ABB机器人码垛程序

1、哀MODUL白E Mai氨nModu盎le啊PROC 吧Main(斑)靶TPEra唉se;伴TPRea罢dNum 阿nCoun柏t1, 班Qing 暗Shu R拔u Yi 扮Ma Ba坝o Shu搬! ;阿m。扳TPRea拜dNum 霸nJob,佰 Qin胺g Shu敖 Ru M懊o Shi霸:50KG霸:=1,2皑5KG:=颁2!;阿6。坝InitA稗ll;懊WHILE巴 TRUE八 DO半ReadT扒ype;绊clock皑2re;半PickI挨F;熬clock隘2re;败Place佰OF;颁ENDWH跋ILE罢ENDPR扒OC柏PROC 版clock蔼2re()埃!temp蔼int:=叭m

2、ovst瓣at;氨敖 柏IF DI埃10_1P按roduc版t0K = 0 o岸r DI办10_2T盎uoPan佰OK = 碍0 The凹n澳u。背IF te绊mpint巴0.25哀 then胺ClkSt伴art C伴LK2;ELSE稗ClkSt白op CL瓣K2;ENDIFElse背ClkSt暗op CL懊K2;EndIF办Endpr霸oc埃PROC 摆InitA哀ll()傲MoveH澳ome;安Reset半 DO10跋_1Jia挨Zhua;熬Reset瓣 DO10_2YaB百an;碍Reset巴 DO10叭_3Zhu板aOK;昂Reset埃 DO10芭_4MaD蔼uoOK;靶Waitt办i

3、me 0佰.5;爸bPick笆Part:拜=FALS氨E;哀ClkRe肮set C袄LK1;哎ClkSt耙art C绊LK1;ClkRe八set C班LK2;安MoveL隘 Offs哎(pPic伴k,0,0,400)伴, vFa岸st, z佰10, t耙Gripp吧erWO爱bj:=w绊obj0;按B。矮ENDPR岸OC坝PROC 把PickI八F()唉IF b昂PickP案art =埃 FALS坝E AND瓣 nJob疤 0瓣 AND 笆DI10_霸1Prod按uct0K澳 = 1 斑THEN凹n。伴!Calc巴ulate邦Pick;办MoveJ埃 Offs隘(pPic扒k,0,0芭,400

4、)板, vFa氨st, z白200, 爸tGrip啊perW百Obj:=八wobj0胺;碍0。!Move跋LDO O柏ffs(p扮Pick,坝0,0,1扳00), 唉vFast靶, z20霸, too昂l0WO啊bj:=w巴obj0,拜 DO10澳_1Jia懊Zhua,阿 1;懊H。埃MoveL拜 pPic癌k, vF盎ast, 瓣fine,唉 tGri暗pper邦WObj:熬=wobj罢0;安1。唉Close班1;柏GripL扮oad L熬oadFu懊ll;拌Accse胺t 50,把50;啊Hands安hakeI耙F;办bPick霸Part:颁=TRUE拌;隘ConfL坝Off;吧MoveJ

5、办 pAft爱erPic邦k, vF罢ast, 笆z60, 暗tGrip捌perW岸Obj:=笆wobj0搬;挨W。ENDIF霸ENDPR癌OC八PROC 背Place班OF()霸IF DI啊10_2T熬uoPan白OK = 奥1 AND岸 bPic半kPart办 = TR百UE TH碍EN拔0。把Calcu矮lateP捌lace;案ConfL矮Off;盎!Move懊L Off佰s(pOv安er,0,颁0,nOf爱fsZ2)把, vFa笆st, z吧200, 办tGrip唉per;碍6。瓣安IF bT拔ag=tr吧ue th袄en按瓣斑Accse唉t 70,昂 70;跋绊氨MoveJ搬 pAb

6、o拔vePla颁ce, v鞍Fast,扮 z10,暗 tGri皑pper靶WObj:癌=wobj八0;癌q。else啊Accse捌t 90,颁 90;敖疤 搬巴MoveJ奥 pAbo懊vePla板ce, v案Fast,哀 z10,颁 tGri氨pper摆WObj:板=wobj背0;邦i。邦伴 Endi熬f半Accse傲t 100奥,100;埃! pla绊ce fi瓣rst b笆ox版ConfL拌Off;扳!Move俺L Off肮s(pPl阿ace1,柏nOffs拌X1,nO笆ffsY1唉,nOff班sZ1),皑vTurn肮,z10,芭tGrip熬perW背Obj:=巴wobj0鞍;笆a。芭Mo

7、veL哀 pPla哎ce1, 懊vMidd耙le, f哎ine, 颁tGrip芭perW阿Obj:=埃wobj0坝;芭p。伴Open1唉;昂ConfL柏Off;摆MoveL唉 Offs翱(pPla肮ce1,0巴,0,nO澳ffsZ1叭),vMi癌ddle,哎z5,tG澳rippe肮rWOb皑j:=wo巴bj0;邦T。皑GripL胺oad L耙oadEm袄pty;板Accse袄t 100吧,100;吧bPick凹Part:唉=FALS颁E;袄Incr 办nCoun熬t1;佰Hands霸hakeO俺F;跋MoveJ八 pAbo八vePic傲k, vF熬ast, 瓣z200,氨 tGri芭pper摆

8、WObj:拔=wobj般0;爱m。矮MoveL芭 Offs案(pPic袄k,0,0背,400)爱, vFa芭st, z爸10, t百Gripp疤erWO爸bj:=w八obj0;拌5。扳!Move班J pHo岸me, v百Fast,癌 z200哀, tGr搬ipper拜;叭G。ENDIF巴ENDPR艾OC奥PROC 半HandshakeI叭F()皑IF nJ摆ob=1 熬THEN爱!Set 岸DO10_盎3Zhua板OK;ENDIF般IF nJ般ob=2 扳THEN扒!Set 稗DO10_佰3Zhua俺OK;ENDIF稗ENDPR拜OC邦PROC 靶Hands癌hakeO八F()挨IF (败nC

9、oun百t1=40挨 and 蔼nJob 袄=1) o哀r (nC斑ount1暗=80 a般nd nJ案ob =2案) THE蔼N芭d。懊Set D案O10_4暗MaDuo搬OK;邦WaitD半I DI1盎0_2Tu板oPanO矮K, 0;阿SetDO翱SDel唉ay:=0昂.5,DO吧10_4M背aDuoO扮K,0;暗o。邦nCoun傲t1:=0翱;奥ClkSt按op CL邦K1;唉ClkSt埃op CL搬K2;皑TPEra叭se;摆nCycleCoun笆t:=Cl斑kRead摆(CLK1奥);佰Waiti背ngtim癌e:=Cl捌kRead吧(CLK2爸);啊TPWri芭te C败ycle

10、 板time:奥 Nu挨m:=nC艾ycleC笆ount;霸V。俺TPWri熬te W哎aitin傲g tim叭e in 般this 巴Cycle哀: N稗um:=W肮aitin罢gtime皑;阿b。捌ClkRe按set C吧LK2;斑ClkReset C敖LK1;伴ClkSt拔art C霸LK1;ENDIF傲ENDPR瓣OC芭PROC 盎MoveH爸ome()安安蔼TempP坝1:=CR傲obT(哀Tool:埃=tool盎0 WO隘bj:=w翱obj0)翱;癌N。澳搬邦TempP板1.tra唉ns.z:拔=500 拌; 啊 Move傲J Tem熬pP1, 半v1000百, z20邦, tGr

11、爸ipper蔼;霸T。澳MoveJ芭 pHom耙e, v1澳000, 坝z20, 暗tGrip隘per;癌c。安ENDPR蔼OC艾PROC 凹ReadT佰ype()扒IF nP安riori办ty = 拌1 AND八 DI10艾_1Pro稗duct0艾K = 1敖 THE耙N癌B。瓣!nJob肮:=1;昂! Inc搬r nPr氨iorit澳y;罢ELSEI阿F nPr稗iorit跋y = 2版 AND 芭DI10_肮1Prod霸uct0K安 = 1 敖 THEN昂T。板!nJob安:=2;暗!Incr阿 nPri鞍ority扒;ELSE胺!nJob伴:=0;般!Incr皑 nPri瓣ority安

12、;盎!IF n斑Prior绊ity2爱 nPri疤ority胺:=1;ENDIF隘ENDPR笆OC班PROC 霸Open1暗()吧Reset蔼 DO10熬_2YaB拌an;叭Waitt爱ime 0班.0;扮Reset蔼 DO10_1Jia巴Zhua;佰waitt哀ime 0爸.1;瓣!Wait疤time 爸nTime胺Gripp胺er;袄ENDPR靶OC办PROC 八Close俺1()哀Set D叭O10_1矮JiaZh皑ua;颁Waitt暗ime 0暗.0;般WaitD靶I DI1哎0_4Zh跋ua1En傲d, 1;蔼Set D癌O10_2败YaBan伴;皑Waitt熬ime 0佰.0;俺!

13、Wait哀time 版nTime傲Gripp百er;盎WaitD坝I DI1板0_4Zh挨ua1En吧d, 1;奥!Wait隘DI DI般10_6Z爸hua2E傲nd, 1挨;爸ENDPR罢OC岸PROC 败Calcu肮lateP傲ick()艾IF nJ埃ob = 皑1 THE捌N瓣pPick翱:=pPi澳ck1;埃ELSEI板F nJo搬b = 2澳 THEN八pPick般:=pPi艾ck1;哎ENDIF安袄!pAbo安vePic跋k:=pP岸ick;罢!pAft八erPic唉k:=pP氨ick;摆!Pattern80半;挨!pAbo斑vePic半k.tra澳ns.z:凹= pAf唉terP

14、i盎ck.tr澳ans.z澳;盎X。啊!pAbo笆vePic熬k.tra鞍ns.y:八= pAf鞍terPi办ck.tr罢ans.y哎-500;哀2。巴!pAft傲erPic哎k.tra凹ns.y:哀= pAf扳terPi傲ck.tr把ans.y鞍-500;霸e。安ENDPR翱OC熬PROC Calcu跋lateP罢lace(芭)翱IF nJ班ob = 邦1 THE八N啊nBagL澳:=nBa把g50L;巴nBagW八:=nBa隘g50W;八nBagH阿:=nBa芭g50H;胺Patte凹rn80;艾ELSEI哀F nJob = 2傲 THEN吧nBagL埃:=nBa颁g25L;翱nBagW啊

15、:=nBa背g25W;爸nBagH安:=nBa笆g25H;Patte靶rn100板;鞍ENDIF熬耙!pAbo佰vePla傲ce:=p罢Place碍1;胺pAfte安rPlac靶e:=pA拜boveP挨lace;拌ENDPR八OC皑PROC 安Patte版rn80(挨)跋bTag:捌=FALS扳E;盎TEST 碍nCoun懊t1+1背CASE 阿1:安pPlac哀e1:=pBase1班80;白pPlac熬e1.tr扳ans.x皑:=pPl巴ace1.办trans盎.x;凹a。俺pPlac搬e1.tr按ans.y袄:=pPl埃ace1.熬trans白.y;版T。矮pPlac挨e1.tr跋ans.

16、z啊:=pPl霸ace1.凹trans蔼.z;澳U。挨nOffs半X1:=0傲;懊nOffs霸Y1:=0般;绊nOffs坝Z1:=5半00;拌nOffs暗Z2:=-八500;邦nLeve凹l:=1;吧bTwic安e:=FA班LSE;班pAfte笆rPick瓣.tran挨s.z:=巴pPick癌.tran艾s.z+4安00;疤t。安pAbov澳ePlac罢e:=pP白lace1八;澳pAbov挨ePlac疤e.tra斑ns.z:爱=pPic艾k.tra搬ns.z+案400;稗m。哀bTag:佰=True败;CASE 板2:昂pPlac扒e1:=p扮Base0瓣;扮pPlac板e1.tr埃ans.

17、x伴:=pPl敖ace1.芭trans艾.x;蔼7。昂pPlac吧e1.tr邦ans.y暗:=pPl拌ace1.板trans肮.y;矮5。吧pPlac绊e1.tr澳ans.z坝:=pPl般ace1.八trans把.z;叭M。熬nOffs傲X1:=0稗;半nOffs鞍Y1:=0捌;敖nOffs哎Z1:=n伴BagH*把1.2;拜nOffs案Z2:=-八500;袄nLeve傲l:=1;胺bTwic胺e:=FA斑LSE;叭pAfte疤rPick拔.tran稗s.z:=扒pPick巴.tran鞍s.z+4按00;罢n。白pAbov白ePlac霸e:=pP敖lace1昂;百pAbov氨ePlac柏e.t

18、ra袄ns.z:罢=pPic叭k.tra跋ns.z+绊400;隘i。般CASE 办3:巴pPlac氨e1:=p澳Base9拌0;昂pPlac摆e1.tr班ans.x敖:=pPl疤ace1.拜trans安.x;哀7。傲pPlac巴e1.tr胺ans.y懊:=pPl霸ace1.拌trans靶.y+25瓣;安J。拌pPlac蔼e1.tr拌ans.z般:=pPl班ace1.蔼trans板.z;白Y。八nOffs芭X1:=0跋;跋nOffs摆Y1:=0按;奥nOffs背Z1:=n敖BagH*盎1.2;癌nOffs把Z2:=-癌500;扮nLeve盎l:=1;敖bTwic霸e:=FA捌LSE;安pAfte

19、懊rPick袄.tran奥s.z:=稗pPick挨.tran叭s.z+4哎00;跋E。盎pAbov暗ePlac拜e:=pP皑lace1跋;岸pAbov盎ePlac吧e.tra唉ns.z:鞍=pPic凹k.tra稗ns.z+罢400;坝Z。爸CASE 八4:肮pPlac绊e1:=p隘Base9啊0;白pPlac八e1.tr袄ans.x哎:=pPl肮ace1.捌trans碍.x+2*霸nBagW邦;凹Q。稗pPlac爱e1.tr安ans.y暗:=pPl败ace1.熬trans案.y+25颁;癌W。按pPlac板e1.tr拔ans.z胺:=pPl疤ace1.拔trans芭.z;邦N。翱nOffs绊X

20、1:=0班;澳nOffs按Y1:=0稗;芭nOffs耙Z1:=n版BagH*蔼1.2;阿nOffs斑Z2:=-把500;暗nLeve拔l:=1;哀bTwic爸e:=FA俺LSE;背pAfte傲rPick般.tran澳s.z:=胺pPick八.tran邦s.z+4安00;安W。跋pAbov熬ePlac懊e:=pP斑lace1板;爱pAbov傲ePlac版e.tra伴ns.z:艾=pPic澳k.tra岸ns.z+唉400;把J。矮CASE 叭5:拜pPlac翱e1:=p耙Base9搬0;暗pPlac岸e1.tr霸ans.x敖:=pPl鞍ace1.版trans盎.x+nB鞍agW;袄9。哀pPlac

21、隘e1.tr皑ans.y暗:=pPl芭ace1.般trans半.y+25办;白R。扳pPlac安e1.tr拜ans.z哀:=pPl扳ace1.案trans绊.z+20隘;埃2。傲nOffs扒X1:=0挨;芭nOffs扳Y1:=0捌;澳nOffs罢Z1:=n跋BagH*罢1.2;俺nOffs爱Z2:=-巴500;班nLeve邦l:=1;氨bTwic拜e:=FA阿LSE;氨pAfte靶rPick摆.tran办s.z:=袄pPick伴.tran绊s.z+4埃00;邦A。癌pAbov暗ePlac翱e:=pP癌lace1搬;隘pAbov扒ePlac矮e.tra安ns.z:板=pPic斑k.tra靶ns.

22、z+疤400;背D。伴!Laye耙r2 霸 把 扮氨CASE 搬6:扮pPlac哎e1:=p胺Base1碍80;俺pPlac败e1.tr芭ans.x哀:=pPl艾ace1.板trans隘.x;斑d。啊pPlac熬e1.tr白ans.y鞍:=pPl芭ace1.鞍trans胺.y+nB扒agL-5板;按U。盎pPlac败e1.tr肮ans.z哀:=pPl颁ace1.叭trans唉.z+nB疤agH;爱G。nOffs班X1:=0扳;昂nOffs扳Y1:=0霸;白nOffs班Z1:=n昂BagH*翱1.2;傲nOffs百Z2:=-芭500;伴nLeve捌l:=1;袄bTwic盎e:=FA按LSE;笆p

23、Afte蔼rPick碍.tran颁s.z:=蔼pPick摆.tran爱s.z+4芭00;昂I。般pAbov斑ePlac凹e:=pP案lace1搬;扳pAbov绊ePlac爸e.tra氨ns.z:按=pPic澳k.tra半ns.z+蔼400;凹U。袄CASE 矮7:稗pPlac肮e1:=p瓣Base0啊;爱pPlac胺e1.tr背ans.x白:=pPl笆ace1.暗trans爱.x;哀S。拌pPlac芭e1.tr埃ans.y拔:=pPl搬ace1.柏trans叭.y+nB碍agL-5白;皑l。熬pPlac佰e1.tr蔼ans.z:=pPl捌ace1.疤trans胺.z+nB敖agH;耙D。盎nO

24、ffs埃X1:=0霸;颁nOffs半Y1:=0癌;埃nOffs坝Z1:=n懊BagH*敖1.2;板nOffs癌Z2:=-扳500;绊nLeve哎l:=1;哀bTwic稗e:=FA颁LSE;办pAfte案rPick蔼.tran半s.z:=皑pPick按.tran艾s.z+4邦00;摆V。傲pAbov暗ePlac百e:=pP八lace1扒;凹pAbov霸ePlac俺e.tra拔ns.z:拜=pPic矮k.tra霸ns.z+耙400;办X。半CASE 熬8:稗pPlac班e1:=p霸Base270;安pPlac稗e1.tr袄ans.x伴:=pPl百ace1.柏trans盎.x;肮L。拌pPlac版e

25、1.tr拌ans.y坝:=pPlace1.袄trans办.y;傲T。哀pPlac扳e1.tr奥ans.z俺:=pPl碍ace1.奥trans斑.z;半W。哀nOffs颁X1:=0鞍;肮nOffs稗Y1:=0耙;笆nOffs昂Z1:=n案BagH*癌1.2;颁nOffs碍Z2:=-霸500;凹nLeve啊l:=1;袄bTwic隘e:=FA啊LSE;啊pAfte捌rPick捌.tran败s.z:=把pPick跋.tran熬s.z+4鞍00;俺J。扮pAbov八ePlac坝e:=pP安lace1安;般pAbov皑ePlac澳e.tra艾ns.z:昂=pPic唉k.tra吧ns.z+耙400;吧9。爸

26、CASE 皑9:哎pPlac摆e1:=p暗Base2蔼70;按pPlac耙e1.tr百ans.x坝:=pPl隘ace1.颁trans邦.x+2*奥nBagW懊-25;瓣g。背pPlac白e1.tr哀ans.y扮:=pPl肮ace1.肮trans碍.y;盎m。办pPlac挨e1.tr柏ans.z胺:=pPl吧ace1.安trans罢.z;拜f。岸nOffs敖X1:=0艾;叭nOffs扒Y1:=0伴;班nOffs哀Z1:=n傲BagH*败1.2;柏nOffs爸Z2:=-搬500;版nLeve百l:=2;扳bTwic拌e:=FA伴LSE;叭pAfte矮rPick背.tran阿s.z:=办pPick班

27、.tran艾s.z+4背00;背p。摆pAbov艾ePlac奥e:=pP颁lace1哎;傲pAbov般ePlac稗e.tra百ns.z:澳=pPic胺k.tra挨ns.z+拌400;半r。安CASE 拌10:案pPlac阿e1:=p岸Base2皑70;敖pPlac搬e1.tr哎ans.x百:=pPl捌ace1.把trans肮.x+nB班agW;哎C。罢pPlac拔e1.tr柏ans.y啊:=pPl敖ace1.瓣trans按.y;傲c。隘pPlac捌e1.tr跋ans.z爸:=pPl班ace1.佰trans哀.z;霸H。跋nOffs碍X1:=0哎;板nOffs拔Y1:=0暗;澳nOffs颁Z1:

28、=n邦BagH*败1.2;搬nOffs八Z2:=-岸500;阿nLeve白l:=2;白bTwic皑e:=FA扮LSE;芭pAfte巴rPick昂.tran摆s.z:=般pPick傲.tran班s.z+4鞍00;扮L。氨pAbov袄ePlac叭e:=pP胺lace1鞍;吧pAbov巴ePlac班e.tra疤ns.z:扒=pPic疤k.tra傲ns.z+懊400;颁w。吧!Laye绊r3奥CASE 拔11:哎pPlac邦e1:=p板Base1挨80;盎pPlac霸e1.tr翱ans.x岸:=pPl百ace1.背trans百.x;板B。哎pPlac敖e1.tr白ans.y巴:=pPl傲ace1.啊t

29、rans办.y;板T。柏pPlac盎e1.tr拌ans.z疤:=pPl袄ace1.捌trans岸.z+2*熬nBagH白;唉W。岸nOffs伴X1:=0般;百nOffs胺Y1:=0案;斑nOffs懊Z1:=n矮BagH*扒1.2;跋nOffs叭Z2:=-傲500;稗nLeve挨l:=1;把bTwic耙e:=FA安LSE;扒pAfte敖rPick敖.tran吧s.z:=碍pPick胺.tran办s.z+4艾00;斑M。哀pAbov碍ePlac芭e:=pP靶lace1百;瓣pAbov肮ePlac罢e.tra巴ns.z:哎=pPic败k.tra巴ns.z+跋400;翱p。拔bTag:按=True懊;

30、拔CASE 霸12:按pPlac叭e1:=p盎Base0癌;拜pPlac败e1.tr疤ans.x拜:=pPl隘ace1.蔼trans办.x;斑C。盎pPlac坝e1.tr邦ans.y疤:=pPl斑ace1.俺trans瓣.y;办w。笆pPlac俺e1.tr扒ans.z办:=pPl哎ace1.碍trans埃.z+2*叭nBagH啊;癌U。版nOffs靶X1:=0埃;碍nOffs暗Y1:=0斑;安nOffs白Z1:=n凹BagH*氨1.2;扳nOffs氨Z2:=-邦500;nLeve啊l:=1;败bTwic耙e:=FA肮LSE;般pAfte癌rPick芭.tran昂s.z:=办pPick胺.tra

31、n扮s.z+4艾00;哀q。坝pAbovePlac摆e:=pP皑lace1捌;拔pAbov唉ePlac爸e.tra碍ns.z:扮=pPic艾k.tra笆ns.z+按400;办H。案CASE 氨13:隘pPlac伴e1:=p敖Base9傲0;坝pPlac哀e1.tr傲ans.x氨:=pPl澳ace1.板trans埃.x;扒I。邦pPlac暗e1.tr败ans.y昂:=pPl碍ace1.昂trans疤.y+25罢;拜T。啊pPlac哀e1.tr捌ans.z懊:=pPl颁ace1.叭trans跋.z+2*暗nBagH盎;安T。nOffs白X1:=0拔;巴nOffs绊Y1:=0八;按nOffs懊Z1:

32、=n敖BagH*瓣1.2;俺nOffs班Z2:=-胺500;耙nLeve板l:=1;盎bTwic叭e:=FA拜LSE;霸pAfte埃rPick鞍.tran昂s.z:=绊pPick般.tran拜s.z+4吧00;般B。邦pAbov奥ePlac隘e:=pP背lace1靶;俺pAbov稗ePlac靶e.tra矮ns.z:稗=pPic办k.tra笆ns.z+袄400;蔼8。肮CASE 邦14:皑pPlac奥e1:=p柏Base9阿0;佰pPlac佰e1.tr暗ans.x拔:=pPl霸ace1.皑trans敖.x+2*败nBagW邦;袄8。肮pPlac扳e1.tr按ans.y熬:=pPl昂ace1.瓣t

33、rans半.y+25盎;爸5。斑pPlac胺e1.tr唉ans.z败:=pPl熬ace1.背trans爸.z+2*凹nBagH般;白m。坝nOffs办X1:=0八;按nOffs半Y1:=0斑;盎nOffs般Z1:=n按BagH*坝1.2;艾nOffs巴Z2:=-盎500;氨nLeve斑l:=1;罢bTwic班e:=FA癌LSE;哎pAfte岸rPick败.tran翱s.z:=鞍pPick哎.tran把s.z+4伴00;颁M。跋pAbov敖ePlace:=pP拜lace1案;柏pAbov白ePlace.tra疤ns.z:埃=pPic班k.tra氨ns.z+捌400;案D。奥CASE 矮15:白p

34、Plac蔼e1:=p邦Base9扒0;捌pPlac隘e1.tr熬ans.x安:=pPl哀ace1.拔trans扮.x+nB捌agW;巴y。背pPlac颁e1.tr扒ans.y盎:=pPl隘ace1.爸trans挨.y+25按;败k。安pPlac爱e1.tr罢ans.z暗:=pPl唉ace1.傲trans拔.z+2*爸nBagH暗;拜G。摆nOffs霸X1:=0扒;跋nOffs耙Y1:=0傲;懊nOffs版Z1:=n般BagH*叭1.2;半nOffs敖Z2:=-岸500;败nLeve案l:=1;吧bTwic班e:=FA哎LSE;啊pAfte板rPick安.tran吧s.z:=跋pPick霸.tran熬s.z+4叭00;盎8。奥pAbov昂ePlac扳e:=pP哎lace1;柏pAbov哀ePlac奥e.tra般ns.z:埃=pPic扳k.tra百ns.z+碍400;挨m。敖!laye般r4 翱 盎 袄百 奥 把 叭盎败 CAS岸E 16:唉pPlac般e1:=p颁Base1白80;癌pPlac哎e1.tr斑ans.x吧:=pPl拔ace1.拜trans鞍.x;氨I。班pPlac按e1.tr哀ans.y绊:=pPl埃ace1.瓣trans跋.y+nB斑agL-5肮;颁a