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572 lines
6.9 KiB
Plaintext
572 lines
6.9 KiB
Plaintext
version = 2021
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[proc]
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pid = 1032
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type = 0
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name = SN失败处理
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start =
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pause =
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step_count = 7
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[step]
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sid = 23201
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bDisable = 0
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desc = 数据处理
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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 = 3320101
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task = 1032
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type = 24
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state = 0
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desc = node1
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cmd = 0 "SN失败处理 测试流程"
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[node]
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nid = 3320102
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task = 1032
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type = 27
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state = 0
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desc = node2
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cmd = vlog ("取料","SN失败")
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[step]
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sid = 23207
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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 = 11
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[node]
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nid = 3320731
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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),"Point")
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[node]
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nid = 3320732
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task = 1
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type = 24
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state = 0
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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 = 3320733
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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 = 3320734
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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(3320741)
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[node]
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nid = 3320735
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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 = 3320736
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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 = 3320737
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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 = 3320738
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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(3320741)
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[node]
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nid = 3320739
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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 = 3320740
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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 = 3320741
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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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[step]
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sid = 23202
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bDisable = 0
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desc = OK盘取料
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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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h = v1z
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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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}
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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 = 3320221
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task = 1
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type = 27
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state = 0
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desc = node18
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cmd = x += offsetx
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[node]
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nid = 3320222
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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 = y += offsety
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[node]
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nid = 3320223
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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 = x += c + cameraoffsetx
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[node]
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nid = 3320224
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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 = y += d + cameraoffsety
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[node]
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nid = 3320225
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task = 1
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type = 27
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state = 0
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desc = Y1 轴
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cmd = tmp = rpos(51002)
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[node]
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nid = 3320226
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task = 1
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type = 27
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state = 0
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desc = node6
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cmd = if (tmp>0) jump(3320231)
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[node]
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nid = 3320227
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task = 1
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type = 6
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state = 0
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desc = node7
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cmd = p2 = p0 :z(safez)
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[node]
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nid = 3320228
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task = 1
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type = 7
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state = 0
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desc = node8
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cmd = p2
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[node]
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nid = 3320229
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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 = p15 :x(x) :y(y) :z(safez)
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[node]
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nid = 3320230
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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 = 3320231
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task = 1
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type = 6
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state = 0
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desc = node11
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cmd = p2 = p15 :x(x) :y(y) :z(zhNGPut)
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[node]
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nid = 3320232
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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 = a=1
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[node]
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nid = 3320233
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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 = b=1
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[node]
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nid = 3320234
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task = 1
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type = 7
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state = 0
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desc = node14
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cmd = p2 +z(-10)
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[node]
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nid = 3320235
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task = 1
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type = 2
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state = 0
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desc = node15
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cmd = 50 30 30
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[node]
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nid = 3320236
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task = 1
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type = 7
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state = 0
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desc = node16
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cmd = p2 +z(h)
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[node]
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nid = 3320237
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task = 1
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type = 1
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state = 0
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desc = node17
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cmd = 300
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[node]
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nid = 3320238
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task = 1
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type = 7
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state = 0
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desc = node18
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cmd = p2 +z(-10)
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[node]
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nid = 3320239
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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 = 3320240
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task = 1
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type = 2
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state = 0
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desc = node20
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cmd = 100 100 100
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[node]
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nid = 3320241
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task = 1
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type = 15
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state = 1
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desc = node21
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cmd = e=1 1000
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[step]
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sid = 23203
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bDisable = 0
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desc = 备用
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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 = 23204
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bDisable = 0
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desc = SN料盘拍照
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script:
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script_end
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node_count = 3
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[node]
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nid = 3320401
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task = 1032
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type = 27
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state = 0
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desc = node1
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cmd = t=5
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[node]
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nid = 3320402
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task = 1032
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type = 19
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state = 0
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desc = node2
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cmd = 1031
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[node]
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nid = 3320403
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task = 1032
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type = 18
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state = 0
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desc = node3
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cmd = 1031
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[step]
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sid = 23205
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bDisable = 0
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desc = 备用
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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 = 23206
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bDisable = 0
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desc = SN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 = 24
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[node]
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nid = 3320621
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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 = 3320622
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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 = 3320623
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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 = 3320624
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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(3320629)
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[node]
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nid = 3320625
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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 = 3320626
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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 = 3320627
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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 = p18 :x(x) :y(y) :z(safez)
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[node]
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nid = 3320628
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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 = 3320629
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task = 1
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type = 27
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state = 0
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desc = 取料Z轴
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cmd = tmp = rpos(51004)
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[node]
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nid = 3320630
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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 = p18 :x(x) :y(y) :z(tmp)
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[node]
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nid = 3320631
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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 = 3320632
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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 = p15 :x(x) :y(y) +z(cameraoffsetz)
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[node]
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nid = 3320633
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task = 1
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type = 2
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state = 0
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desc = 速度
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cmd = 50 30 30
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[node]
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nid = 3320634
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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 = p15 :x(x) :y(y) :z(zhNGPut)
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[node]
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nid = 3320635
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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 = 3320636
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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 = 3320637
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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 = 3320638
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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 = 3320639
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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 = 3320640
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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 = 3320641
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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 = 3320642
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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 = 3320643
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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 = 3320644
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task = 1
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type = 22
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state = 1
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desc = node19
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cmd = 31 "vacm_to_stock "+str(v)+" "+str(t)
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