47 lines
1013 B
XML
47 lines
1013 B
XML
<?xml version="1.0" encoding="utf-8" ?>
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<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2" >
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<Program name="putSampleDewar" access="private" >
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<Locals>
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<Local name="l_pApproSample" type="point" xsi:type="array" size="1" />
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<Local name="trOffset" type="trsf" xsi:type="array" size="1" />
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</Locals>
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<Code><![CDATA[begin
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//Movements
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if bGonioReady
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movel(pDewarWait,tSuna,mDewarEnter)
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pDewarTemp.trsf.rz=-90
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movel(pDewarTemp,tSuna,mDewarEnter)
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//Approach to Sample
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l_pApproSample=appro(pResult,{0,0,50,0,0,0})
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movel(l_pApproSample,tSuna,mMedium)
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//Move to Sample
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movel(pResult,tSuna,mPickPlace)
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//Close gripper
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open(tSuna)
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//Approach to Sample
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movel(l_pApproSample,tSuna,mPickPlace)
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waitEndMove()
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movel(pDewarTemp,tSuna,mDewarEnter)
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movel(pDewarWait,tSuna,mDewarEnter)
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waitEndMove()
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else
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endIf
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end]]></Code>
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</Program>
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</Programs> |