abb机器人写字程序实例_ABB机器人程序实例整理版.doc

ABB机器人程序实例整理版.doc

MODULE MainModule

CONST robtarget pHome:=[[1525.42,272.18,1873.69],[4.42963E-05,0.699969,-0.714173,-2.80277E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+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+09,9E+09,9E+09]];

CONST robtarget pPrePickClapboard:=[[2036.17,-741.24,1235.05],[0.678651,0.73435,-0.0119011,0,[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPickMould:=[[1943.13,173.08,630.89],[4.66987E-05,0.699977,-0.714166,-3.24109E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+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+09,9E+