ABBrobotstudio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10（设置好需重启）6、示教目标点（同步到 RAPID7、RAPID编程一、创建机器人系统1、创建空工作站2、导入IRB260机器人模型3、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1、添加输送链并修改位置2、创建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 LINEMOVE和 QUEUES件7设置LINEMOVE属性8、添加面传感器组件9、设置输送链不能被传感器检测10、

2、设置50_俞送链的属性连接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、18、进行仿真设定选择SC-一输送链进行验证三、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2、添力口 SMAR包件3、添力口 ATTACHE脚 DETACHER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8、把线传感器安装到吸盘（不更新位置，保持当前位置

3、）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工具四、工作站逻辑连接五、参考代码MODULEMainMoudlePERStooldatatGrip:=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:=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PERSrobtarge

4、tpHome:=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+09,9E+09,9E+09,9E+09,9E+09;!实际点PERSrobtarget! 1路拾取目标点PERSrobtarget

5、pPlace1:=-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PERSrobtarget! 1路放置0度姿态PERSrobtarget! 1路放置90度姿态PERSrobtargetPERSrobtargetpPlace2:=-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;PERSrobtargetPER

6、SrobtargetPERSspeeddataMinSpeed:=1000,300,5000,1000;PERSspeeddataMidSpeed:=2500,400,5000,1000;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FALSEPERSnumnCount1:=1;PERSnumnCount2:=1;!输送链计数PROCMain()rInitAll;WHILETRUEDOIFdiBo

7、xInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSETHEN rPick1;rPlacel;ENDIFIFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2=FALSETHENrPick2;rPlace2;ENDIFWaitTime0.1;ENDWHILEENDPROCPROCrInitAll()ResetdoGrip;pActualPos:=CRobT(tool:=tGrip);MoveLpActualPos,MinSpeed,fine,tGripWObj:=wobj0;MoveJpHome,MidSp

8、eed,fine,tGripWObj:=wobj0;bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPROCPROCrPick1()MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPick1,MinSpeed,fine,tGripWObj:=wobj0;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGripWObj:=wobj0

9、;ENDPROCPROCrPick2()MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPick2,MinSpeed,fine,tGripWObj:=wobj0;SetdoGrip;WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick2,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROCrPlace1()rPosition1;MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj

10、0;MoveLpPlace1,MinSpeed,fine,tGripWObj:=wobj0;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount1:=nCount1+1;IFnCount1>20THEN bPalletFull1:=TRUE;ENDIFENDPROCPROCrPlace2()rPosition2;MoveJ

11、Offs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveLpPlace2,MinSpeed,fine,tGripWObj:=wobj0;ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount2:=nCount2+1;IFnCount2>20THENbPalletFull

12、2:=TRUE;ENDIFENDPROCPROCrPosition1()TESTnCountlCASE1: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);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,

13、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);pPlace1:=Offs(pBase1_90,0,400+10,400

14、);CASE14:pPlace1:=Offs(pBase1_90,400+10,400+10,400);CASE15:pPlace1:=Offs(pBase1_90,800+20,400+10,400);CASE16:pPlace1:=Offs(pBase1_0,0,600+10,600);CASE17: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:=Off

15、s(pBase1_90,800+20,0,600);DEFAULT:TPErase;TPWrite"theCounterofline1iserror,pleasecheckit!"Stop;ENDTESTENDPROCPROCrPosition2()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);pPlace2:=Offs(pBase2_90,400+10,400+

16、10,0);CASE5:pPlace2:=Offs(pBase2_90,800+20,400+10,0);CASE6: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

17、_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_0,0,600+10,600);CASE17:pPlace2:=Offs(pBase2_0,600+10,600+10,600);CASE18:pPlace2:=Offs(pBase2_90,0,0,600);pPlace2:=Offs(pBase2_90,400+10,0,600);CASE20:pPlace2:=Offs(pBase2_90,800+20,0,600);DEFAULT:TPErase;TPWrite"theCounterofline1iserror,pleasecheckit!"Stop;ENDTESTENDPROCPROCrModify()MoveJpHome,MinSpeed,fine,tGripWObj:=wobj0;Mo