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292 lines
3.6 KiB
Plaintext
292 lines
3.6 KiB
Plaintext
version = 2021
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[proc]
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pid = 1045
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type = 0
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name = 料仓放料动作
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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 = 24502
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bDisable = 0
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desc = 到料仓避位
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script:
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script_end
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node_count = 1
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[node]
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nid = 3450201
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task = 1045
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type = 18
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state = 0
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desc = node1
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cmd = 1046
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[step]
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sid = 24503
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bDisable = 0
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desc = 放料
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script:
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//计算点位索引
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i = 14 + t - 1
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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 = 25
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[node]
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nid = 3450351
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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 = 3450352
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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 = 3450353
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task = 1
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type = 27
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state = 0
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desc = 1qqqq
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cmd = tmp = rpos(51002)
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[node]
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nid = 3450354
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task = 1
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type = 27
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state = 0
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desc = 气缸下去
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cmd = if (tmp>0) jump(3450359)
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[node]
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nid = 3450355
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task = 1
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type = 6
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state = 0
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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 = 3450356
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task = 1
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type = 7
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state = 0
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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 = 3450357
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task = 1
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type = 6
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state = 0
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desc = 到取料位
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cmd = p2 = p(i) :x(x) :y(y) :z(safez)
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[node]
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nid = 3450358
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task = 1
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type = 7
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state = 0
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desc = node23
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cmd = p2
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[node]
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nid = 3450359
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task = 1
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type = 27
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state = 0
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desc = 气缸上来
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cmd = tmp = rpos(51004)
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[node]
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nid = 3450360
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task = 1
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type = 6
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state = 0
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desc = 回到上方
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cmd = p2 = p(i) :x(x) :y(y) :z(tmp)
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[node]
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nid = 3450361
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task = 1
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type = 7
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state = 0
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desc = 等待真空吸
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cmd = p2
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[node]
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nid = 3450362
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task = 1
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type = 6
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state = 1
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desc = node6
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cmd = p2 = p(i) :x(x) :y(y) +z(cameraoffsetz)
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[node]
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nid = 3450363
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task = 1
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type = 6
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state = 0
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desc = 直接定位高度
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cmd = p2 = p(i) :x(x) :y(y) :z(zhOKPut)
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[node]
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nid = 3450364
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task = 1
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type = 2
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state = 0
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desc = node13
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cmd = 80 30 30
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[node]
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nid = 3450365
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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 = a=1
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[node]
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nid = 3450366
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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(h)
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[node]
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nid = 3450367
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task = 1
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type = 14
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state = 0
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desc = node16
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cmd = b=0
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[node]
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nid = 3450368
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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 = f=1
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[node]
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nid = 3450369
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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 = 300
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[node]
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nid = 3450370
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task = 1
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type = 14
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state = 0
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desc = node19
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cmd = a=0
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[node]
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nid = 3450371
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task = 1
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type = 7
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state = 0
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desc = node20
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cmd = p2 +z(-10)
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[node]
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nid = 3450372
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task = 1
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type = 2
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state = 0
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desc = node22
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cmd = 100 100 100
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[node]
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nid = 3450373
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task = 1
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type = 14
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state = 0
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desc = node21
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cmd = f=0
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[node]
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nid = 3450374
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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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[node]
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nid = 3450375
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task = 1
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type = 27
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state = 0
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desc = node25
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cmd = OKall++
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[step]
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sid = 24504
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bDisable = 0
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desc = 真空检测
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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 = 3450401
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task = 1045
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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 = 3450402
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task = 1045
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type = 27
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state = 0
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desc = node2
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cmd = if(1==v) vacuum1=0
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[node]
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nid = 3450403
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task = 1045
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type = 27
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state = 0
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desc = node3
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cmd = if(2==v) vacuum2=0
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[node]
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nid = 3450404
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task = 1045
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type = 27
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state = 0
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desc = node4
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cmd = if(3==v) vacuum3=0
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[node]
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nid = 3450405
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task = 1045
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type = 27
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state = 0
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desc = node5
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cmd = if(4==v) vacuum4=0
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