MoveJ P_HOME,v1000,fine,My_Tool;
xd_3_3:=RelTool(p10,0,0,0\Rz:=-index*45);
Reset do_0;
index:=0;
WHILE (index<21) DO
MoveJ Offs(pick,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
WaitDI di_0,1;
MoveL pick,v400,fine,My_Tool\WObj:=wobjPingMing2;
Set do_0;
WaitTime 0.5;
TEST index
CASE 0,7,14:
MoveJ Offs(p20,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
MoveL Offs(p20,0,0,index DIV 7 *5),v1000,fine,My_Tool\WObj:=wobjPingMing2;
Reset do_0;
WaitTime 0.5;
MoveL Offs(p20,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
DEFAULT:
MoveJ Offs(p20,Sin(index MOD 7*60)*50,Cos(index MOD 7*60)*50,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
MoveL Offs(p20,Sin(index MOD 7*60)*50,Cos(index MOD 7*60)*50,index DIV 7 *5),v1000,fine,My_Tool\WObj:=wobjPingMing2;
Reset do_0;
WaitTime 0.5;
MoveL Offs(p20,Sin(index MOD 7*60)*50,Cos(index MOD 7*60)*50,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
ENDTEST
index:=index+1;
ENDWHILE
MoveJ P_HOME,v1000,fine,My_Tool;
RobotStudio 6-8_3