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348 lines
4.2 KiB
Plaintext
348 lines
4.2 KiB
Plaintext
version = 2021
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[proc]
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pid = 1041
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type = 0
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name = 固定料仓放料
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start =
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pause =
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step_count = 4
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[step]
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sid = 24101
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bDisable = 0
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desc = 初始化
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script:
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script_end
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node_count = 0
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[step]
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sid = 24102
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bDisable = 0
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desc = 料盘点位获取
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script:
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script_end
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node_count = 0
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[step]
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sid = 24103
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bDisable = 0
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desc = 到料盘避让
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script:
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i = t + 13;
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if(6 == t) i = 16
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script_end
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node_count = 18
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[node]
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nid = 3410351
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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 = vlog("Tray-"+str(t),"safe")
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[node]
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nid = 3410352
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task = 1
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type = 24
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state = 1
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desc = node2
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cmd = 0 "调试 准备料盘点位运动"
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[node]
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nid = 3410353
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task = 1
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type = 27
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state = 0
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desc = node3
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cmd = tmp = rpos(51002)
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[node]
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nid = 3410354
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task = 1
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type = 27
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state = 0
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desc = node4
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cmd = if (tmp>0) jump(3410361)
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[node]
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nid = 3410355
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task = 1
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type = 6
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state = 0
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desc = node5
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cmd = p2 = p0 :z(safez)
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[node]
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nid = 3410356
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task = 1
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type = 7
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state = 0
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desc = node6
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cmd = p2
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[node]
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nid = 3410357
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task = 1
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type = 27
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state = 0
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desc = node7
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cmd = tmp = rpos(51001)
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[node]
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nid = 3410358
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task = 1
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type = 27
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state = 0
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desc = node8
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cmd = if (tmp<872) jump(3410361)
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[node]
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nid = 3410359
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task = 1
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type = 6
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state = 0
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desc = node9
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cmd = p2 = p0 :x(872) :z(safez)
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[node]
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nid = 3410360
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task = 1
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type = 7
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state = 0
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desc = node10
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cmd = p2
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[node]
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nid = 3410361
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task = 1
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type = 1
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state = 0
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desc = node11
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cmd = 1
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[node]
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nid = 3410362
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task = 1
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type = 27
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state = 0
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desc = node12
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cmd = tmp = rpos(51004)
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[node]
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nid = 3410363
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task = 1
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type = 6
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state = 0
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desc = node13
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cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
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[node]
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nid = 3410364
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task = 1
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type = 2
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state = 0
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desc = node14
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cmd = 50 30 30
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[node]
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nid = 3410365
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task = 1
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type = 7
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state = 0
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desc = node15
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cmd = p2
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[node]
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nid = 3410366
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task = 1
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type = 6
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state = 0
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desc = node16
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cmd = p2 = p(i) :x(x) :y(y)
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[node]
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nid = 3410367
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task = 1
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type = 7
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state = 0
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desc = node17
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cmd = p2
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[node]
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nid = 3410368
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task = 1
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type = 2
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state = 0
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desc = node18
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cmd = 100 100 100
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[step]
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sid = 24104
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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 = 20
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[node]
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nid = 3410451
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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 = vlog("Tray-"+str(t),str(v)+"-Put")
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[node]
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nid = 3410452
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task = 1
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type = 27
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state = 0
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desc = node2
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cmd = x += c + cameraoffsetx
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[node]
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nid = 3410453
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task = 1
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type = 27
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state = 0
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desc = node3
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cmd = y += d + cameraoffsety
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[node]
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nid = 3410454
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task = 1
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type = 27
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state = 0
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desc = node4
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cmd = tmp = rpos(51004)
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[node]
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nid = 3410455
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task = 1
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type = 6
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state = 0
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desc = node5
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cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
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[node]
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nid = 3410456
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task = 1
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type = 7
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state = 0
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desc = node6
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cmd = p2
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[node]
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nid = 3410457
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task = 1
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type = 14
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state = 0
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desc = node7
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cmd = a=1
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[node]
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nid = 3410458
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task = 1
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type = 1
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state = 0
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desc = node8
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cmd = 100
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[node]
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nid = 3410459
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task = 1
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type = 6
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state = 0
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desc = node9
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cmd = p2 = p(i) :x(x) :y(y) :z(zhNGPut)
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[node]
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nid = 3410460
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task = 1
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type = 2
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state = 0
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desc = node10
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cmd = 50 30 30
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[node]
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nid = 3410461
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task = 1
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type = 7
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state = 0
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desc = node11
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cmd = p2 +z(h)
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[node]
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nid = 3410462
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task = 1
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type = 14
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state = 0
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desc = node12
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cmd = b=0
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[node]
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nid = 3410463
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task = 1
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type = 14
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state = 0
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desc = node13
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cmd = f=1
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[node]
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nid = 3410464
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task = 1
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type = 1
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state = 0
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desc = node14
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cmd = 300
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[node]
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nid = 3410465
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task = 1
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type = 7
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state = 0
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desc = node15
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cmd = p2 +z(-10)
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[node]
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nid = 3410466
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task = 1
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type = 2
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state = 0
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desc = node16
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cmd = 100 100 100
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[node]
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nid = 3410467
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task = 1
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type = 14
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state = 0
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desc = node17
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cmd = a=0
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[node]
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nid = 3410468
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task = 1
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type = 14
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state = 0
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desc = node18
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cmd = f=0
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[node]
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nid = 3410469
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task = 1
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type = 27
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state = 0
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desc = node19
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cmd = t=3
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[node]
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nid = 3410470
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task = 1
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type = 22
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state = 0
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desc = node20
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cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
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