ABB机器人常用指令详解-中文(四)

byRAPIDWorldZoneRAPIDWorldZoneWZDisableWZEnableWZFreeWZDOSet[[Temp]|[Stat],][WorldZone:=]wztemporaryINOUT[Inside]|[Before],[Shape:=]shapedataVAR,[Signal:=]signaldoVAR,[SetValue:=]dionumIN;WorldZonesRAPIDRAPIDI/OWorldZoneWorldZone1004shapedataWorldZoneWorldZone1045wztemporaryWorldZoneWorldZone1043wzstationaryWorldZoneWorldZone636WZSphDefWorldZoneWorldZone611WZBoxDefWorldZoneWorldZone613WZCylDefWorldZonehomeWorldZone625WZHomeJointDefhomeWorldZoneWorldZone633WZLimSupWorldZoneI/O1.231WZEnableWorldZoneWZEnableWorldZoneWorldZoneWorldZone1VARwztemporarywzone;PROCbyWZLimSup\Temp,wzone,volume;MoveLp_pick,v500,z40,tool1;WZDisablewzone;MoveLp_place,v200,z30,tool1;WZEnablewzone;MoveLp_home,v200,z30,tool1;ENDPROCp_pickTCPwzonep_placep_homeWZEnableWorldZoneWorldZonewztemporarywztemporaryWorldZoneWorldZoneWorldZoneWZDisableWorldZoneWorldZoneWZEnable[WorldZone:=]wztemporaryINOUT;WorldZonesRAPIDRAPIDI/OWorldZoneWorldZone1004shapedataWorldZoneWorldZone1045wztemporaryWorldZoneWorldZone633WZLimSupWorldZoneWorldZone617WZDOSetWorldZoneWorldZone615WZDisableWorldZoneWorldZone623WZFreeWorldZoneby1.232WZFreeWorldZoneWZFreeWorldZoneWorldZone1VARwztemporarywzone;PROCWZLimSup\Temp,wzone,volume;MoveLp_pick,v500,z40,tool1;WZDisablewzone;MoveLp_Place,v200,z30,tool1;WZEnablewzone;MoveLp_home,v200,z30,tool1;WZFreewzone;ENDPROCp_pickTCPwzonep_placep_homep_homeWorldZoneWZFreeWorldZoneWorldZonewztemporarywztemporaryworldzoneworldzoneworldzoneworldzoneworldzoneWZFree[WorldZone:=]wztemporaryINOUT;byWorldZonesRAPIDRAPIDI/OWorldZoneWorldZone1004shapedataWorldZoneWorldZone1045wztemporaryWorldZoneWorldZone633WZLimSupWorldZoneWorldZone617WZDOSetWorldZoneWorldZone615WZDisableWorldZoneWorldZone621WZEnableWorldZone1.233WZHomeJointDefhomeWorldZoneWZHomeJointDefWorldZonehomeworldzoneHome1VARwzstationaryhome;PROCpower_on()VARshapedatajoint_space;CONSTjointtargethome_pos:=[[0,0,0,0,0,-45],[0,9E9,9E9,9E9,9E9,9E9]];CONSTjointtargetdelta_pos:=[[2,2,2,2,2,2],[5,9E9,9E9,9E9,9E9,9E9]];WZHomeJointDef\Stat,home\Inside,joint_space,do_home,1;ENDPROCworldzonehomeextax.eax_ahome_pos+/-delta_poshomedo_home1Shapedatajoint_spaceWZHomeJointDefWZDOSetWZHomeJointDef[\Inside]|[\Outside]ShapeMiddleJointValDeltaJointVal[\Inside]switchbyMiddleJointVal+/-DeltaJointVal[\Outside]switchMiddleJointVal+/-DeltaJointValShapeshapedataprivateMiddleJointValjointtargetEoffsSet-EoffsOn9E99E9DeltaJointValjointtarget+/-0shapedataShapeWZLimSupWZDOSetWZHomeJointDefWZDOSetWZHomeJointDef\OutsideWZLimSupWZHomeJointDef\InsideWZLimSupActUnitDeactUnitHOMEbyworldzone3.44shapedataWorldZoneShapedataWorldZoneWorldZonelworldWZBoxDeflWZSphDeflworldzWZCylDefl/WZHomeJointDefWZLimJointDefWorldZoneWorldZoneWZLimSupWZDOSet1VARwzstationarypole;VARwzstationaryconveyor;PROCVARshapedatavolume;WZBoxDef\Inside,volume,p_corner1,p_corner2;WZLimSup\Stat,conveyor,volume;WZCylDef\Inside,volume,p_center,200,2500;WZLimSup\Stat,pole,volume;ENDPROCconveyorpolebyShapedataWorldZonesRAPIDRAPIDI/OWorldZoneWorldZone613WZCylDefWorldZoneWorldZone636WZSphDefWorldZoneWorldZone611WZBoxDefWorldZonehomeWorldZone625WZHomeJointDefhomeWorldZoneWorldZone629WZLimJointDefWorldZoneWorldZone633WZLimSupWorldZoneWorldZone617WZDOSetWorldZone