abb机器人搬运码垛程序

MODULEmaduoVARnumnox:=0;VARnumnoy:=0;VARnumnoz:=0;VARnumdisx:=0;VARnumdisy:=0;VARnumdisz:=0;VARnuma1:=0;VARnumb1:=0;VARnumc1:=0;CONSTrobtargetpPick:=[[1962.00,-140.49,745.92],[0.199803,-4.33198E-07,0.979836,-2.86531E-07],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTjointtargethome1:=[[2.97566,-16.7117,15.2556,-4.92418,31.5841,5.68641],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSrobtargetpPlace:=[[1919.7,937.54,529.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlace10:=[[1719.70,837.54,429.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetwating01:=[[1753.43,219.90,1023.02],[0.199803,-2.46214E-07,0.979836,-5.32938E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PROCmain()Initall;prg1;ENDPROCPROCInitall()AccSet100,100;VelSet100,2000;nox:=3;noy:=2;noz:=2;disx:=100;disy:=100;disz:=100;a1:=1;b1:=1;c1:=1;ENDPROCPROCprg1()MoveAbsJhome1\NoEOffs,v1000,z50,pick1;FORkFROM1TOnozDOFORjFROM1TOnoyDOFORiFROM1TOnoxDOpickandplace;a1:=a1+1;ENDFORa1:=1;b1:=b1+1;ENDFORa1:=1;b1:=1;c1:=c1+1;ENDFORMoveAbsJhome1\NoEOffs,v1000,z50,pick1;ENDPROCPROCpickandplace()MoveJwating01,v1000,z50,pick1;MoveJOffs(pPick,0,0,200),v1000,z50,pick1;MoveLpPick,v1000,fine,pick1;Setdo1;MoveLOffs(pPick,0,0,200),v1000,z50,pick1;MoveJwating01,v1000,z50,pick1;!MoveLpPlace10,v1000,z50,pick1;pPlace:=Offs(pPlace10,(a1-1)*disx,(b1-1)*disy,(c1-1)*disz);MoveJOffs(pPlace,0,0,200),v1000,z50,pick1;MoveLpPlace,v1000,fine,pick1;Resetdo1;MoveLOffs(pPlace,0,0,200),v1000,fine,pick1;MoveJwating01,v1000,z50,pick1;ENDPROCendmodule