ABB机器人程序实例

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1、......MODULEMainModuleCONSTrobtargetpHome:=[[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]];CONSTrobtargetpPrePickMould:=[[1653.99,272.19,1779.41],[5.83312E-05,0.69997,-0.714172,-3.47922E-05],[0,-1,-1,0],[9

2、E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPrePickClapboard:=[[2036.17,-741.24,1235.05],[0.678651,0.73435,-0.0119011,0.00467586],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickMould:=[[1943.13,173.08,630.89],[4.66987E-05,0.699977,-0.714166,-3.24109

3、E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickClapboard:=[[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]];CONSTrobtarget学习好帮手......pPrePlace:=[[785.90,-957.40,1722.38],[0.002316

4、52,0.0492402,-0.998779,-0.00310842],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPrePlace10:=[[-277.40,-1202.57,1621.17],[0.00183571,-0.0139794,-0.999895,-0.00341408],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPrePlace20:=[[-491.18,-1

5、082.85,1505.90],[0.000663644,0.69408,0.719887,0.00386364],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlaceMould:=[[-92.13,-2580.19,1171.45],[0.000771646,0.713144,0.701007,0.00383692],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlaceCla

6、pboard:=[[1585.08,1761.04,787.33],[0.00645323,-0.00552996,-0.726358,-0.687263],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtarget学习好帮手......pPrePlaceClapboard:=[[1017.30,955.85,1443.17],[1.0621E-05,-0.00849593,-0.999964,4.01139E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+

7、09,9E+09,9E+09]];CONSTrobtargetpPrePickClapboard10:=[[2257.17,-841.03,1579.56],[0.667517,0.74457,-0.00360206,0.00487631],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPrePickMould10:=[[530.24,-1703.27,1762.63],[5.07659E-05,0.96161,0.274421,2.37287E-05],[-1,0,0

8、,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09