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【正文】 ENDPROC PROC rPickMould() DIWait diMouldready,1,3,entrance Conveyer,ready for pick。 ELSE rPickMould。 PROC main() rInitAll。 VAR intnum iVacuum。 VAR intnum iDryCycle。 VAR bool bTimeOut:=FALSE。 PERS num nCurLayer:=0。 PERS num nCurOffs:=100。 CONST robtarget pPrePickMould10:=[[,],[,],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePlaceClapboard:=[[,],[,],[0,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPlaceMould:=[[,],[,],[2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePlace10:=[[,],[,],[2,1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPickClapboard:=[[,],[,],[0,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePickClapboard:=[[,],[,],[1,2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。.. . . ..MODULE MainModule CONST robtarget pHome:=[[,],[,],[0,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePickMould:=[[,],[,],[0,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPickMould:=[[,],[,],[0,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePlace:=[[,],[,],[1,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePlace20:=[[,],[,],[2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPlaceClapboard:=[[,],[,],[0,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]。 CONST robtarget pPrePickClapboard10:=[[,],[,],[1,1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+0
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