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+09,9E+09]];

CONST robtarget pPrePlace:=[[785.90,-957.40,1722.38],[00.0492402,-0.998779,-0,[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPrePlace10:=[[-277.40,-1202.57,1621.17],[0-0.0139794,-0.999895,-0,[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPrePlace20:=[[-491.18,-1082.85,1505.90],[0.000663644,0.69408,0.719887,0,[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPlaceMould:=[[-92.13,-2580.19,1171.45],[0.000771646,0.713144,0.701007,0,[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPlaceClapboard:=[[1585.08,1761.04,787.33],[0-0-0.726358,-0.687263],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPrePlaceClapboard:=[[1017.30,955.85,1443.17],[1.0621E-05,-0-0.999964,4.01139E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPrePickClapboard10:=[[2257.17,-841.03,1579.56],[0.667517,0.74457,-00,[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPrePickMould10:=[[530.24,-1703.27,1762.63],[5.07659E-05,0.96161,0.274421,2.37287E-05],[-1,0,0,0],[9E+