ABB机器人码跺程序_abb机器人搬运码垛程序

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MODULE maduo VAR num nox:=0;VAR num noy:=0;VAR num noz:=0;VAR num disx:=0;VAR num disy:=0;VAR num disz:=0;

VAR num a1:=0;VAR num b1:=0;VAR num c1:=0; CONST robtarget pPick:=[[1962.00,-140.49,745.92],[0.199803,-4.33198E-07,0.979836,-2.86531E-07],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST jointtarget home1:=[[2.97566,-16.7117,15.2556,-4.92418,31.5841,5.68641],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS robtarget pPlace:=[[1919.7,937.54,529.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST robtarget pPlace10:=[[1719.70,837.54,429.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E+09,9E+09,9E+0