MODULEMainMoudlePERSwobjdataWobjPallet_L:=[FALSE,TRUE,"",[[-456.216,-2058.49,-233.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]]!定义左侧码盘工件坐标系 WobjPallet_LPERSwobjdataWobjPallet_R:=[FALSE,TRUE,"",[[-421.764,1102.39,-233.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];!定义右侧码盘工件坐标系 WobjPallet_RPERStooldatatGripper:=[TRUE,[[0,0,527],[1,0,0,0]],[20,[0,0,150],[1,0,0,0],0,0,0]];!定义工具坐标系数据 tGripperPERSloaddataLoadFull:=[20,[0,0,300],[1,0,0,0],0,0,0.1];!定义有效载荷数据 LoadFullPERSwobjdataCurWobj;!定义工件坐标系数据 CurWobj，此工件坐标系作为当前使用坐标系。即当在左侧码垛时，将左侧码盘坐标系 WobjPllaet_L 赋值给该数据；当在右侧码垛时，则将 WobjPllaet_R 赋值给该数据PERSjointtargetjposHome:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!定义关节目标点数据，各关节轴数值为 0，用于手动将机器人运动至各关节轴机械零位CONSTrobtargetpPlaceBase0_L:=[[296.473529255,212.21064316,3.210904169],[0,0.70711295,-0.707100612,0],[-2,0,-3,0],[9E9,9E9,9E9,9E9,9E9,9E9]];!左侧不旋转放置基准位置CONSTrobtargetpPlaceBase90_L:=[[218.407102669,695.953395421,3.210997808],[0,-0.000001669,1,0],[-2,0,-2,0],[9E9,9E9,9E9,9E9,9E9,9E9]];!左侧旋转 90°放置基准位置CONSTrobtargetpPlaceBase0_R:=[[296.473529255,212.21064316,3.210904169],[0,0.707221603,-0.70699194,0],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];!右侧旋转不旋转放置基准位置CONSTrobtargetpPlaceBase90_R:=[[218.407102669,695.953395421,3.210997808],[0,-0.00038594,0.999999926,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];!右侧旋转 90°放置基准位置CONSTrobtargetpPick_L:=[[1627.550991372,-426.974661352,-26.736921885],[0,0.707109873,-0.707103689,0],[-1,0,-2,0],[9E9,9E9,9E9,9E9,9E9,9E9]];!左侧抓取位置CONSTrobtargetpPick_R:=[[1611.055992534,442.364097921,-26.736584068],[0,0.707220363,-0.706993181,0],[0,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];！右侧抓取位置CONSTrobtargetpHome:=[[1505.00,-0.00,878.55],[1.28548E-06,0.707107,-0.707107,-1.26441E-06],[0,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!程序起始点，即 Home 点PERSrobtargetpPlaceBase0;PERSrobt...
