ABB-robotstudio使用详细步骤.doc

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
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
第四行有误

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

2、添加SMART组件

3、添加ATTACHER和DETACHER组件

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）

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
MODULE MainMoudle
PERS tooldata tGrip:=[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
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 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 robtarget pPick1:=[[1488.007792464,376.826660408,476.964684195],[0,0.707106307,0.707107256,0],[0,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
！1路拾取目标点
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,-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+09,9E+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 MinSpeed:=[1000,300,5000,1000];
PERS speeddata MidSpeed:=[2500,400,5000,1000];
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FALSE
PERS num nCount1:=1;
PERS num nCount2:=1;
！输送链计数
PROC Main()
rInitAll;
WHILE TRUE DO
IF diBoxInPos1=1 AND diPalletInPos1=1 AND bPalletFull1=FALSE THEN
rPick1;
rPlace1;
ENDIF
IF diBoxInPos2=1 AND diPalletInPos2=1 AND bPalletFull2=FALSE THEN
rPick2;
rPlace2;
ENDIF
WaitTime 0.1;
ENDWHILE
ENDPROC

PROC rInitAll()
Reset doGrip;

pActualPos:=CRobT(\tool:=tGrip);
pActualPos.trans.z:=pHome.trans.z;
MoveL pActualPos,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pHome,MidSpeed,fine,tGrip\WObj:=wobj0;

bPalletFull1:=FALSE;
nCount1:=1;
bPalletFull2:=FALSE;
nCount2:=1;
ENDPROC

PROC rPick1()
MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;
MoveL pPick1,MinSpeed,fine,tGrip\WObj:=wobj0;
Set doGrip;
WaitTime 0.3;
GripLoad LoadFull;
MoveL Offs(pPick1,0,0,400),MinSpeed,z50,tGrip\WObj:=wobj0;
ENDPROC

PROC rPick2()
MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;
MoveL pPick2,MinSpeed,fine,tGrip\WObj:=wobj0;
Set doGrip;
WaitTime 0.3;
GripLoad LoadFull;
MoveL Offs(pPick2,0,0,400),MinSpeed,z50,tGrip\WObj:=wobj0;
ENDPROC

PROC rPlace1()
rPosition1;
MoveJ Offs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;
MoveL pPlace1,MinSpeed,fine,tGrip\WObj:=wobj0;
Reset doGrip;
WaitTime 0.3;
GripLoad LoadEmpty;
MoveL Offs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;
MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;
nCount1:=nCount1+1;
IF nCount1>20 THEN
bPalletFull1:=TRUE;
ENDIF
ENDPROC

PROC rPlace2()
rPosition2;
MoveJ Offs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;
MoveL pPlace2,MinSpeed,fine,tGrip\WObj:=wobj0;
Reset doGrip;
WaitTime 0.3;
GripLoad LoadEmpty;
MoveL Offs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj:=wobj0;
MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:=wobj0;
nCount2:=nCount2+1;
IF nCount2>20 THEN
bPalletFull2:=TRUE;
ENDIF
ENDPROC

PROC rPosition1()
TEST nCount1
CASE 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+20,400+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(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);
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;
TPWrite "the Counter of line 1 is error,please check it!";
Stop;
ENDTEST
ENDPROC

PROC rPosition2()
TEST nCount2
CASE 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:
pPlace2:=Offs(pBase2_0,0,0,400);
CASE 12:
pPlace2:=Offs(pBase2_0,600+10,0,400);
CASE 13:
pPlace2:=Offs(pBase2_90,0,400+10,400);
CASE 14:
pPlace2:=Offs(pBase2_90,400+10,400+10,400);
CASE 15:
pPlace2:=Offs(pBase2_90,800+20,400+10,400);
CASE 16:
pPlace2:=Offs(pBase2_0,0,600+10,600);
CASE 17:
pPlace2:=Offs(pBase2_0,600+10,600+10,600);
CASE 18:
pPlace2:=Offs(pBase2_90,0,0,600);
CASE 19:
pPlace2:=Offs(pBase2_90,400+10,0,600);
CASE 20:
pPlace2:=Offs(pBase2_90,800+20,0,600);
DEFAULT:
TPErase;
TPWrite "the Counter of line 1 is error,please check it!";
Stop;
ENDTEST
ENDPROC

PROC rModify()
MoveJ pHome,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pPick1,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pBase1_0,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pBase1_90,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pPick2,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pBase2_0,MinSpeed,fine,tGrip\WObj:=wobj0;
MoveJ pBase2_90,MinSpeed,fine,tGrip\WObj:=wobj0;
ENDPROC

ENDMODULE