ABB程序注解.docx

文档介绍：MODULEMainModule!数据定义taskPERStooldatatGripperDR:=[TRUE,[[,,],[,,,]],[1,[1,0,1],[1,0,0,0],0,0,0]];taskPERStooldatatGripperTP:=[TRUE,[[,,],[,,,]],[1,[1,0,1],[1,0,0,0],0,0,0]];taskPERStooldatachangtool1:=[TRUE,[[,,],[,,,]],[1,[1,0,1],[1,0,0,0],0,0,0]];TASKPERStooldatatool1:=[TRUE,[[,,],[,,,]],[1,[1,0,1],[1,0,0,0],0,0,0]];TASKPERStooldatatool2:=[TRUE,[[,,],[,,,]],[1,[1,0,1],[1,0,0,0],0,0,0]];CONSTrobtargetpHome:=[[,,],[,,,],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONSTrobtargetpPickMTP:=[[,,],[,,,],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickKTP:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONSTrobtargetpPickDRBase1:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase12:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase13:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase14:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase15:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase16:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase17:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase18:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase19:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPickDRBase110:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlaceDR1:=[[,,],[,,,],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlaceDR2:=[[,,],[,,,],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlaceKTP:=[[,,],[,,,],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlaceMTP:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSrobtargetpPickDR:=[[,,],[,,,],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSrobtargetpgoh