abb机器人搬运码垛程序.doc

MODULE maduo VAR num nox:=0;VAR num noy:=0;VAR num noz:=0;VAR num disx:=0;VAR num disy:=0;VAR num disz:=0; VAR num a1:=0;VAR num b1:=0;VAR num c1:=0; CONST robtarget pPick:=[[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]]; CONST jointtarget home1:=[[2.97566,-16.7117,15.2556,- 4.92418,31.5841,5.68641],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS robtarget pPlace:=[[1919.7,937.54,529.48],[0.199803,-3.69944E- 07,0.979836,-4