川崎机器人编程.txt

PROGRAM a()#0;左小车 HOME SWAIT 39 RESET ra = 1 100 HOME JMOVE point0 LMOVE point1 LMOVE point2 LMOVE waitpoint;抓件等待点 POINT #pickfront = SHIFT(pickpoint BY 0,200.5*(ra-1),500) ;抓件上方点计算公式 LMOVE #pickfront;抓件上方点 SPEED 10 POINT #picka = SHIFT(pickpoint BY 0,200*(ra-1),0) ;抓件点计算公式 LMOVE #picka;抓件点 TWAIT 1 SIGNAL 1 SPEED 20 LAPPRO #picka,500 ;抓件后上升位 LMOVE point3 SPEED 40 LMOVE point4 LMOVE point5 SPEED 50 LMOVE waitplace TWAIT 1 CALL correct LMOVE waitpoint2;放件等待点 POINT #placefront = SHIFT(placepoint BY