abb画学号

MODULE Module2
    VAR signaldi signaldi26;
    VAR signaldi signaldi37;
    VAR signaldi signaldi48;
    PROC main2()
        IF signaldi15 THEN
            Routine1;
        ENDIF
        IF signaldi26 THEN
            Routine2;
        ENDIF
        IF signaldi37 THEN
            Routine3;
        ENDIF
        IF signaldi48 THEN
            Routine4;
        ENDIF
    ENDPROC
    PROC Routine1()
        MoveJ p_home, v1000, fine, tool1WObj:=wobj1;
        ! p10 上方
        MoveJ Offs(p10,0,0,50), v50, fine, tool1WObj:=wobj1;
        ! p10 
        MoveJ Offs(p10,0,0,0), v50, fine, tool1WObj:=wobj1;
        ! p10 负方向运动29
        MoveL Offs(p10,0,-29,0), v1000, fine, tool1WObj:=wobj1;
        ! p10 负方向运动29，抬起50
        MoveL Offs(p10,0,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
        MoveJ Offs(p10,100,0,50), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,100,0,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,100,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,100,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;

    ENDPROC
    PROC Routine2()
        MoveJ p_home, v1000, fine, tool1WObj:=wobj1;
        ! p10 上方
        MoveJ Offs(p10,10.85,0,50), v50, fine, tool1WObj:=wobj1;
        ! p10 
        MoveL Offs(p10,10.85,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,31.78,0,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,31.78,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,31.78,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
        MoveJ Offs(p10,117.66,0,50), v50, fine, tool1WObj:=wobj1;
        ! p10 
        MoveL Offs(p10,117.66,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,137.71,0,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,137.71,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,117.66,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,117.66,0,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,117.66,0,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
    ENDPROC
    PROC Routine3()
        MoveJ p_home, v1000, fine, tool1WObj:=wobj1;
        ! p10 上方
        MoveJ Offs(p10,45.7,0,50), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,45.7,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,45.7,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,62.94,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,62.94,0,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,62.94,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,62.94,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
        MoveJ Offs(p10,151.4,0,50), v50, fine, tool1WObj:=wobj1; 
        MoveJ Offs(p10,151.4,0,50), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,151.4,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,151.4,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,167.19,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,167.19,0,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,167.19,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,167.19,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
    ENDPROC
    PROC Routine4()
        MoveJ p_home, v1000, fine, tool1WObj:=wobj1;
        MoveJ Offs(p10,100,0,50), v50, fine, tool1WObj:=wobj1; 
        MoveL Offs(p10,100,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,100,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,100,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
        MoveJ Offs(p10,180.71,0,50), v50, fine, tool1WObj:=wobj1;
        MoveJ Offs(p10,180.71,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,200,0,0), v50, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,200,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,200,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,180.71,-29,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,180.71,-29,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ Offs(p10,180.71,-14.5,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ Offs(p10,180.71,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,200,-14.5,0), v1000, fine, tool1WObj:=wobj1;
        MoveL Offs(p10,200,-14.5,50), v1000, fine, tool1WObj:=wobj1;
        MoveJ p_home, v1000, z50, tool1WObj:=wobj1;
    ENDPROC

ENDMODULE

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