ABB机器人程序实例ROBOT studio 6.01(附带与工业相机网络通讯实例)

ABB机器人程序实例ROBOT studio 6.01(附带与工业相机网络通讯实例)
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ABB机器人(ROBOT studio 6.01)程序实例MODULE MainModule

PERS tooldata

tGripper:=[TRUE,[[0.533078,1.51617,583.739],[1,0,0,0]],[30,[0,0,50],[1,0,0,0],0,0,0] ];

TASK PERS wobjdata

VisionWobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[-934.534,1807.34,-76.7707],[0.4 00996,0.0128267,-0.0292473,-0.915523]]];

TASK PERS wobjdata

WobjCompressor1:=[FALSE,TRUE,"",[[518.656,-1088.9,164.25],[0,0,0,1]],[[686.65 1,296.298,-588.529],[0.917114,1.69419E-06,-7.35001E-05,-0.398626]]];

TASK PERS wobjdata

WobjCompressor2:=[FALSE,TRUE,"",[[518.656,-1088.9,164.25],[0,0,0,1]],[[-944.87 1,-657.402,-323.406],[0.918098,-1.98999E-05,-6.49686E-06,0.396353]]];

PERS wobjdata WobjCompressor;

VAR robtarget pActualPos;

VAR socketdev server_socket;

VAR socketdev client_socket;

VAR string client_ip;

VAR string stReceived;

VAR num NumCharacters:=9;

VAR bool bOK;

PERS num nXOffs;

PERS num nYOffs;

PERS num nAngleOffs;

VAR string XData:="";

VAR string YData:="";

VAR string AngleData:="";

VAR num nPresenceOrAbsence;

PERS num nPickH:=-400;

PERS num nCountX;

PERS num nCountY;

PERS num nCountZ;

PERS num nCount;

VAR num nPlaceNo;

PERS bool bSMPreOrAbs;

PERS bool bInpos;

VAR robtarget PVision;

VAR robtarget Vision;

VAR robtarget ppPick;

VAR robtarget pPick;

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