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1、ABB机器人（ROBOTstudio6.01）程序实例MODULEMainModulePERStooldatatGripper:=[TRUE,[[0.533078,1.51617,583.739],[1,0,0,0]],[30,[0,0,50],[1,0,0,0],0,0,0]];TASKPERSwobjdataVisionWobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[-934.534,1807.34,-76.7707],[0.400996,0.0128267,-
2、0.0292473,-0.915523]]];TASKPERSwobjdataWobjCompressor1:=[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]]];TASKPERSwobjdataWobjCompressor2:=[FALSE,TRUE,"",[[518.656,-1088.9,164.
3、25],[0,0,0,1]],[[-944.871,-657.402,-323.406],[0.918098,-1.98999E-05,-6.49686E-06,0.396353]]];PERSwobjdataWobjCompressor;VARrobtargetpActualPos;VARsocketdevserver_socket;VARsocketdevclient_socket;VARstringclient_ip;VARstringstReceived;VARnumNumCharacters:
4、=9;VARboolbOK;PERSnumnXOffs;PERSnumnYOffs;PERSnumnAngleOffs;VARstringXData:="";VARstringYData:="";VARstringAngleData:="";VARnumnPresenceOrAbsence;PERSnumnPickH:=-400;PERSnumnCountX;PERSnumnCountY;PERSnumnCountZ;PERSnumnCount;VARnumnPlaceNo;PERSboolbSMPre
5、OrAbs;PERSboolbInpos;VARrobtargetPVision;VARrobtargetVision;VARrobtargetppPick;VARrobtargetpPick;PERSrobtargetPick;PERSrobtargetErCiDingWeiPlace;PERSrobtargetErCiDingWeiPick;PERSrobtargetpPlace;PERSrobtargetPlaceVision;PERSrobtargetPZhanban;PERSrobtarget
6、PZhanbanUp;PERSrobtargetPZhanbanDown;PERSrobtargetPlaceZhanban;PERSrobtargetPlace;PERSboolbKindChoose;VARnumnAngle;VARnumnX;VARnumnCamOut;VARnumnInpos;VARnumnTotalPalletHigh;VARnumnPalletHigh;PERSnumnPalletHighUp;PERSnumnPalletHighDown;VARnumCompensation
7、{8,3};VARnumCompensationTwo{8,3};PERSnumCompensationErr{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]];PERSjo
8、inttargetjposHome:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpHome:=[[621.23,-975.96,1166.44],[0.00703884,-0.385671,-0.922573,-0.00826231],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTr
