ABBrobotstudio使用详细顺序

1、精心整理搬 运 码 垛 工 作 站 建1、创立机器人系统2、创立动态输送链3、创立动态夹具4、工作站逻辑连接5、添加10设置好需重启6、示教目标点同步到 RAPID7、RAPID编程一、创立机器人系统1、创立空工作站2、导入IRB260机器人模型3、 从布局创立机器人系统,勾选Chinese和709-1网络二、创立动态输送链 : 丿. ：.宀、：£J j1、添加输送链并修改位置2、创立600*400*200的物料并修改位置3、添加一个smart组件4、添加source组件5、设置物料本地原点6、添力口 LINEMOVER口 QUEU组件7 设置 LINEMOVE属性&添加面传

2、感器组件9、设置输送链不能被传感器检测10、设置SC_输送链的属性连接11、设置信号连接12、添加信号处理组件,用于检测传感器下降沿13、传感器下降沿触发 source进行copy14、传感器与SC输送链的输出联系15、添加仿真开始结束组件,用于激活传感器16、添加置位复位组件,对仿真开始结束信号进行保持17、就:| KjKax. r础2匚_输送链碗:HUR JM与un"号嵋柄设计18、进行仿真设定选择 SC输送链进行验证三、创立动态夹具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2、添力卩SMAR组件3、添力卩 ATTACHE和 DETACHER件4、设置属性5、添

3、加一个线传感器组件6线传感器设置属性7、设置吸盘工具不能被传感器检测8、把线传感器安装到吸盘不更新位置,保持当前位置9、设置属性连接10、添加信号及连接11、添加信号处理取非和锁定组件12、继续信号连接13、添加一个示教物料14、应用手动线性验证SC_X具四、工作站逻辑连接五、参考代码MODULEMai nM oudlePERStooldatatGrip:=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PERSIoaddataLoadEmpty:=0.01,0,0,1,1,0,0,0,0,0,0;PERSI

4、oaddataLoadFull:=40,0,0,50,1,0,0,0,0,0,0;!有效载荷数据PERSrobtargetpHome:=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PERSrobtargetpActualPos:=1620,-1.87531E-14,1331.59,1.27986E-06,- 0.707107,-0.707107,1.27986E- 06,0,0,1,0,9E+09,9E+09

5、,9E+09,9E+09,9E+09,9E+09;!实际点！ 1路拾取目标点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路放置基准点！ 1路放置0度姿态！ 1路放置90度姿态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;P

6、ERSspeeddataMi nSpeed:=1000,300,5000,1000;PERSspeeddataMidSpeed:=2500,400,5000,1000;精心整理PERSspeeddataMaxSpeed:=4000,500,5000,1000;!搬运速度定义PERSboolbPalletFull1:=FALSE;PERSboolbPalletFull2:=FALSE;!逻辑布尔量,拾取后为 UE,放置后为FALSEPERS numn Cou nt1:=1;PERS numn Cou nt2:=1;!输送链计数PROCMai n()rln itAll;WHILETRUEDOIFd

7、iBoxI nPos1=1ANDdiPalletl nPos1=1ANDbPalletFull仁FALSETHEN七、 尹 . J / II. L JrPick1;rPlace1;ENDIFIFdiBoxI nPos2=1ANDdiPalletl nPos2=1ANDbPalletFull2=FALSETHENrPick2;"J.7 'i rPlace2;ENDIFWaitTime0.1;ENDWHILEENDPROCPROCrI ni tAll()ResetdoGrip;pActualPos:=CRobT(tool:=tGrip);MoveLpActualPos,Mi nS

8、peedfi ne,tGripWObj:=wobj0;MoveJpHome,MidSpeed,fi ne,tGripWObj:=wobj0;精心整理bPalletFull1:=FALSE;n Cou nt1:=1;bPalletFull2:=FALSE;n Cou nt2:=1;ENDPROCPROCrPick1()MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPick1,Mi nSpeed,fi ne,tGripWObj:=wobj0;SetdoGrip;WaitTime0.3;GripLoadLoadFull;-

9、 - ' . L.-MoveLOffs(pPick1,0,0,400),Mi nSpeed,z50,tGripWObj:=wobj0;ENDPROC、.J r -.PROCrPick2()MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPick2,Mi nSpeed,fi ne,tGripWObj:=wobj0;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick2,0,0,400),Mi nSpeed,z50,tGripWObj:=wobj0;ENDPR

10、OCPROCrPlace1()rPositi on1;MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveLpPlace1,Mi nSpeed,fi ne,tGripWObj:=wobj0;ResetdoGrip;WaitTime0.3;精心整理GripLoadLoadEmpty;MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;n Cou nt1:=

11、nCou nt1+1;IFn Cou nt1>20THENbPalletFull1:=TRUE;ENDIFENDPROCPROCrPlace2()rPositi on2;MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPlace2,Mi nSpeed,fi ne,tGripWObj:=wobj0;夕、弋 z: / / / 严 V > L -ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tG

12、ripWObj:=wobj0;MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;"J.7'i n Cou nt2:=nCou nt2+1; f 匚 F /IFn Cou nt2>20THENbPalletFull2:=TRUE;ENDIFENDPROCPROCrPositio n1()TEST nCount1CASE1:pPlace1:=Offs(pBase1_0,0,0,0);CASE3:精心整理pPlace1:=Offs(pBase1_0,600+10,0,0);CASE3:pPlace1:=0ffs(p

13、Base1_90,0,400+10,0);CASE4: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);J*-.CASE10:

14、pPlace1:=Offs(pBase1_90,800+20,0,200);m 上"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);精心整理CASE16: pPlace1:=Off

15、s(pBase1_0,0,600+10,600);CASE17:pPlace1:=0ffs(pBase1_0,600+10,600+10,600);CASE18:pPlace1:=0ffs(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"theCou nterofli ne1iserror,pleasecheckit!"、 .<y l |.Stop;EN

16、DTESTENDPROCPROCrPositio n2()J TEST nCount2 f 匚 FCASE1: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:精心整理pPlace2:=Offs(pBase2_90,800+20,400+10,0);CASE6:pPlace2:=0ffs(pBase2_0,0,600

17、+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:=0ffs(pBase2_0,600+10,0,400);J*-.CASE13:pPlace2:=Offs(pBase2

18、_90,0,400+10,400);m 上"CASE14:pPlace2:=0ffs(pBase2_90,400+10,400+10,400);CASE15:I I V *4、pPlace2:=Offs(pBase2_90,800+20,400+10,400);CASE16:pPlace2:=Offs(pBase2_0,0,600+10,600);CASE17:pPlace2:=Offs(pBase2_0,600+10,600+10,600);CASE19:pPlace2:=Offs(pBase2_90,400+10,0,600);CASE20:pPlace2:=Offs(pBase2_90,800+20,0,600);DEFAULT:TPErase;TPWrite"theCou nterofli ne1iserror,pleasecheckit!"Stop;ENDTESTENDPROCPROCrModify()MoveJpHome,Mi nSpeed,fi ne,tGripWObj:=wobj0;MoveJpPick1,Mi nSpeed,fi ne,tGrip