abb机器人搬运码垛程序(共2页).doc

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MODULE maduo
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MODULE maduo
VAR num nox:=0;VAR num noy:=0;VAR num noz:=0;VAR num disx:=0;VAR num disy:=0;VAR num disz:=0;
VAR num a1:=0;VAR num b1:=0;VAR num c1:=0;

CONST robtarget pPick:=[[,-,],[0.,--07,0.,--07],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST jointtarget home1:=[[,-,,-,,],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget pPlace:=[[,,],[0.,--07,0.,--07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pPlace10:=[[,,],[0.,--07,0.,--07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget wating01:=[[,,],[0.,--07,0.,--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;