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Module1Inclinado.mod
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82 lines (80 loc) · 4.38 KB
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MODULE Module1
PERS tooldata Marcador:=[TRUE,[[0,-0.174,150.662],[0.981957062,0.189104012,0,0]],[0.1,[0.001,0,66.262],[1,0,0,0],0,0,0]];
TASK PERS wobjdata Tablero:=[FALSE,TRUE,"",[[186.9,-412.1,71.2],[0.683012702,-0.183012702,-0.183012702,-0.683012702]],[[0,0,0],[1,0,0,0]]];
CONST robtarget Target_Up:=[[140,125,150],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_A1:=[[145,210,0],[0,0,1,0],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_A2:=[[265,170,0],[0,0,1,0],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_A3:=[[145,130,0],[0,0,1,0],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_Home:=[[636.768770631,-0.174,604.169],[0.490978531,0.094552006,0.850399762,-0.163768878],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_E1:=[[145,30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_E2:=[[145,110,0],[0,0,1,0],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_E3:=[[265,110,0],[0,0,1,0],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_E4:=[[265,30,0],[0,0,1,0],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_C1:=[[90,85,0],[0,0,1,0],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_C2:=[[130,125,0],[0,0,1,0],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_C3:=[[90,165,0],[0,0,1,0],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_C4:=[[50,165,0],[0,0,1,0],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_C5:=[[10,125,0],[0,0,1,0],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_C6:=[[50,85,0],[0,0,1,0],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_LineA:=[[205,190,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_LineA_End:=[[205,150,0],[0,0,1,0],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_LineE:=[[205,110,0],[0,0,1,0],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_LineE_End:=[[205,40,0],[0,0,1,0],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
!***********************************************************
!
! Module: Module1
!
! Description:
! <Insert description here>
!
! Author: maaar
!
! Version: 1.0
!
!***********************************************************
!***********************************************************
!
! Procedure main
!
! This is the entry point of your program
!
!***********************************************************
PROC main()
!Add your code here
Path_A;
Path_E;
Path_C;
Path_Lines;
ENDPROC
PROC Path_A()
MoveJ Target_Home,v400,fine,Marcador\WObj:=wobj0;
MoveJ Target_Up,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_A1,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_A2,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_A3,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_Up,v400,fine,Marcador\WObj:=Tablero;
ENDPROC
PROC Path_E()
MoveL Target_E1,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_E2,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_E3,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_E4,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_Up,v400,fine,Marcador\WObj:=Tablero;
ENDPROC
PROC Path_C()
MoveL Target_C1,v400,fine,Marcador\WObj:=Tablero;
MoveC Target_C2,Target_C3,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_C4,v400,fine,Marcador\WObj:=Tablero;
MoveC Target_C5,Target_C6,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_Up,v400,fine,Marcador\WObj:=Tablero;
ENDPROC
PROC Path_Lines()
MoveL Target_LineA,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_LineA_End,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_Up,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_LineE,v400,fine,Marcador\WObj:=Tablero;
MoveL Target_LineE_End,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_Up,v400,fine,Marcador\WObj:=Tablero;
MoveJ Target_Home,v400,fine,Marcador\WObj:=wobj0;
ENDPROC
ENDMODULE