
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task = 1023
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type = 1
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state = 0
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desc = node2
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cmd = 0
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