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ABB机器人（ROBOTstudio6.01）程序实例MODULEMainModulePERStooldatatGripper:=[TRUE,[[0.533078,1.51617,583.739],[1,0,0,0]],[30,[0,0,50],[1,0,0,0],0,0,0]];TASKPERSwobjdataVisionWobj:=[FALSE,TRUE,,[[0,0,0],[1,0,0,0]],[[-934.534,1807.34,-76.7707],[0.400996,0.0128267,-0.0292473,-0.915523]]];TASKPERSwobjdataWobjCompressor1:=[FALSE,TRUE,,[[518.656,-1088.9,164.25],[0,0,0,1]],[[686.651,296.298,-588.529],[0.917114,1.69419E-06,-7.35001E-05,-0.398626]]];TASKPERSwobjdataWobjCompressor2:=[FALSE,TRUE,,[[518.656,-1088.9,164.25],[0,0,0,1]],[[-944.871,-657.402,-323.406],[0.918098,-1.98999E-05,-6.49686E-06,0.396353]]];PERSwobjdataWobjCompressor;VARrobtargetpActualPos;VARsocketdevserver_socket;VARsocketdevclient_socket;VARstringclient_ip;VARstringstReceived;VARnumNumCharacters:=9;VARboolbOK;PERSnumnXOffs;PERSnumnYOffs;PERSnumnAngleOffs;VARstringXData:=;VARstringYData:=;VARstringAngleData:=;VARnumnPresenceOrAbsence;PERSnumnPickH:=-400;PERSnumnCountX;PERSnumnCountY;PERSnumnCountZ;PERSnumnCount;VARnumnPlaceNo;PERSboolbSMPreOrAbs;PERSboolbInpos;VARrobtargetPVision;VARrobtargetVision;VARrobtargetppPick;VARrobtargetpPick;PERSrobtargetPick;PERSrobtargetErCiDingWeiPlace;PERSrobtargetErCiDingWeiPick;PERSrobtargetpPlace;PERSrobtargetPlaceVision;PERSrobtargetPZhanban;PERSrobtargetPZhanbanUp;PERSrobtargetPZhanbanDown;PERSrobtargetPlaceZhanban;PERSrobtargetPlace;PERSboolbKindChoose;VARnumnAngle;VARnumnX;VARnumnCamOut;VARnumnInpos;VARnumnTotalPalletHigh;VARnumnPalletHigh;PERSnumnPalletHighUp;PERSnumnPalletHighDown;VARnumCompensation{8,3};VARnumCompensationTwo{8,3};PERSnumCompensationErr{8,3}:=[[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999],[999999,999999,999999]];PERSjointtargetjposHome:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpHome:=[[621.23,-975.96,1166.44],[0.00703884,-0.385671,-0.922573,-0.00826231],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPZhanbanSafe:=[[-162.69,-1703.07,2270.38],[0.0109452,-0.955357,-0.295179,-0.00645602],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetVisionA:=[[-228.96,94.47,643.11],[0.00434955,-0.699954,0.714102,-0.0101798],[-2,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPickA:=[[90.09,79.65,61.29],[0.0102135,0.00299714,0.999935,-0.00417093],[-2,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPlaceA:=[[-644.46,-1019.60,396.56],[0.00841448,-0.692574,0.721298,0.000680825],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPZhanbanUpA:=[[549.64,541.39,821.21],[0.000808037,-0.999985,-0.00498684,-0.00209158],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPZhanbanDownA:=[[548.40,560.53,179.18],[0.00417276,0.999929,-0.00436864,0.0102239],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPlaceZhanbanA:=[[2456.73,-1154.76,205.32],[0.0106126,-0.0247295,-0.999603,0.00838785],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSnumCompensationA{8,3}:=[[0,0,0],[210,136,0],[430,264,99999999],[645,403,99999999],[855,533,99999999],[99999999,670,99999999],[99999999,800,99999999],[99999999,936,99999999]];PERSnumCompensationA1{8,3}:=[[860,936,0],[0,0,0],[215,133,99999999],[430,264,99999999],[645,403,99999999],[99999999,533,99999999],[99999999,670,99999999],[99999999,800,99999999]];PERSnumCompensationA2{8,3}:=[[860,0,0],[0,133,0],[215,264,99999999],[430,403,99999999],[645,533,99999999],[99999999,670,99999999],[99999999,800,99999999],[99999999,936,99999999]];CONSTnumnPalletHighUpA:=100;CONSTnumnPalletHighDownA:=200;CONSTrobtargetVisionB:=[[936.63,959.75,378.90],[0.00373262,0.105479,-0.994406,-0.00407233],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPickB:=[[1180.22,1009.95,213.74],[0.00373443,0.1055,-0.994404,-0.00406331],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPlaceB:=[[-1194.30,-1552.83,582.17],[0.0062614,0.795938,-0.605346,-0.000999941],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPZhanbanUpB:=[[511.86,550.08,92.05],[0.00172284,-0.00758955,-0.99997,-0.000606164],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPZhanbanDownB:=[[511.86,550.08,92.05],[0.00172284,-0.00758955,-0.99997,-0.000606164],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetPlaceZhanbanB:=[[511.86,550.08,92.05],[0.00172284,-0.00758955,-0.99997,-0.000606164],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSnumCompensationB{8,3}:=[[0,0,300],[210,136,0],[430,264,99999999],[645,403,99999999],[855,533,99999999],[99999999,670,99999999],[99999999,800,99999999],[99999999,936,99999999]];PERSnumCompensationB1{8,3}:=[[860,936,300],[0,0,0],[215,133,99999999],[430,264,99999999],[645,403,99999999],[99999999,533,99999999],[99999999,670,99999999],[99999999,800,99999999]];PERSnumCompensationB2{8,3}:=[[860,0,300],[0,133,0],[215,264,99999999],[430,403,99999999],[645,533,99999999],[99999999,670,99999999],[99999999,800,99999999],[99999999,936,9