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[原创] 本世纪最难的一道倒角神题，你敢挑战吗？

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MODULE MainModule
CONST jointtarget h1:=[[0,0,0,0,90,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p10:=[[9.44,-240.48,474.13],[3.06755E-05,1.713E-05,-1,1.43445E-05],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p20:=[[-9.29,-376.29,125.26],[6.24705E-05,0.708301,0.705911,-0.00011244],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget h2:=[[-2.59689E-05,2.24735E-05,-2.12042E-05,-90,90,0.000206505],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p30:=[[321.85,-364.60,550.11],[3.29269E-05,-1.76834E-05,-0.707089,0.707124],[-1,-2,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p40:=[[85.61,-72.00,629.86],[7.06554E-05,2.84765E-05,-0.707112,0.707101],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget h3:=[[0,0,0,-89.9978,-90.0007,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p50:=[[272.02,222.91,231.03],[0.707186,-0.707028,-5.87867E-05,-4.72242E-05],[0,-1,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p60:=[[109.97,72.00,629.99],[0.707122,-0.707092,1.76086E-05,3.12988E-05],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p70:=[[393.54,223.85,350.20],[5.38502E-05,-6.09116E-05,-1,4.17068E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p80:=[[502.83,241.33,234.06],[0.000104149,0.405369,-0.914153,1.91054E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p90:=[[260.20,238.31,416.96],[6.95015E-05,0.405353,-0.91416,7.40639E-06],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p100:=[[271.10,369.18,407.12],[0.000109045,0.405351,-0.914161,2.76185E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p110:=[[144.48,0.00,557.99],[3.83303E-05,4.49329E-06,-1,1.47549E-05],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p120:=[[302.00,72.00,630.00],[0.707119,-0.707095,3.05851E-06,1.51519E-06],[0,-1,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
Reset YV2;
Set YV1;
MoveL p20, v1000, fine, tool0;
Reset YV1;
Set YV2;
WaitTime 1;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
MoveAbsJ h2\NoEOffs, v1000, fine, tool0;
MoveL Offs(p30,0,0,50), v1000, fine, tool0;
Reset YV5;
Set YV3;
MoveL p30, v1000, fine, tool0;
Reset YV3;
Set YV5;
WaitTime 1;
MoveL Offs(p30,0,0,50), v1000, fine, tool0;
MoveAbsJ h2\NoEOffs, v1000, fine, tool0;
MoveL p40, v1000, fine, tool0;
MoveAbsJ h3\NoEOffs, v1000, fine, tool0;
MoveL Offs(p50,0,0,50), v1000, fine, tool0;
MoveL p50, v1000, fine, tool0;
Reset YV5;
Set YV3;
WaitTime 1;
MoveL Offs(p50,0,0,50), v1000, fine, tool0;
Reset EXDO8;
Set EXDO7;
MoveAbsJ h3\NoEOffs, v1000, fine, tool0;
MoveL p60, v1000, fine, tool0;
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
MoveL p20, v1000, fine, tool0;
Reset YV2;
Reset YV3;
Set YV1;
WaitTime 1;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
MoveL Offs(p20,-120,0,200), v1000, fine, tool0;
MoveL Offs(p20,-120,0,0), v1000, fine, tool0;
Reset YV1;
Set YV2;
WaitTime 1;
MoveL Offs(p20,-120,0,200), v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
Set EXD02;
Set EXDO16;
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
MoveL p70, v1000, fine, tool0;
MoveL Offs(p80,0,0,30), v1000, fine, tool0;
Reset EXDO16;
Reset EXD02;
MoveL p80, v1000, fine, tool0;
Set YV4;
WaitTime 1;
MoveL Offs(p80,0,0,30), v1000, fine, tool0;
MoveL p90, v1000, fine, tool0;
MoveL p100, v1000, fine, tool0;
Reset YV4;
WaitTime 1;
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveL Offs(p20,-120,0,200), v1000, fine, tool0;
MoveL Offs(p20,-120,0,0), v1000, fine, tool0;
Reset YV2;
Set YV1;
WaitTime 1;
MoveL Offs(p20,-120,0,200), v1000, fine, tool0;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
Reset YV2;
Set YV1;
MoveL p20, v1000, fine, tool0;
Reset YV1;
Set YV2;
WaitTime 1;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
MoveL p110, v1000, fine, tool0;
MoveAbsJ h3\NoEOffs, v1000, fine, tool0;
MoveL Offs(p50,0,0,50), v1000, fine, tool0;
Reset YV5;
Set YV3;
Reset EXDO7;
Set EXDO8;
MoveL p50, v1000, fine, tool0;
Reset YV3;
Set YV5;
WaitTime 1;
MoveL Offs(p50,0,0,50), v1000, fine, tool0;
MoveAbsJ h3\NoEOffs, v1000, fine, tool0;
MoveL p60, v1000, fine, tool0;
MoveAbsJ h2\NoEOffs, v1000, fine, tool0;
MoveL Offs(p30,0,0,50), v1000, fine, tool0;
MoveL p30, v1000, fine, tool0;
Reset YV5;
Set YV3;
WaitTime 1;
MoveL Offs(p30,0,0,50), v1000, fine, tool0;
MoveAbsJ h2\NoEOffs, v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
MoveL p20, v1000, fine, tool0;
Reset YV2;
Reset YV3;
Set YV1;
Reset YV3;
WaitTime 1;
MoveL Offs(p20,0,0,200), v1000, fine, tool0;
MoveL p10, v1000, fine, tool0;
MoveAbsJ h1\NoEOffs, v1000, fine, tool0;
ENDPROC
ENDMODULE