ABB机器人快速画地球仪

ABB机器人快速画地球仪程序如下：

MODULE Module1

VAR num R:=0;

CONST robtarget p10:=[[1054.53,0,1013.33],[0.0174524,0,-0.999848,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR robtarget p20:=[[1054.53,0.00,1013.33],[0.0174524,0,-0.999848,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR robtarget p30:=[[1054.53,0,1013.33],[0.0174524,0,-0.999848,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR robtarget p40:=[[1054.53,0.00,1013.33],[0.0174524,0,-0.999848,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p60:=[[1054.53,0.00,1013.33],[0.0174524,0,-0.999848,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p50:=[[1054.53,0.00,1013.33],[0.0174524,0,-0.999848,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

    !***********************************************************

    PROC main()

        R := 200;

        p20 := Offs(p10,R,-R,0);

        p30 := Offs(p10,2 * R,0,0);

        p40 := Offs(p10,R,R,0);

        FOR i FROM 0 TO 180 STEP 9 DO

        MoveJ p10, v1000, fine, tWeldGun;

        MoveC Offs(p20,0,R * (1 - Cos(i)),R * Sin(i)), p30, v1000, z10, tWeldGun;

        MoveC Offs(p40,0,-R * (1 - Cos(i)),-R * Sin(i)), p10, v1000, z10, tWeldGun;

        ENDFOR

    ENDPROC

ENDMODULE

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