ABB机器人程序实例12 - 工业自动化.docxVIP

,[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]ld,v1500,z50,tGripper;IFBitCheck(nCurlayer,1)THEN.0,100),v1500,z10,tGripper;..MoveLpPlaceMould,v200,pper,50\wobj:=Wobj0)=TRUETHEN..MoveJpHome,v500,fin .

,[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]

ld,v1500,z50,tGripper;IFBitCheck(nCurlayer,1)THEN.

0,100),v1500,z10,tGripper;..MoveLpPlaceMould,v200,

pper,50\wobj:=Wobj0)=TRUETHEN..MoveJpHome,v500,fin

MODULEMainModule

CONSTrobtargetpHome:=[[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,