abb机器人程序实例robotstudio601(附带与工业相机网络通讯实例).docx

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abb机器人程序实例robotstudio601(附带与工业相机网络通讯实例).docx

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abb机器人程序实例robotstudio601(附带与工业相机网络通讯实例)

ABB机器人（ROBOT studio 6.01）程序实例MODULE MainModule PERS tooldata tGripper:=[TRUE,[[0.533078,1.51617,583.739],[1,0,0,0]],[30,[0,0,50],[1,0,0,0],0,0,0]]; TASK PERS wobjdata VisionWobj:=[FALSE,TRUE,,[[0,0,0],[1,0,0,0]],[[-934.534,1807.34,-76.7707],[0.400996,0.0128267,-0.0292473,-0.915523]]]; TASK PERS wobjdata WobjCompressor1:=[FALSE,TRUE,,[[518.656,-1088.9,164.25],[0,0,0,1]],[[686.651,296.298,-588.529],[0.917114,1.69419E-06,-7.35001E-05,-0.398626]]]; TASK PERS wobjdata WobjCompressor2:=[FALSE,TRUE,,[[518.656,-1088.9,164.25],[0,0,0,1]],[[-944.871,-657.402,-323.406],[0.918098,-1.98999E-05,-6.49686E-06,0.396353]]]; PERS wobjdata WobjCompressor; VAR robtarget pActualPos; VAR socketdev server_socket; VAR socketdev client_socket; VAR string client_ip; VAR string stReceived; VAR num NumCharacters:=9; VAR bool bOK; PERS num nXOffs; PERS num nYOffs; PERS num nAngleOffs; VAR string XData:=; VAR string YData:=; VAR string AngleData:=; VAR num nPresenceOrAbsence; PERS num nPickH:=-400; PERS num nCountX; PERS num nCountY; PERS num nCountZ; PERS num nCount; VAR num nPlaceNo; PERS bool bSMPreOrAbs; PERS bool bInpos; VAR robtarget PVision; VAR robtarget Vision; VAR robtarget ppPick; VAR robtarget pPick; PERS robtarget Pick; PERS robtarget ErCiDingWeiPlace; PERS robtarget ErCiDingWeiPick; PERS robtarget pPlace; PERS robtarget PlaceVision; PERS robtarget PZhanban; PERS robtarget PZhanbanUp; PERS robtarget PZhanbanDown; PERS robtarget PlaceZhanban; PERS robtarget Place; PERS bool bKindChoose; VAR num nAngle; VAR num nX; VAR num nCamOut; VAR num nInpos; VAR num nTotalPalletHigh; VAR num nPalletHigh; PERS num nPalletHighUp; PERS num nPalletHighDown; VAR num Compensation{8,3}; VAR num CompensationTwo{8,3}; PERS num CompensationErr{8,3}:=[[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999]]; PERS jointtarget jposHome:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E