ABBrobotstudio使用详细步骤

1、234567123123456、搬运码垛工作站建模创建机器人系统创建动态输送链创建动态夹具工作站逻辑连接添加10（设置好需重启）示教目标点（同步到RAPIDRAPID编程一、 创建机器人系统创建空工作站导入IRB260机器人模型 "'"1 '\L”从布局创建机器人系统，勾选 Chinese和709-1网络二、 创建动态输送链添加输送链并修改位置创建—6\00*400*200的物料并修改位置添加一^个smart组件添加source组件设置物料本地原点添力口LINEMOVER口QUEU组件7设置LINEMOVE属性&添加面传感器组件9、设置输送链不能被传感器检测10、 设置SCJ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13、传感器下降沿触发source进行copySC_输送链銅］寒怪与连结信号沁接设计rpf言号TOC\o"1-5"\h\z［名称 信号衰组 値StertClV 蜕耀 臥 0Difi 0:泰nnm口瓯直*轉齐干昶養偿耳MMMiIA»tt逻儘号目痢懐目标檢SC%建槌S&surI?*Ek^cuteSl'UJ-^*eEKe^KiltdFlrdtiStiiSorQu色讣色D睦q巧赴q业L&£icGalft[SOT]Output皿虽饥［mltnpulALt>CiC(ra<t[30T]Output,S&ureeEwe^ule^rlDIZDCarLCic^ticn-S5b苣揮I/LCciyLtciiDiLs 昔E干上移下籟14、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.迦：|Kjataax.r②SC—输送链 觥■win?富輕IjfD［甲&吓杠3瑁Htt上下

三、创建动态夹具1、2、添力口SMAR组件3、添加ATTACHE和DETACHE组件1、2、添力口SMAR组件3、添加ATTACHE和DETACHE组件4、设置属性5、添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&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MODULEMainMoudlePERStooldatatGrip:二[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];!有效载荷数据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]];!基准点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]];!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]];PERSspeeddataMinSpeed:二[1000,300,5000,1000];PERSspeeddataMidSpeed:二[2500,400,5000,1000];PERSspeeddataMaxSpeed:二[4000,500,5000,1000];!搬运速度定义PERSboolbPalletFull1:=FALSE;PERSboolbPalletFull2:=FALSE;!逻辑布尔量，拾取后为!逻辑布尔量，拾取后为UE放置后为FALSEPERSnumnCount1:=1;PERSnumnCount2:=1;!输送链计数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,