ABBrobotstudio使用詳細(xì)步驟

1、234567123123456、搬運(yùn)碼垛工作站建模創(chuàng)建機(jī)器人系統(tǒng)創(chuàng)建動(dòng)態(tài)輸送鏈創(chuàng)建動(dòng)態(tài)夾具工作站邏輯連接添加10（設(shè)置好需重啟）示教目標(biāo)點(diǎn)（同步到RAPIDRAPID編程一、 創(chuàng)建機(jī)器人系統(tǒng)創(chuàng)建空工作站導(dǎo)入IRB260機(jī)器人模型 "'"1 '\L”從布局創(chuàng)建機(jī)器人系統(tǒng)，勾選 Chinese和709-1網(wǎng)絡(luò)二、 創(chuàng)建動(dòng)態(tài)輸送鏈添加輸送鏈并修改位置創(chuàng)建—6\00*400*200的物料并修改位置添加一^個(gè)smart組件添加source組件設(shè)置物料本地原點(diǎn)添力口LINEMOVER口QUEU組件7設(shè)置LINEMOVE屬性&添加面?zhèn)鞲衅鹘M件9、設(shè)置輸送鏈不能被傳感器檢測10、 設(shè)置SCJ輸送鏈的屬性連接11、 設(shè)置信號連接12、添加信號處理組件，用于檢測傳感器下降13、傳感器下降沿觸發(fā)source進(jìn)行copySC_輸送鏈銅］寒怪與連結(jié)信號沁接設(shè)計(jì)rpf言號TOC\o"1-5"\h\z［名稱 信號衰組 値StertClV 蛻耀 臥 0Difi 0:泰nnm口甌直*轉(zhuǎn)齊干昶養(yǎng)償耳MMMiIA?tt邏儘號目痢懐目標(biāo)檢SC%建槌S&surI?*Ek^cuteSl'UJ-^*eEKe^KiltdFlrdtiStiiSorQu色訃色D睦q巧赴q業(yè)L&￡icGalft[SOT]Output皿雖饑［mltnpulALt>CiC(ra<t[30T]Output,S&ureeEwe^ule^rlDIZDCarLCic^ticn-S5b苣揮I/LCciyLtciiDiLs 昔E干上移下籟14、傳感器與SC輸送鏈的輸出聯(lián)系15、添加仿真開始結(jié)束組件，用于激活傳感器16、添加置位復(fù)位組件，對仿真開始結(jié)束信號進(jìn)行保持.迦：|Kjataax.r②SC—輸送鏈 觥■win?富輕IjfD［甲&嚇杠3瑁Htt上下

三、創(chuàng)建動(dòng)態(tài)夾具1、2、添力口SMAR組件3、添加ATTACHE和DETACHE組件1、2、添力口SMAR組件3、添加ATTACHE和DETACHE組件4、設(shè)置屬性5、添加一個(gè)線傳感器組件6、線傳感器設(shè)置屬性7、設(shè)置吸盤工具不能被傳感器檢測&把線傳感器安裝到吸盤（不更新位置，保持當(dāng)前位置）9、設(shè)置屬性連接10、 添加信號及連接11、 添加信號處理取非和鎖定組件12、 繼續(xù)信號連接13、 添加一個(gè)示教物料14、 應(yīng)用手動(dòng)線性驗(yàn)證SC_X具四、工作站邏輯連接

五、參考代碼MODULEMainMoudlePERStooldatatGrip:二[TRUE,[[0,0,200],[1,0,0,0]],[25,[0,0.00109327,116?889],[1,0,0,0],0,0,0]]；!吸盤工具數(shù)據(jù)PERSloaddataLoadEmpty:二[0?01,[0,0,1],[1,0,0,0],0,0,0];

PERSloaddataLoadFull:=[40,[0,0,50],[1,0,0,0],0,0,0];!有效載荷數(shù)據(jù)PERSrobtargetpHome:二[[1620?00,-0.00,1331?59],[1.27986E-06,-0.707107,-0.707107,1.27986E-06],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!基準(zhǔn)點(diǎn)PERSrobtargetpActualPos:二[[1620,-1.87531E-14,1331?59],[1.27986E-06,-0.707107,-0.707107,1.27986E-06],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!實(shí)際點(diǎn)!1路拾取目標(biāo)點(diǎn)PERSrobtargetpPlace1:=[[-292.446,1263.27,55.4492],[0,0.707107,0.707106,0],[1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!1路放置基準(zhǔn)點(diǎn)!1路放置0度姿態(tài)!1路放置90度姿態(tài)PERSrobtargetpPlace2:=[[-317.378,-1857.99,55.449],[0,0.707108,0.707106,0],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSspeeddataMinSpeed:二[1000,300,5000,1000];PERSspeeddataMidSpeed:二[2500,400,5000,1000];PERSspeeddataMaxSpeed:二[4000,500,5000,1000];!搬運(yùn)速度定義PERSboolbPalletFull1:=FALSE;PERSboolbPalletFull2:=FALSE;!邏輯布爾量，拾取后為!邏輯布爾量，拾取后為UE放置后為FALSEPERSnumnCount1:=1;PERSnumnCount2:=1;!輸送鏈計(jì)數(shù)PROCMain()rInitAII;WHILETRUEDOIFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull仁FALSETHENrPick1;rPlace1;ENDIFIFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2FALSETHENrPick2;rPlace2;ENDIFWaitTime0.1; i. s.,,/'ENDWHILEENDPROCPROCrInitAll()ResetdoGrip;pActualPos:—CRobT(\tool:=tGrip);MoveLpActualPos,MinSpeedfine,tGrip\WObj:—wobjO;MoveJpHome,MidSpeed,fine,tGrip\WObj:=wobj0;bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPROCPROCrPick1()MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:二wobjO;MoveLpPick1,MinSpeedfine,tGrip\WObj:二wobjO;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick1,O,O,4OO),MinSpeed,z50,tGrip\WObj:二wobjO;ENDPROCPROCrPick2()MoveJOffs(pPick2,O,O,4OO),MaxSpeed,z5O,tGrip\WObj:二wobjO;MoveLpPick2,MinSpeed,fine,tGrip\WObj:=wobj0;SetdoGrip;WaitTime0.3;'*■GripLoadLoadFull;MoveLOffs(pPick2,O,O,4OO),MinSpeed,z5O,tGrip\WObj:二wobjO;ENDPROCPROCrPlace1()rPosition1;MoveJOffs(pPlace1,O,O,4OO),MidSpeed,z5O,tGrip\WObj:二wobjO;MoveLpPlace1,MinSpeed,fine,tGrip\WObj:=wobj0;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace1,O,O,4OO),MidSpeed,z5O,tGrip\WObj:二wobjO;wobjO;MoveJOffs(pPick1,O,O,4OO),MaxSpeed,z5O,tGrip\WObj:二nCount1:=nCount1+1;wobjO;IFnCount1>20THENbPalletFull1:=TRUE;ENDIFENDPROCPROCrPlace2()rPosition2;MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj:二wobjO;MoveLpPlace2,MinSpeedfine,tGrip\WObj:二wobjO;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj:二wobjO;MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:二wobjO;nCount2:=nCount2+1; ■iJIX1■CXiy'y'IFnCount2>20THENbPalletFull2:=TRUE;ENDIFENDPROCPROCrPosition1()TESTnCount1CASE1:pPlace1:=Offs(pBase1_0,0,0,0);CASE2:pPlace1:=Offs(pBase1_0,600+10,0,0);CASE3:pPlace1:=Offs(pBase1_90,0,400+10,0);pPlace1:=Offs(pBase1_90,400+10,400+10,0);CASE5:pPlace1:=Offs(pBase1_90,800+20,400+10,0);CASE6:pPlace1:=Offs(pBase1_0,0,600+10,200);CASE7:pPlace1:=Offs(pBase1_0,600+10,600+10,200);CASE8:pPlace1:=Offs(pBase1_90,0,0,200);CASE9:pPlace1:=Offs(pBase1_90,400+10,0,200);CASE10:pPlace1:=Offs(pBase1_90,800+20,0,200);CASE11:pPlace1:=Offs(pBase1_0,0,0,400);CASE12:pPlace1:=Offs(pBase1_0,600+10,0,400);CASE13:pPlace1:=Offs(pBase1_90,0,400+10,400);CASE14:pPlace1:=Offs(pBase1_90,400+10,400+10,400);CASE15:pPlace1:=Offs(pBase1_90,800+20,400+10,400);CASE16:pPlace1:=Offs(pBase1_0,600+10,600+10,600);CASE18:pPlace1:=Offs(pBase1_90,0,0,600);CASE19:pPlace1:=Offs(pBase1_90,400+10,0,600);CASE20:pPlace1:=Offs(pBase1_90,800+20,0,600);DEFAULT:TPErase;TPWrite"theCounterofline1iserror,pleasecheckit!";Stop;ENDTEST*LiENDPROCPROCrPosition2()TESTnCount2CASE1:pPlace2:=Offs(pBase2_0,0,0,0);CASE2:pPlace2:=Offs(pBase2_0,600+10,0,0);CASE3:pPlace2:=Offs(pBase2_90,0,400+10,0);CASE4:pPlace2:=Offs(pBase2_90,400+10,400+10,0);CASE5:pPlace2:=Offs(pBase2_0,0,600+10,200);CASE7:pPlace2:=Offs(pBase2_0,600+10,600+10,200);CASE8:pPlace2:=Offs(pBase2_90,0,0,200);CASE9:pPlace2:=Offs(pBase2_90,400+10,0,200);CASE10:pPlace2:=Offs(pBase2_90,800+20,0,200);CASE11:pPlace2:=Offs(pBase2_0,0,0,400);CASE12:pPlace2:=Offs(pBase2_0,600+10,0,400);CASE13:pPlace2:=Offs(pBase2_90,0,400+10,400);CASE14:pPlace2:=Offs(pBase2_90,400+10,400+10,400);CASE15:pPlace2:=Offs(pBase2_90,800+20,400+10,400);CASE16:pPlace2:=Offs(pBase2_0,