ABB-robotstudio使用详细步骤

1、搬运码垛工作站建模1、创建机器人系统2、创建动态输送链3、创建动态夹具4、工作站逻辑连接5、添加 IO( 设置好需重启 )6、示教目标点（同步到RAPID ）7、 RAPID 编程一、创建机器人系统1、创建空工作站机器人模型IRB 2602 、导入网络 709-1 和 Chinese 、从布局创建机器人系统，勾选 3二、创建动态输送链1、添加输送链并修改位置并修改位置600*400*2002、创建的物料3、添加一个smart 组件source 、添加组件45、设置物料本地原点和 QUEUE 组件 LINEMOVER6 、添加属性 LINEMOVER 设置78、添加面传感器组件、设置输送链不能被

2、传感器检测9输送链的属性连接、设置10SC_11 、设置信号连接、添加信号处理组件，用于检测传感器下降沿12copy进行 source 、传感器下降沿触发13 SC、传感器与输送链的输出联系14、添加仿真开始结束组件，用于激活传感器15 、添加置位复位组件，对仿真开始结束信号进行保持1617 、进行验证选择SC输送链、进行仿真设定18三、创建动态夹具1、先制作一个吸盘模型，然后设置成工具，并安装到机器人法拉盘组件 SMART、添加2DETACHER 组件和、添加3ATTACHER、设置属性4、添加一个线传感器组件5、线传感器设置属性67、设置吸盘工具不能被传感器检测、把线传感器安装到吸盘（不更

3、新位置，保持当前位置）89、设置属性连接、添加信号及连接10 、添加信号处理取非和锁定组件11、继续信号连接12 、添加一个示教物料13工具 SC_、应用手动线性验证14 四、工作站逻辑连接五、参考代码MODULE MainMoudlePERS tooldatatGrip:=TRUE,0,0,200,1,0,0,0,25,0,0.00109327,116.889,1,0,0,0,0,0,0;！吸盘工具数据PERS loaddata LoadEmpty:=0.01,0,0,1,1,0,0,0,0,0,0;PERS loaddata LoadFull:=40,0,0,50,1,0,0,0,0,0,

4、0;！有效载荷数据PERS robtargetpHome:=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;！基准点PERS robtargetpActualPos:=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;！实际点PERS robtar

5、getpPick1:=1488.007792464,376.826660408,476.964684195,0,0.707106307,0.707107256,0 ,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;！1 路拾取目标点PERS robtargetpPlace1:=-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 路放置基准点PERS robtargetpBase1_0:=-292.446294945,1263.272085268

6、,55.449220723,0,0.707107387,0.707106176,0,1,0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;！1 路放置0 度姿态PERS robtargetpBase1_90:=-391.976797324,1362.469634994,55.449159414,0,1,-0.000030621,0,1,0,3,0,9E9,9E9,9E9,9E9,9E9,9E9;！1 路放置90 度姿态PERS robtargetpPick2:=1488.013130905,-358.406014736,476.965039287,0,0.707106307,0.70

7、7107256,0,-1,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtargetpPlace2:=-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;PERS robtargetpBase2_0:=-317.378137718,-1857.993871961,55.448967354,0,0.707107745,0.707105817 ,0,-2,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robta

8、rgetpBase2_90:=-407.525988074,-1755.902485322,55.449282402,0,1,-0.000031217,0,-2,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS speeddata MinSpeed:=1000,300,5000,1000;PERS speeddata MidSpeed:=2500,400,5000,1000;PERS speeddata MaxSpeed:=4000,500,5000,1000;！搬运速度定义PERS bool bPalletFull1:=FALSE;PERS bool bPalletFul

9、l2:=FALSE;！逻辑布尔量，拾取后为UE，放置后为FALSEPERS num nCount1:=1;PERS num nCount2:=1;！输送链计数PROC Main()rInitAll;WHILE TRUE DOIF diBoxInPos1=1 AND diPalletInPos1=1 AND bPalletFull1=FALSE THEN rPick1;rPlace1;ENDIFIF diBoxInPos2=1 AND diPalletInPos2=1 AND bPalletFull2=FALSE THEN rPick2;rPlace2;ENDIFWaitTime 0.1;END

10、WHILEENDPROCPROC rInitAll()Reset doGrip;pActualPos:=CRobT(tool:=tGrip);MoveL pActualPos,MinSpeed,fine,tGripWObj:=wobj0;MoveJ pHome,MidSpeed,fine,tGripWObj:=wobj0;bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPROCPROC rPick1()MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0

11、;MoveL pPick1,MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime 0.3;GripLoad LoadFull;MoveL Offs(pPick1,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROC rPick2()MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPick2,MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime 0.3;GripLoad Lo

12、adFull;MoveL Offs(pPick2,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROC rPlace1()rPosition1;MoveJ Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveL pPlace1,MinSpeed,fine,tGripWObj:=wobj0;Reset doGrip;WaitTime 0.3;GripLoad LoadEmpty;MoveL Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj

13、0;MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount1:=nCount1+1;IF nCount1>20 THENbPalletFull1:=TRUE;ENDIFENDPROCPROC rPlace2()rPosition2;MoveJ Offs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPlace2,MinSpeed,fine,tGripWObj:=wobj0;Reset doGrip;WaitTime 0.3;GripLoad LoadEmp

14、ty;MoveL Offs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount2:=nCount2+1;IF nCount2>20 THENbPalletFull2:=TRUE;ENDIFENDPROCPROC rPosition1()TEST nCount1CASE 1:pPlace1:=Offs(pBase1_0,0,0,0);CASE 2:pPlace1:=Offs(pBase1_0,600+10,0,0);CAS

15、E 3:pPlace1:=Offs(pBase1_90,0,400+10,0);CASE 4:pPlace1:=Offs(pBase1_90,400+10,400+10,0);CASE 5:pPlace1:=Offs(pBase1_90,800+20,400+10,0);CASE 6:pPlace1:=Offs(pBase1_0,0,600+10,200);CASE 7:pPlace1:=Offs(pBase1_0,600+10,600+10,200);CASE 8:pPlace1:=Offs(pBase1_90,0,0,200);CASE 9:pPlace1:=Offs(pBase1_90,

16、400+10,0,200);CASE 10:pPlace1:=Offs(pBase1_90,800+20,0,200);CASE 11:pPlace1:=Offs(pBase1_0,0,0,400);CASE 12:pPlace1:=Offs(pBase1_0,600+10,0,400);CASE 13:pPlace1:=Offs(pBase1_90,0,400+10,400);CASE 14:pPlace1:=Offs(pBase1_90,400+10,400+10,400);CASE 15:pPlace1:=Offs(pBase1_90,800+20,400+10,400);CASE 16

17、:pPlace1:=Offs(pBase1_0,0,600+10,600);CASE 17:pPlace1:=Offs(pBase1_0,600+10,600+10,600);CASE 18:pPlace1:=Offs(pBase1_90,0,0,600);CASE 19:pPlace1:=Offs(pBase1_90,400+10,0,600);CASE 20:pPlace1:=Offs(pBase1_90,800+20,0,600);DEFAULT:TPErase;TPWritehe Counter of line 1 is error,please check it!;Stop;ENDT

18、ESTENDPROCPROC rPosition2()TEST nCount2CASE 1:pPlace2:=Offs(pBase2_0,0,0,0);CASE 2:pPlace2:=Offs(pBase2_0,600+10,0,0);CASE 3:pPlace2:=Offs(pBase2_90,0,400+10,0);CASE 4:pPlace2:=Offs(pBase2_90,400+10,400+10,0);CASE 5:pPlace2:=Offs(pBase2_90,800+20,400+10,0);CASE 6:pPlace2:=Offs(pBase2_0,0,600+10,200)

19、;CASE 7:pPlace2:=Offs(pBase2_0,600+10,600+10,200);CASE 8:pPlace2:=Offs(pBase2_90,0,0,200);CASE 9:pPlace2:=Offs(pBase2_90,400+10,0,200);CASE 10:pPlace2:=Offs(pBase2_90,800+20,0,200);CASE 11:pPlace2:=Offs(pBase2_0,0,0,400);CASE 12:pPlace2:=Offs(pBase2_0,600+10,0,400);CASE 13:pPlace2:=Offs(pBase2_90,0,400+10,400);CASE 14:pPlace2:=Offs(pBase2_90,400+10,400+10,400);CASE 15:pPlace2:=Offs(pBase2_90,800+20,400+10,400);CASE 16:pPlace2:=