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ABB机器人程序
ABB机器人程序
MODULE Vanta_pallet
VAR intnum intno1:=0;
CONST robtarget pHome40:=[[1410.50,527.60,1383.49],[6.53276E-07,-0.781668,-0.623695,1.68587E-06],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pmid:=[[-1770.77,-1253.97,1386.90],[1.81232E-06,-0.607633,0.794219,-1.47514E-07],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pmid10:=[[-1770.79,-1253.96,1759.42],[1.81232E-06,-0.607633,0.794219,-1.68587E-07],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pmid20:=[[745.82,-2037.62,1759.41],[1.52782E-06,-0.9651,0.261881,9.69378E-07],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pmid30:=[[1919.54,-1011.69,1759.41],[1.08528E-06,-0.994758,-0.102263,1.47514E-06],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pWait12:=[[488.94,-1314.87,-109.65],[0.118948,-0.000182856,-0.992901,0.000469886],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pWait22:=[[-254.56,530.61,-210.33],[0-0.255751,0.966718,-0.000773702],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pWait13:=[[583.03,-1819.56,-135.45],[0.0849866,-0.692015,-0.712016,0.0832237],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pttt100:=[[2077.61,551.13,-347.02],[1.64373E-06,-0.11121,-0.993797,7.58644E-07],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pPrePlace11:=[[472.56,-30.75,0.15],[0.999081,-0.000118137,-5.01386E-05,-0.0428662],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p11:=[[473.54,-21.94,-1531.41],[0.99908,-0.000118134,-5.01422E-05,-0.0428963],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p21:=[[473.37,-21.62,10.64],[0.99908,-0.000118133,-5.00999E-05,-0.0428952],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p31:=[[446.00,-85.17,-1212.11],[0.999826,-0.000119311,-4.72646E-05,-0.0186837],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pWai
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