川崎机器人怎样操作返回原点_川崎机器人程序

pica[ca] BY 100,0,150)

VALUE 4:

POINT pica[ca] = SHIFT(pica1 BY 645,0,z)

POINT picaw[ca] = SHIFT(pica[ca] BY 100,0,150)

VALUE 5:

POINT pica[ca] = SHIFT(pica1 BY 645,0,z)

POINT picaw[ca] = SHIFT(pica[ca] BY 100,0,150)

VALUE 6:

POINT pica[ca] = SHIFT(pica1 BY 645,0,z)

POINT picaw[ca] = SHIFT(pica[ca] BY 100,0,150)

END

.END

.PROGRAM pointsoa() #0

;位置a偶数层位置计算

POINT pica2 = SHIFT(picao_t BY 0,0,0)

CASE d OF

VALUE 0:

POINT pica[ca] = SHIFT(pica2 BY 0,0,z)

POINT picaw[ca] = SHIFT(pica[ca] BY 80,0,150)

VALUE 1:

POINT pica[ca] = SHIFT(pica2 BY 343.5,0,z)

POINT picaw[ca] = SHIFT(pica[ca] BY 100,0,150)

VALUE 2:

POINT pica[ca] = SHIFT(pica2 BY 645,0,z)

POINT picaw[ca] = SHIFT(pica[ca] BY 100,0,150)</