ABBrobotstudio使用详细步骤

1、实用标准文档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 RAPID）7、RAPID 编程文案大全、创建机器人系统1、创建空工作站2、导入IRB 260机器人模型3、从布局创建机器人系统，勾选 Chinese和709-1网络、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组件文件用修改:未保存工作站5 ABB RobotStudio 6 . v -仿真控制器tQRAPID Add-Inf,减去。造台言让回物体边界国表囱一 i表面迫畀P自建回

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5、保持出SC_输送链组成属性与连结信号和谆接设诃子对集期胖.Lin噂封移动一个对象到一条线上Queue表示为对象的队熨h可作为蛆进行操机 J FlaneSensor fl（监剜时象与平面相交L5进衿触空信号的逐揖运苴Siitulali anEents优直开始和僖止时发出的脉;中信怎Lori cSRLitcK 设盘-复位制定rrr17、 sc_输送嵯明I 2d，_anJA =七&.金寸TratCW1闻T也的引41上二 =1。工旦 S t- 13型ff?1tffhltt所用整目案西量L1rllAt. PETLhrijTriLapi0(it 7HQTIIIicaUL.qEM TJhiLj-HtSnx

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8、口 SMART组件I，-J-_ filtu i-k.uuvixauui w,._D盛主代 CDsS / 卜基主现脸控到国0MD Add ：m 修改泡冲走的柠$E3神杵弓久几可*雁翠标E国库西岸就弓u=,”=国5丛常生国边骅W扇迎候I忘记S.沐保存工作站1*启辽工具tlEl KJLR x金SC三具好组或厘性与彼吉信言加自指论计J对微制件釉崎叶 褊痘M对集3、添力口 ATTACHER 和 DETACHER 组件名s J工具组房I腐性与睁I信号和连接I好二子制软细件添加第件SmartiSAtt acli&r安装一个对象Deta.eh&r拆除一个已安装的对象4、设置属性属性;AttacheKipan/

9、n&nggxip&A，:hi IdNcrtllll(jnm)J OO -0.00(|0.00|目二)r emtation (dec)j. LIO 与口，口0 0.00信号Eji ectLt应用 Sffi5、添加一个线传感器组件现要组成属性与连结 信号和连接 设计舔力口组件Atticher 安装-八对象Dt .clir揖除一个已安装的对象LineSensor;检测是否有任何对象与两点之间的线段相交6、线传感器设置属性届隹 Lin eSen &0T |； X属性3Start (mm)1505End Qiwn)1505. 00 目QQQ目 1256.00 :Radius gm)4 OOWSenE&c

10、ffsrtHt60=110240_01/Bsi.SensftdFoiiLt (jnm)0. OO 0 00114.00信号日应用美闲机菰装青7、设置吸盘工具不能被传感器检测朝57复制Ctrl-C也存为库班K，皆开与库的叵隹可见检杳律为噎查SucsliS/修次巩械装皂.孑删除CA 口几何文国0 m由传总S卷测8、把线传感器安装到吸盘（不更新位置，保持当前位置）文工具卮，taeker心 De tackery 输送带上托却/裁期1托盘29、设置属性连接三七Ctrli-XSMCtrl*C梏贴Ctrl+V受存为库文件.断开与岸的连接受聆铸 脸及苣 设定为八 位置指修怖矣?丰属住Body 1Body 1l

11、RB460_llt)_240_m5匚猫送带xipanff ST 1.M&hHQlI4Cul-lL V LlirLlWQlU10、添加信号及连接丁一n 三一I- MM 如二三 :EH UKSIS#目殖需费日厢据工旦L 匚 hucrAjO-tlVdrAltcbrTEwtmt*:-t；tlOO *r.ecti m W国世遭 LO inr.tirtEs11、添加信号处理取非和锁定组件超SC_工具姻成 胸与故I信号和连接源厂子时象组件4加缩件Em白rti苴件重 Alt achrH咕安装一个对象Dstichsr的拆朦一个已安装的对象H 9检测是否有任何对假与两点之由戡段相交HDqa*11公kKjyacal

12、*甫mi3ii 以KC力即K：0-tt4Cisr1X4,格MrftrferllHflUdL*E 国LMdi:DwlarJbBl-Exnn-l BeILvgi dSKL BtekbkalLd & lZJIKLs chChiigl型_LHVicufOR13、添加一个示教物料14、应用手动线性验证SC_工具2i 未吗存工吃汨井. 1 1HD_130i_Ifll&_Da山奥提t 7，ip -神福R仃茶诞可蒙过dfj All LCBT四、工作站逻辑连接Li lut rdiW,五、参考代码MODULE MainMoudlePERS tooldatatGripkTRUE,0,0,200,1,0,0,0,25

13、,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:=40,0,0,50,1,0,0,0,0,0,0;!有效载荷数据PERS robtarget pHome:=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 robtarget

14、pActualPos:=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 robtargetpPick1:=1488.007792464,376.826660408,476.964684195,0,0.707106307,0.7071 07256,0,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;!1路拾取目标点PERS robtarget pPlace1:=-292.446,126

15、3.27,55.4492,0,0.707107,0.707106,0,1,0,2,0,9E+09,9E+09,9E+09, 9E+09,9E+09,9E+09;!1路放置基准点PERS robtarget pBase1_0:=-292.446294945,1263.272085268,55.449220723,0,0.707107387,0.707106176,0,1, 0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;! 1路放置0度姿态PERS robtarget pBase1_90:=-391.976797324,1362.469634994,55.449159414,0,1,

16、- 0.000030621,0,1,0,3,0,9E9,9E9,9E9,9E9,9E9,9E9;! 1路放置90度姿态PERS robtarget pPick2:=1488.013130905,- 358.406014736,476.965039287,0,0.707106307,0.707107256,0,- 1,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget pPlace2:=-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+0

17、9,9E+09;PERS robtarget pBase2_0:=-317.378137718,-1857.993871961,55.448967354,0,0.707107745,0.707105817,0,-2,0,- 1,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget pBase2_90:=-407.525988074,- 1755.902485322,55.449282402,0,1,-0.000031217,0,- 2,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS speeddata MinSpeedk1000,300,500

18、0,1000;PERS speeddata MidSpeedk2500,400,5000,1000;PERS speeddata MaxSpeed:=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

19、 AND bPalletFull1=FALSE THENrPick1;rPlace1;ENDIFIF diBoxInPos2=1 AND diPalletInPos2=1 AND bPalletFull2=FALSE THENrPick2;rPlace2;ENDIFWaitTime 0.1;ENDWHILEENDPROCPROC rInitAll()Reset doGrip;pActualPos:,CRobT(tool:=tGrip);pActualPos.trans.z:=pHome.trans.z;MoveL pActualPos,MinSpeed,fine,tGripWObj:=wobj

20、0;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;MoveL pPick1,MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime 0.3;GripLoad LoadFull;MoveL Offs(pPick1,0,0,400),Min

21、Speed,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 LoadFull;MoveL Offs(pPick2,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROC rPlace1()rPosition1;MoveJ Offs(pPlace1,0,

22、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:=wobj0;MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCount1:=nCount1+1;IF nCount120 THENbPalletFull1:=TRUE;END

23、IFENDPROCPROC rPlace2()rPosition2;MoveJ Offs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPlace2,MinSpeed,fine,tGripWObj:=wobj0;Reset doGrip;WaitTime 0.3;GripLoad LoadEmpty;MoveL Offs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;nCo

24、unt2:=nCount2+1;IF nCount220 THENbPalletFull2:=TRUE;ENDIFENDPROCPROC rPosition1()TEST nCount1CASE 1:pPlace1:=Offs(pBase1_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

25、,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_90,400+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(pBa

26、se1_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:pPlace1:=Offs(pBase1_0,0,600+10,600);CASE 17:pPlace1:=Offs(pBase1_0,600+10,600+10,600);CASE 18:pPlace1:=Offs(pBase1_90,0,0,6

27、00);CASE 19:pPlace1:=Offs(pBase1_90,400+10,0,600);CASE 20:pPlace1:=Offs(pBase1_90,800+20,0,600);DEFAULT:TPErase;TPWrite the Counter of line 1 is error,please check it!;Stop;ENDTESTENDPROCPROC rPosition2()TEST nCount2CASE 1:pPlace2:=Offs(pBase2_0,0,0,0);CASE 2:pPlace2:=Offs(pBase2_0,600+10,0,0);CASE

28、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:pP