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MODULE MainMoudle  

  

PERS 

wobjdata 

WobjPallet_L:=[FALSE,TRUE,"",[[-456.216,-2058.49,-233.373],[1,0,0,0]],[[0,0,0],[

1,0,0,0]]] 

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WobjPallet_L 

 

PERS 

wobjdata 

WobjPallet_R:=[FALSE,TRUE,"",[[-421.764,1102.39,-233.373],[1,0,0,0]],[[0,0,0],[1

,0,0,0]]]; 

 

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WobjPallet_R 

 

PERS 

tooldata 

tGripper:=[TRUE,[[0,0,527],[1,0,0,0]],[20,[0,0,150],[1,0,0,0],0,0,0]]; 

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tGripper 

 

PERS loaddata LoadFull:=[20,[0,0,300],[1,0,0,0],0,0,0.1]; 

 

 

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LoadFull 

 

PERS wobjdata CurWobj; 

 

 

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CurWobj

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WobjPllaet_L

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WobjPllaet_R

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PERS 

jointtarget 

jposHome:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 

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0

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CONST 

robtarget 

pPlaceBase0_L:=[[296.473529255,212.21064316,3.210904169],[0,0.70711295,-0.707100

612,0],[-2,0,-3,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 

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CONST 

robtarget 

pPlaceBase90_L:=[[218.407102669,695.953395421,3.210997808],[0,-0.000001669,1,0],

[-2,0,-2,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 

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90

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CONST 

robtarget 

pPlaceBase0_R:=[[296.473529255,212.21064316,3.210904169],[0,0.707221603,-0.70699

194,0],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 

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CONST 

robtarget 

pPlaceBase90_R:=[[218.407102669,695.953395421,3.210997808],[0,-0.00038594,0.9999

99926,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 

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90

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CONST 

robtarget 

pPick_L:=[[1627.550991372,-426.974661352,-26.736921885],[0,0.707109873,-0.707103

689,0],[-1,0,-2,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 

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CONST 

robtarget 

pPick_R:=[[1611.055992534,442.364097921,-26.736584068],[0,0.707220363,-0.7069931

81,0],[0,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];