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full_process.xml
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full_process.xml
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<commands>
<command>
<name>reset</name>
<address>100</address>
<parameters>
</parameters>
</command>
<command>
<name>set for soft limit</name>
<address>101</address>
<parameters>
<parameter>
<name>X negative limit</name>
<index>0</index>
<value>-400000</value>
</parameter>
<parameter>
<name>X positive limit</name>
<index>1</index>
<value>400000</value>
</parameter>
<parameter>
<name>Y negative limit</name>
<index>2</index>
<value>-300000</value>
</parameter>
<parameter>
<name>Y positive limit</name>
<index>3</index>
<value>300000</value>
</parameter>
<parameter>
<name>Z negative limit</name>
<index>4</index>
<value>-800000</value>
</parameter>
<parameter>
<name>Z positive limit</name>
<index>5</index>
<value>-600000</value>
</parameter>
</parameters>
</command>
<command>
<name>set rate speed</name>
<address>105</address>
<parameters>
<parameter>
<name>acceleration</name>
<index>0</index>
<value>150000</value>
</parameter>
<parameter>
<name>rate speed percentage</name>
<index>1</index>
<value>50000</value>
</parameter>
</parameters>
</command>
<command>
<name>execute the grab command</name>
<address>118</address>
<parameters>
<parameter>
<name>X</name>
<index>0</index>
<value>-200000</value>
</parameter>
<parameter>
<name>Y</name>
<index>1</index>
<value>200000</value>
</parameter>
<parameter>
<name>Z</name>
<index>2</index>
<value>-700000</value>
</parameter>
<parameter>
<name>U</name>
<index>3</index>
<value>1570</value>
</parameter>
<parameter>
<name>ENC</name>
<index>4</index>
<value>0</value>
</parameter>
<parameter>
<name>H</name>
<index>5</index>
<value>50000</value>
</parameter>
</parameters>
</command>
</commands>
<command>
<name>move</name>
<address>3</address>
<parameters>
<parameter>
<name>X value</name>
<index>0</index>
<value>100000</value>
</parameter>
<parameter>
<name>Y value</name>
<index>1</index>
<value>-100000</value>
</parameter>
<parameter>
<name>Z value</name>
<index>2</index>
<value>-700000</value>
</parameter>
<parameter>
<name>speed</name>
<index>4</index>
<value>1000</value>
</parameter>
</parameters>
</command>