abbrobotstudio使用详细步骤

1、搬运码垛工作站建模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 RAPI.7、RAPID编程、创立机器人系统1、创立空工作站2、导入IRB 260机器人模型3、从布局创立机器人系统,勾选 Chinese和709-1网络、创立动态输送链1、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3 id 句, <2 T 8 未工作站 J-MB Robdtstudici6.豆;一孝根本 建建 仿真欧咸0RAPID AddJns 修改关闭S翘懒&Q导21何林-争固体-宅物U曲界蚁X

2、技他外表GQ /修改昭瑾点到点J全部件左框架制表直屈外表边界(3D与云/jw眦电悻<2标记-拿旧嫌-眉队唯a£边界O籍含W也建CAD 4四僵文坊P届性:就_赣送瘫|布局|建度|甫汪【未保存工作站1*知生-_ - . - -*liil T.i富sc新谖锯！-作韧料亨4、添加source组件5、设置物料本地原点w I g昧保存工作站*IM用吒输派销# Line srlfl over 器侦女 上 SfiurctB物料6、添加 LINEMOVER和 QUEUE组件|5匚辖送渤X |/ sc_输送链组成 围性与连结I信号和连倒费厂子对象组件典雎gmartS 伴9*创立一个图形组件的拷吼

3、_ Li near Hover祥移劫一个对象到一奈线上*缪裁I对象的械列,可作为蛆进行攥纵7设置LINEMOVER属性应用 美派8、添加面传感器组件届住：PtaneSensor二 乂属性日Ori gin (rm.ID.反骨-ggQ, 00 £tF3.00 备Io7oo |490.oa 10.00 调*Axi 或 Gw)O.QO -0.00 国盼如一日,信号曰应用 关闭9、设置输送链不能被传感器检测*Ctri+XSWCtri+C口 rl+V聊与庠的瀚号出几何it斗庭稣弗可W帽杳峻苞也Ly观路,1倾k<h WFr,ELW®.Aft取AD几诃怵GJ、k砒醵坏«ff

4、ll除向郭几何怵JL<9JeiSFrS建X州尊Del0可庄博惑器检ill1 r 1 -没三尤侦二10、设置SC_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剧1; L(J0虹Gate MOT |】X属性B布扃I建要标诅I X 不未保存工作站*机械装着切匿1 I «_眼臆X I国sc_输送链缉庆 虐性与连结I信号和连搜I设计I子对象组件添加组住gm art®伴Clj*句雇一一个图形组件的拷贝I Li Tie -arB overM供i对魂一条赴址如岫06A 表示为对象的煎列,可作为组波行操瓠J Pl*TL«S*niorg T蜘成

5、寸穿与平面相交I Losi cGat e wcrr Xz进袖i字信夸的逻辑运尊Lo属OpD»输litLn13、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,用于激活传感器由sc_输送链钢成子对象组件属性与14结信号和连捶设计Source创立一个圜形组件的拷贝. LiiiearMower0移劫一个对象到一条线上v Queue/耒示为对蒙的队列,可作为组是讦撮纵.日叫滥制对象与平面相交H_ Logic&ste WOTq进右教字信号的逻辑运算卜Si-ulAtion奴函 5仿真开始和停止时发出的脉算信号rri16、添加置位复位组

6、件,对仿真开始结束信号进行保持SC_输送链组成子对象蛆件属性与述结信导和连控设计- Linau-Mover辨移动-个柢到一条统上表示为时算的队列,可作为组进行操atPlan.eS ens; orfl尊监厕对象与平面相变-FV LogidGata HOTP岂荐故字信号的逻辑运算|/ Sinul &t i oxiEeiiti丁奇直开始和僖止时夏出姬g信号TLoieSRLitch攻设M复位祯定17、12-«.1照曲0隼：DErtOlTpJ1-.JDlTHa111IWWl«irtifi昌折心月祚用it-L.ifaZa .911*1 pxtIxG.W.皿Irvrr<AL

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9、da.hiApil11 KUki-ujHAsli nSltdliLto 舟milSatroefitxUjej&msi:J£ 圣制MEqmma!18、进行仿真设定选择S输送链 进行验证、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、添加SMART组件J访真RAPID Atrdktc 修次62 tQ l： </ 3 ®奇牛a空部t用art母作京5伺跳 尊尽记芸林；表旬宙嫌T'T"TTT,白I律可拖炫古界.Q善面或史盾凯点生jSMG&点>底石D崩4、设置属性3、添加 ATTACHE削 DETACHER!件

10、翊sc_工具组成属性与连结I信号和连擦I设计gEmrt组丹Altachar安装一个对象Betachr撤除一个已安装的对象惑加绢件5、添加一个线传感器组件启SC_工具招-明 国性与连带 信号和连挎 设计6、线传感器设置属性子对象绢件辨仙绢件Smrtjg 件At t a.cler安装-个对象D«t ctiar撤除一个已安装的对象LineSens or检刑是否有任何对象与两点云间的线段相交届性：LineSensior属性目U. 00后|135B. 00 目End g)斗叫目1湖00罔15051505.DORadius (nm) 4.00SeTiseiPrtIKB460_l 1 a240_0

11、1/EaseSertEedT flint (jnm) 0 00C QQ14.00信号应用美讶7、设置吸盘工具不能被传感器检测机械共罟IEEj 卜|弭Np 绢件SC_曲I "C/£&ttsctn*x易专一Ctrl-C曳与为E忤.“新开与匡的痊赛®rucs删摩ou几何作:国8、把线传感器安装到吸盘不更新位置,保持当前位置剧迎二L具At tacherg二 Detach.trq L；m£ey I守瓦输送带&托盘1寸 Bedy 1LI赢翦钥W电甄CVI-GWIW*断开与庠的在度位受踌yq HBMT尊设定为也§咨A I设定本他卢ody 1B

12、ody 1lRB460_llt>_240_M9、设置属性连接仿真谖氟租中属住§5Wjcipan里雎诈站次苫#壬电表社二片际蒂丘P.li10、添加信号及连接® sen具迎皿尻由质谐板*号和林 点：Ktmr.p宇e<h 度昇丘由气代呈 iaa 雌LCtttfc:LlE'Ci Er./ti f SK I 1*ri f.Ti 7<4U7:ti -.7 +<12、继续信号连接11、添加信号处理取非和锁定组件SC_工具组成I属性与连结信号和连擒设计 子时象粗件迎细生Smarts ftAt t ache r2&宣装一个对象D«tichsr

13、M撤除一个已安装的对象 LintSttik'scr词Z枪那么是舌有停f亟寸象与两点之间的缺段相交H L焯HOT进后的字信号敬竭运菖sc_工具-啪鼠i号艾性或苻行如株号IE佰无华主sDZh p: 1 垃 ChH ,ut雁岫T Tf fCffK T：十&吁M E 业会节亏巨带冲？WELkWB*WD«-MBisr DqhA-kliicUrAgMLiW湖LhBW 颇 1IW耐面Lie4,IKKgwIht 心 <(rIff*汹 6iMjeNftKwmeflLuiElA悖 h3*tDvl krJbMl-EunuL*dL*i|l 心RLE eKR«ta«

14、1La L fuELjiii cb.du：ipukstJLM心畋牧u Wf13、添加一个示教物料14、应用手动线性验证 SC工具J变I未祐工作站p,;一幢琢壬 iiun&j_iiO_J.au_OLy 5心日饰曲/ <t3C_LflJj垃 I t/Z±iM-tlvt LrJ'iKrLh u«L iFiitewb四、工作站逻辑连接五、参考代码MODULE MainMoudlePERS tooldata tGrip:=TRUE,0,0,200,1,0,0,0,25,0,1,0,0,0,0,0,0;!吸盘工具数据PERS loaddata LoadEmpty:

15、=,0,0,1,1,0,0,0,0,0,0;PERS loaddata LoadFull:=40,0,0,50,1,0,0,0,0,0,0;!有效载荷数据PERS robtarget pHome:=,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;!基准点PERS robtargetpActualPos:=1620,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;!实际点PERS robtarget pPick1:=,0,0,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;!1路拾取目标点PERS

16、robtarget pPlace1:=,0,0,1,0,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;!1路放置基准点PERS robtarget pBase1_0:=,0,0,1,0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;! 1路放置0度姿态PERS robtarget pBase1_90:=,0,1,0,1,0,3,0,9E9,9E9,9E9,9E9,9E9,9E9;! 1路放置90度姿态PERS robtarget pPick2:=,0,0,-1,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget

17、pPlace2:=,0,0,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PERS robtarget pBase2_0:=,0,0,-2,0,-1,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget pBase2_90:=,0,1,0,-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 MaxSpee

18、d:=4000,500,5000,1000;!搬运速度定义PERS bool bPalletFull1:=FALSE;PERS bool bPalletFull2:=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 THENrPick1;rPlace1;IF diBoxInPos2=1 AND diPallet

19、InPos2=1 AND bPalletFull2=FALSE THENrPick2;rPlace2;ENDIFWaitTime ;ENDWHILEENDPROCPROC 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;ENDPROC

20、PROC rPick1()MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPick1,MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime ;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,

21、MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime ;GripLoad LoadFull;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 ;GripLoad LoadEm

22、pty;MoveL Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;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

23、,tGripWObj:=wobj0;Reset doGrip;WaitTime ;GripLoad LoadEmpty;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;ENDIFENDPROCPROCPosition")TEST nCount1CASE 1:pPlace1:=Offs(pB

24、ase1_0,0,0,0);CASE 2:pPlace1:=Offs(pBase1_0,600+10,0,0);CASE 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:pPlac

25、e1:=Offs(pBase1_90,0,0,200);CASE 9:pPlace1:=Offs(pBase1_90,400+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)

26、;CASE 15:pPlace1:=Offs(pBase1_90,800+20,400+10,400);CASE 16: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;TPWr

27、ite "the Counter of line 1 is error,please check it!"Stop;ENDTESTPROC rPosition2()ENDPROCTEST 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);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_9