abb机器人写字程序实例_ABB机器人程序实例

MODULE MainModule

CONST

robtarget

pHome:=[[1525.42,272.18,1873.69],[4.42963E-05,0.699969,-0.7141

73,-2.80277E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9

E+09]];

CONST

robtarget

pPrePickMould:=[[1653.99,272.19,1779.41],[5.83312E-05,0.69997,

-0.714172,-3.47922E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9

E+09,9E+09]];

CONST

robtarget

pPrePickClapboard:=[[2036.17,-741.24,1235.05],[0.678651,0.73435

,-0.0119011,0.00467586],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9

E+09,9E+09]];

CONST

robtarget

pPickMould:=[[1943.13,173.08,630.89],[4.66987E-05,0.699977,-0.7

14166,-3.24109E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+0

9,9E+09]];

CONST

robtarget

pPickClapboard:=[[1943.19,173.08,620.72],[1.61422E-05,0.699977,

-0.714165,-7.62858E-06],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9

E+09,9E+09]];

CONST

robtarget