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1、ABB机器人（ROBOTstudio6.01）程序实例MODULEMainModulePERStooldatatGripper:=[TRUE,[[0.,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.,0.,-0.,-0.]]];TASKPER
2、SwobjdataWobjCompressor1:=[FALSE,TRUE,"",[[518.656,-1088.9,164.25],[0,0,0,1]],[[686.651,296.298,-588.529],[0.,1.69419E-06,-7.35001E-05,-0.]]];TASKPERSwobjdataWobjCompressor2:=[FALSE,TRUE,"",[[518.656,-1088.9,164.25],[0,0,0,1]],[[-944.871,-657.402,-323.
3、406],[0.,-1.98999E-05,-6.49686E-06,0.]]];PERSwobjdataWobjCompressor;VARrobtargetpActualPos;VARsocketdevserver_socket;VARsocketdevclient_socket;VARstringclient_ip;VARstringstReceived;VARnumNumCharacters:=9;VARboolbOK;PERSnumnXOffs;PERSnumnYOffs;PERSnumn
4、AngleOffs;VARstringXData:="";VARstringYData:="";VARstringAngleData:="";VARnumnPresenceOrAbsence;PERSnumnPickH:=-400;PERSnumnCountX;PERSnumnCountY;PERSnumnCountZ;PERSnumnCount;VARnumnPlaceNo;PERSboolbSMPreOrAbs;PERSboolbInpos;VARrobtargetPVision;VARrobt
5、argetVision;VARrobtargetppPick;VARrobtargetpPick;PERSrobtargetPick;PERSrobtargetErCiDingWeiPlace;PERSrobtargetErCiDingWeiPick;PERSrobtargetpPlace;PERSrobtargetPlaceVision;PERSrobtargetPZhanban;PERSrobtargetPZhanbanUp;PERSrobtargetPZhanbanDown;PERSrobta
6、rgetPlaceZhanban;PERSrobtargetPlace;PERSboolbKindChoose;VARnumnAngle;VARnumnX;VARnumnCamOut;VARnumnInpos;VARnumnTotalPalletHigh;VARnumnPalletHigh;PERSnumnPalletHighUp;PERSnumnPalletHighDown;VARnumCompensation{8,3};VARnumCompensationTwo{8,3};PERSnumComp
7、ensationErr{8,3}:=[[,,],[,,],[,,],[,,],[,,],[,,],[,,],[,,]];PERSjointtargetjposHome:=[[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.,-0.,-0.,-0.],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]
8、];CONSTrobtargetPZhanbanSafe:=[[-162.69,-1703.07,2270.38],[0.,-0.,-0.,-0.],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetVisionA:=[[-228.96,94.47,643.11],[0.,-0.,0.,-0.],[-2,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+
