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地址:上海市嘉定区博园路1333号1栋7层
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100 HOME
JMOVE pointb0
LMOVE pointb1
LMOVE pointb2
LMOVE waitpointb
POINT #pickfrontb = SHIFT(pickpointb BY 0, 200*(rb-1) , 400)
LMOVE #pickfrontb
SPEED 10
POINT #pickb = SHIFT(pickpointb BY 0, 200*(rb-1) , 0)
LMOVE #pickb
TWAIT 1
SIGNAL 1
SPEED 20
LAPPRO #pickb, 500
LMOVE pointb3
SPEED 40
LMOVE pointb4
LMOVE pointb5
SPEED 50
LMOVE waitplace
TWAIT 1
CALL correct
LMOVE waitpoint2; 放件等待点
POINT #placefront = SHIFT(placepoint BY 200*(rb-1) , 0, 80)
LMOVE #placefront; 放件上方点
SPEED 10
POINT #place = SHIFT(placepoint BY 200*(rb-1) , 0, 0)
LMOVE #place; 放件点
TWAIT 1
SIGNAL -1
SPEED 20
LAPPRO #place, 120
LMOVE point30
rb = rb+1
IF rb<=5 THEN
GOTO 100
ELSE
GOTO 200
200 rb = 1
END
PULSE 51, 1. 5
HOME
. END
. PROGRAM correct() #0
LMOVE waitplace
SPEED 20
LMOVE p1acepoint
TWAIT 1
SWAIT 1004
SIGNAL -1
LMOVE point06
LMOVE point6
SPEED 40
LMOVE point7
SPEED 80
LMOVE point8
LMOVE #pick2
TWAIT 1
SIGNAL 1
SWAIT 1001, 1002, 1003
LMOVE point9
LMOVE point10
LMOVE point12
LMOVE point14
. END
. PROGRAM home() #0
HOME
. END
. PROGRAM main() #0
CALL home
CALL pg30
. END
. PROGRAM pg10() #2
HOME
SWAIT 39
RESET
ra = 1
100 HOME
JMOVE point0
LMOVE point1
LMOVE point2
LMOVE waitpoint
POINT #pickfront = SHIFT(pickpoint BY 0, 200. 5*(ra-1) , 500)
LMOVE #pickfront
SPEED 10
POINT #picka = SHIFT(pickpoint BY 0, 200*(ra-1) , 0)
LMOVE #picka
TWAIT 1
SIGNAL 1
SPEED 20
LAPPRO #picka, 500
LMOVE point3
SPEED 40
LMOVE point4
LMOVE point5
SPEED 50
LMOVE waitplace
TWAIT 1
ra = ra+1
IF ra<=5 THEN
GOTO 100
ELSE
GOTO 200
200 ra = 1
END
PULSE 51, 1. 5
HOME
. END
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