ABBrobotstudio使用详细步骤

,.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IO(设置好需重启)6、示教目标点（同步到RAPID）7、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网络精品文档放心下载二、创建动态输送链1、添加输送链并修改位置,.2、创建600*400*200的物料并修改位置谢谢阅读3、添加一个smart组件,.4、添加source组件,.5、设置物料本地原点6、添加LINEMOVER和QUEUE组件7设置LINEMOVER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、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copy精品文档放心下载,.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,.17、18、进行仿真设定选择SC——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感谢阅读,.2、添加SMART组件3、添加ATTACHER和DETACHER组件谢谢阅读,.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）感谢阅读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]];精品文档放心下载！吸盘工具数据PERSloaddataLoadEmpty:=[0.01,[0,0,1],[1,0,0,0],0,0,0];谢谢阅读PERSloaddataLoadFull:=[40,[0,0,50],[1,0,0,0],0,0,0];感谢阅读！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]];感谢阅读！基准点PERSrobtargetpActualPos:=[[1620,-1.87531E-14,1331.59],[1.27986E-06,-感谢阅读0.707107,-0.707107,1.27986E-谢谢阅读06],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];精品文档放心下载！实际点PERSrobtargetpPick1:=[[1488.007792464,376.826660408,476.964684195],[0,0.707106307,0.7精品文档放心下载07107256,0],[0,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];精品文档放心下载！1路拾取目标点PERSrobtargetpPlace1:=[[-感谢阅读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]];谢谢阅读,.！1路放置基准点PERSrobtargetpBase1_0:=[[-谢谢阅读292.446294945,1263.272085268,55.449220723],[0,0.707107387,0.707106176,0],[1,0,2,0],[9E9,9E9,9E9,9E9,9E9,9E9]];感谢阅读！1路放置0度姿态PERSrobtargetpBase1_90:=[[-感谢阅读391.976797324,1362.469634994,55.449159414],[0,1,-感谢阅读0.000030621,0],[1,0,3,0],[9E9,9E9,9E9,9E9,9E9,9E9]];精品文档放心下载！1路放置90度姿态PERSrobtargetpPick2:=[[1488.013130905,-感谢阅读358.406014736,476.965039287],[0,0.707106307,0.707107256,0],[-感谢阅读1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];谢谢阅读PERSrobtargetpPlace2:=[[-317.378,-谢谢阅读1857.99,55.449],[0,0.707108,0.707106,0],[-2,0,-精品文档放心下载1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];精品文档放心下载PERSrobtargetpBase2_0:=[[-317.378137718,-精品文档放心下载1857.993871961,55.448967354],[0,0.707107745,0.707105817,0],[-2,0,-谢谢阅读1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];谢谢阅读PERSrobtargetpBase2_90:=[[-407.525988074,-1755.902485322,55.449282402],[0,1,-0.000031217,0],[-2,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];精品文档放心下载PERSspeeddataMinSpeed:=[1000,300,5000,1000];谢谢阅读PERSspeeddataMidSpeed:=[2500,400,5000,1000];精品文档放心下载PERSspeeddataMaxSpeed:=[4000,500,5000,1000];谢谢阅读！搬运速度定义PERSboolbPalletFull1:=FALSE;精品文档放心下载PERSboolbPalletFull2:=FALSE;感谢阅读,.！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;WHILETRUEDOIFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSE感谢阅读THENrPick1;rPlace1;ENDIFIFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2=FALSE精品文档放心下载THENrPick2;rPlace2;ENDIFWaitTime0.1;ENDWHILEENDPROCPROCrInitAll()ResetdoGrip;pActualPos:=CRobT(\tool:=tGrip);感谢阅读,.pActualPos.trans.z:=pHome.trans.z;精品文档放心下载MoveLpActualPos,MinSpeed,fine,tGrip\WObj:=wobj0;MoveJpHome,MidSpeed,fine,tGrip\WObj:=wobj0;精品文档放心下载bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPROCPROCrPick1()MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;MoveLpPick1,MinSpeed,fine,tGrip\WObj:=wobj0;SetdoGrip;精品文档放心下载WaitTime0.3;GripLoadLoadFull;MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGrip\WObj:=wobj0;感谢阅读ENDPROCPROCrPick2()MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;MoveLpPick2,MinSpeed,fine,tGrip\WObj:=wobj0;SetdoGrip;谢谢阅读WaitTime0.3;,.GripLoadLoadFull;MoveLOffs(pPick2,0,0,400),MinSpeed,z50,tGrip\WObj:=wobj0;感谢阅读ENDPROCPROCrPlace1()rPosition1;MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;MoveLpPlace1,MinSpeed,fine,tGrip\WObj:=wobj0;ResetdoGrip;感谢阅读WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;精品文档放心下载MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;精品文档放心下载nCount1:=nCount1+1;IFnCount1>20THENbPalletFull1:=TRUE;ENDIFENDPROCPROCrPlace2()rPosition2;MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;MoveLpPlace2,MinSpeed,fine,tGrip\WObj:=wobj0;谢谢阅读,.ResetdoGrip;WaitTime0.3;GripLoadLoadEmpty;MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;精品文档放心下载MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;精品文档放心下载nCount2:=nCount2+1;IFnCount2>20THENbPalletFull2:=TRUE;ENDIFENDPROCPROCrPosition1()TESTnCount1CASE1:pPlace1:=Offs(pBase1_0,0,0,0);谢谢阅读CASE2:pPlace1:=Offs(pBase1_0,600+10,0,0);感谢阅读CASE3:pPlace1:=Offs(pBase1_90,0,400+10,0);感谢阅读CASE4:pPlace1:=Offs(pBase1_90,400+10,400+10,0);谢谢阅读CASE5:pPlace1:=Offs(pBase1_90,800+20,400+10,0);谢谢阅读CASE6:,.pPlace1:=Offs(pBase1_0,0,600+10,200);感谢阅读CASE7:pPlace1:=Offs(pBase1_0,600+10,600+10,200);精品文档放心下载CASE8:pPlace1:=Offs(pBase1_90,0,0,200);感谢阅读CASE9:pPlace1:=Offs(pBase1_90,400+10,0,200);谢谢阅读CASE10:pPlace1:=Offs(pBase1_90,800+20,0,200);精品文档放心下载CASE11:pPlace1:=Offs(pBase1_0,0,0,400);感谢阅读CASE12:pPlace1:=Offs(pBase1_0,600+10,0,400);谢谢阅读CASE13:pPlace1:=Offs(pBase1_90,0,400+10,400);精品文档放心下载CASE14:pPlace1:=Offs(pBase1_90,400+10,400+10,400);谢谢阅读CASE15:pPlace1:=Offs(pBase1_90,800+20,400+10,400);感谢阅读CASE16:pPlace1:=Offs(pBase1_0,0,600+10,600);感谢阅读CASE17:pPlace1:=Offs(pBase1_0,600+10,600+10,600);精品文档放心下载CASE18:,.pPlace1:=Offs(pBase1_90,0,0,600);感谢阅读CASE19:pPlace1:=Offs(pBase1_90,400+10,0,600);精品文档放心下载CASE20:pPlace1:=Offs(pBase1_90,800+20,0,600);感谢阅读DEFAULT:TPErase;TPWrite"theCounterofline1iserror,pleasecheckit!";Stop;感谢阅读ENDTESTENDPROCPROCrPosition2()TESTnCount2CASE1:pPlace2:=Offs(pBase2_0,0,0,0);感谢阅读CASE2:pPlace2:=Offs(pBase2_0,600+10,0,0);精品文档放心下载CASE3:pPlace2:=Offs(pBase2_90,0,400+10,0);精品文档放心下载CASE4:pPlace2:=Offs(pBase2_90,400+10,400+10,0);精品文档放心下载CASE5:pPlace2:=Offs(pBase2_90,800+20,400+10,0);谢谢阅读,.CASE6:pPlace2:=Offs(pBase2_0,0,600+10,200);精品文档放心下载CASE7:pPlace2:=Offs(pBase2_0,600+10,600+10,200);感谢阅读CASE8:pPlace2:=Offs(pBase2_90,0,0,200);谢谢阅读CASE9:pPlace2:=Offs(pBase2_90,400+10,0,200);精品文档放心下载CASE10:pPlace2:=Offs(pBase2_90,800+20,0,200);谢谢阅读CASE11:pPlace2:=Offs(pBase2_0,0,0,400);谢谢阅读CASE12:pPlace2:=Offs(pBase2_0,600+10,0,400);谢谢阅读CASE13:pPlace2:=Offs(pBase2_90,0,400+10,400);感谢阅读CASE14:pPlace2:=Offs(pBase2_90,400+10,400+10,400);精品文档放心下载CASE15:pPlace2:=Offs(pBase2_90,800+20,400+10,400);精品文档放心下载CASE1