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msc {
hscale="1.5", arcgradient="5";
a [label="EMC"], b [label="iocontrol"],c [label="HAL TC component"], d [label="Machine"];
a=>b [label="M6"];
b=>c [label="tool-change = 1",ID=1];
c=>d [label="change tool"];
c=>c [label="wait for change complete"];
c<=d [label="change complete"];
b<=c [label="tool-changed = 1",ID=2];
b=>c [label="tool-change = 0",ID=3];
a<=b [label="M6 command complete",ID=4];
b<=c [label="tool-changed = 0",ID=5];
}
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