ABB-robotstudio使用詳細(xì)步驟

1、搬運碼垛工作站建模1、創(chuàng)建機器人系統(tǒng)2、創(chuàng)建動態(tài)輸送鏈3、創(chuàng)建動態(tài)夾具4、工作站邏輯連接)RAPID)5、添加 IO( 設(shè)置好需重啟6、示教目標(biāo)點(同步到7、RAPID 編程、創(chuàng)建機器人系統(tǒng)1、創(chuàng)建空工作站機器人模型IRB 2602、導(dǎo)入網(wǎng)絡(luò)709-1和Chinese、從布局創(chuàng)建機器人系統(tǒng)，勾選3.二、創(chuàng)建動態(tài)輸送鏈1、添加輸送鏈并修改位置勺 H- -. 7 -r PM?打 T 瑋 J * - JU*Jl 蟲乩幣 VWwn壯 farll tBp|" 1 1 cm 幣審 mb a & 鼻 «- i sKIMbac;:XQ 3* 4 蟲*L十37 * Hu-l V*i

2、24VeX*1!'l, LBi'Uj -AAKAk-K3并修改位置 600*400*2002 、創(chuàng)建的物料3、添加一個 smart組件j rTJi >氣特+1住乩 斗 - Jm "Lsource、添加組件4o設(shè)置物料本地原點5亦件子曲4itr1'>F蟲*1I 未保<7工tf站 J AfiiB iRabc>l Tu<lia bSfJT匚d卩 RD Add-JniSour?*Y理IS _£ L+怪仲丄徉詁”£&H.±S處鉉匚X«.£iHw |D 0000 I0 ooiu

3、1; GIe氐GOkrO OD9.和 QUEUE 組件 LINEM0VER6、添加屬性LINEMOVER設(shè)置p , 1 v s > >-i-nsoiilSiCM'*Snnrrti7疇 ItCH+VP* Kifl也站 AMP*尋斗幾耳宦冋可見(SB(L；1宦Egj=UC0 1童弐也by i：«s-8、添加面?zhèn)鞲衅鹘M件$ wCTTT / -%*r3l出b丨4ritr " ” ！嚴(yán) fz述 1.1.1 E.JJ半側(cè)牛亡向 Idjte'io.tnNd. tnZ|h.mIF 一行丨觸汽式弓啟15顯蜩|- K11 st 緒出id了葉呼掃工詐;占* 疣件亠上l

4、甘;士d婁SC_S送維i3=tm*.旦 mi迥£ 丄、設(shè)置輸送鏈不能被傳感器檢測性 Lttiw覘Ee,* MIxildbj-1站呂=t i 丁典 m'-LED ?D.CD p JO«/：£丨 gffl ira廚圧叫*1 口"址ijrj. rjn 6ih11001.00- -£20.01: "Ti L :faLil &|o.n寧刪 00mT山；訝g;|a?M-評寶 E 養(yǎng)-fiin.E*ri?,'»r,l輸送鏈的屬性連接、設(shè)置10SC_11、設(shè)置信號連接h豌Ctrl-XE*. cifl-cl豈5UClr

5、l-°ii,¥a己哋二忖焊kh7 £i*JLX5WSM1*9"J - ">*、添加信號處理組件，用于檢測傳感器下降沿12p:q g T -i >tj_J+.35TKKASJTJoKELI?WMTTT1SC端訃粧呼I 樹E哇匚二Mt聞”紐比ft15 .copy進行source、傳感器下降沿觸發(fā)13.林泄如真_円號£川£仙4口=工勺爛L :Ffl H£hr»口 gI%JE送騎ksrFriir *片iFwillMafia*llQIi-b ftF：pur« wAtiQtibI亠 hr 留申皿

6、 fr iilUiA TKSC、傳感器與輸送鏈的輸出聯(lián)系14、添加仿真開始結(jié)束組件，用于激活傳感器蟲SC_迖髄俱I 耳Qli I 虹 HZi _蘭、添加置位復(fù)位組件，對仿真開始結(jié)束信號進行保持16仲I#A<ftbh-SS比E燉1;甘崛胃 e怙8 4 * %*-即SawrSoi«ra<7vlGw±3ta l|MU«1.詁|帝-|WT|ELTaiF mrE詰1-. rirHu - IjEHjA. jj-.11 !& lu| 亡 Pj "U Jfclz_ !-： ffiJU-亠4ll'f-上d h>g=¥_S3?S

7、玄包SC 逸醉知住工 g主*騙二壬總I?更.K»匚辱F，nrRe-m.riPiHrw"TV 9 i-la«T«皿，Qw1 ' I-!>1 ra TJIfi vti-d 1QiiH i-Tn hr IFL g rSw* -兇E 1Al Rtl'lflplTi(j 亀17、輕sc輸送諜進行驗證選擇 SC 輸送鏈、進行仿真設(shè)定18了對顯栩ftJTd亠-上 如如丄 -三、創(chuàng)建動態(tài)夾具1、先制作一個吸盤模型，然后設(shè)置成工具，并安裝到機器人法拉盤4 .心 6C組件SMART、添力廿2 .DETACHER 組件和、添加 3ATTACHER.、設(shè)置

8、屬性jfliifffttt nffa應(yīng)列 HTl(UHD AddJni亡虧律左."J 揮宮工示站卜 in-Mja津5 S_ 丁只X刪sc_rM阿二臥叢箱抽比耳幡站謝-TH 變轉(zhuǎn)矗M明違*BXK1«l屈ir 廣且3 JHU與淫曲借號相辻擴斛干 /mrtA.1 tnclHiF石丈個麗叭紐40尸抵總一"己ST粧丈金、添加一個線傳感器組件5.、線傳感器設(shè)置屬性7、設(shè)置吸盤工具不能被傳感器檢測r ESI?i LWWEJIEV "Idld10 .禮|口_M_L« X翩SC 工具工甘鼻煬址、把線傳感器安裝到吸盤（不更新位置，保持當(dāng)前位置）苫 1161 jk

9、Ttfj ttr*«9、設(shè)置屬性連接、添加信號及連接“矯 3CJCB丄：站 TocLtr 甘 It -cktr£ L1*uJ<1iL，£trl*X：lil Y耳存 TnSfc-ri-,豎伍15:-蘭添加信號處理取非和鎖定組件11M Ki1：!* laroaft I 葉w-( i_JLI'.l* BCOJLBad|f 1«RlUBJfeO.H 兀2器_出.1化眈栄WITjdpan繼續(xù)信號連接12*ICT>n-»-«p-a Lit "ilz r- 怦押SC_L具J霍 He豈二丸ma慎巧VFIEP 蟲二且：比世

10、囂珂羊0 Ft二鼻 K HI.1SF-SHU7iFa亠raaJud!：#； tfdu ;u.a&tir«Hiklluho-Fk m« 、添加一個示教物料13工具SC、應(yīng)用手動線性驗證ff>fu uMsidu 常gK>詐¥ffiwc1 j：r-pitSi3id.=F" fW HklbCQB皿準(zhǔn) FfLUW1VUWLa.MMBr*E »&!liH 1 fa： -wIiHd.XuBi i n_*.r nEiLh1如3.3I? d.i四、工作站邏輯連接lAp-ruMMrvxrl>* 5>lr«fMSTF

11、 M"klj!- !7L：H-flLI*"*'lUMriBLilMLilfM:3dZ li. 1 .rrh. n乙崔 WE. 1J1 L». 1 . »n.B |!<11五、參考代碼MODULE MainMoudlePERS tooldata tGrip:=TRUE,0,0,200,1,0,0,0,25,0,0.00109327,116.889,1,0,0,0,0,0,0;！吸盤工具數(shù)據(jù)PERS loaddata LoadEmpty:=0.01,0,0,1,1,0,0,0,0,0,0;PERS loaddata LoadFull:=40,0

12、,0,50,1,0,0,0,0,0,0;！有效載荷數(shù)據(jù)PERS robtargetpHome:=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;！基準(zhǔn)點PERS robtargetpActualPos:=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

13、+09;！實際點PERS robtargetpPick1:=1488.007792464,376.826660408,476.964684195,0,0.707106307,0.707107256,0 ,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;！ 1 路拾取目標(biāo)點PERS robtarget 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 路放置基準(zhǔn)點PERS robtargetpBase1_0:=-292.4

14、46294945,1263.272085268,55.449220723,0,0.707107387,0.707106176,0,1,0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;！ 1 路放置 0 度姿態(tài)PERS robtarget pBase1_90:=-391.976797324,1362.469634994,55.449159414,0,1,-0.000030621,0,1,0,3 ,0,9E9,9E9,9E9,9E9,9E9,9E9;！ 1 路放置 90 度姿態(tài)PERS robtarget pPick2:=1488.013130905,-358.406014736,47

15、6.965039287,0,0.707106307,0.707107256,0 ,-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+09,9E+09;PERS robtarget pBase2_0:=-317.378137718,-1857.993871961,55.448967354,0,0.707107745,0.707105817 ,0,-2,0,-1,0,

16、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 MinSpeed:=1000,300,5000,1000;PERS speeddata MidSpeed:=2500,400,5000,1000;PERS speeddata MaxSpeed:=4000,500,5000,1000;！搬運速度定義PERS bool bPal

17、letFull1:=FALSE;PERS bool bPalletFull2:=FALSE;!邏輯布爾量，拾取后為UE,放置后為FALSEPERS num nCount1:=1;PERS num nCount2:=1;!輸送鏈計數(shù)PROC Main()rInitAll;WHILE TRUE DOIF diBoxInPos1=1 AND diPalletInPos1=1 AND bPalletFull1=FALSE THEN rPick1;rPlace1;ENDIFIF diBoxInPos2=1 AND diPalletInPos2=1 AND bPalletFull2=FALSE THEN

18、rPick2;rPlace2;ENDIFWaitTime 0.1;ENDWHILEENDPROCPROC rInitAll()Reset doGrip;pActualPos:=CRobT(tool:=tGrip);pActualPos.trans.z:=pHome.trans.z;MoveL pActualPos,MinSpeed,fine,tGripWObj:=wobj0;MoveJ pHome,MidSpeed,fine,tGripWObj:=wobj0;bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPRO

19、CPROC 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),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROC rPick2()MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPi

20、ck2,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(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveL pPlace1,MinSpeed,fine,tGripWObj:=wobj0;Reset doGrip;WaitTime 0.3;GripL

21、oad 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 nCount1>20 THENbPalletFull1:=TRUE;ENDIFENDPROCPROC rPlace2()rPosition2;MoveJ Offs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPlace2,Mi

22、nSpeed,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; nCount2:=nCount2+1;IF nCount2>20 THENbPalletFull2:=TRUE;ENDIFENDPROCPROC rPosition1()TEST nCount1CASE 1: pP

23、lace1:=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+20,400+10,0);CASE 6: pPlace1:=Offs(pBase1_0,0,600+10,200);CASE 7: pPlace1:=Offs(pBase1_0,600+10,600+1

24、0,200);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(pBase1_0,600+10,0,400);CASE 13: pPlace1:=Offs(pBase1_90,0,400+10,400);CASE 14: pPlace1:=Offs(pBas

25、e1_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_90,0,0,600);CASE 19: pPlace1:=Offs(pBase1_90,400+10,0,600);CASE 20: pPlace1:=Offs(pBase1_90,800+

26、20,0,600);DEFAULT:TPErase;TPWrite he 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 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_90,800+20,0,200);CASE 11: pPl