ABB机器人码跺程序_abb机器人搬运码垛程序

MODULE maduo

V

AR

num

nox:=0;V

AR

num

noy:=0;V

AR

num

noz:=0;V

AR

num

disx:=0;V

AR

num

disy:=0;V

AR num disz:=0;

V

AR num a1:=0;V

AR num b1:=0;V

AR 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],[9

E+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+09,9E+09,9E+09,9E+09]];

CONST

robtarget

wating01:=[[1753.43,219.90,1023.02],[0.199803,-2.46214E-07,0.979836,-5.32938E-07],[0,-2,1,0]

,[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC main()

Initall;

prg1;

ENDPROC

PROC Initall()

AccSet 100,100;

VelSet 100, 2000;

nox:=3;noy:=2;noz:=2;

disx:=100;disy:=100;disz:=100;

a1:=1;b1:=1;c1:=1;

ENDPROC

PROC prg1()

MoveAbsJ home1\NoEOffs, v1000, z50, pick1;

FOR k FROM 1 TO noz DO

FOR j FROM 1 TO noy DO

FOR i FROM 1 TO nox DO