ABBrobotstudio使用详细步骤.docx
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ABBrobotstudio使用详细步骤.docx
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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
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7、RAPID编程
、创建机器人系统
1、创建空工作站
机器人模型IRB2602、导入
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二、创建动态输送链
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DETACHER组件和、添加3ATTACHER. 、设置属性 jfliifffttt^nffa 应列HTl(UHDAddJni亡 津5\S_丁只X 刪sc_rM阿二 臥丛箱抽比耳幡站谢 -TH■變轉矗M明违*BXK1« l屈<ir广且 3JHU与淫曲借号相辻扩斛 干/mrt A.1tnclHiF 石丈■个丽 叭纽40尸 抵总一"己ST粧丈金 、添加一个线传感器组件5. 、线传感器设置属性 7、设置吸盘工具不能被传感器检测 rESI? iLWWEJIEV• 礼|口_M__L«X 翩SC工具 工甘鼻炀址 、把线传感器安装到吸盘(不更新位置,保持当前位置) 苫1161jkTtfjttr*« 9、设置属性连接 、添加信号及连接 “矯3CJCB 丄: 站TocLtr甘It-^cktr £L1*uJ<1iL, £trl*X : lilY 耳存TnSfc-ri-, 豎伍・ 15■■: -兰 添加信号处理取非和锁定组件11 I'.l * ■BCOJL Bad|f1 «R lUBJfeO.H兀2器_出. 1 化眈栄 WIT jdpan — 继续信号连接 12 押SC__L具J ■霍He豈二丸m a慎巧 VFIEP虫二且: ■ 比世 囂珂羊0Ft二鼻KHI.1 SF-S HU7iF a■亠 ■raa Jud! : #;tf du;u.a& tir^«Hi klluho- Fkm«■ 、添加一个示教物料13 工具SC、应用手动线性验证 ff>f uuMsidu常g K>詐 ¥ ffiwc■ 1j: r -pit Si3id.= F"fWHkl bCQB 皿准 ■FfL UW1V UW La.MMBr *E■»・■&■! liH1fa: -w IiHd. XuBiin_*.r^nE] ~i^Lh 1如 3.3 I? ™d.i 四、工作站逻辑连接 ■lAp-ruMMrvxr l>*5>lr«fMSTFM"klj! -! 7L: H-flLI*"*' lUMriBLilMLilfM: 3d」■ Zli.1■.rrh.n乙崔WE.1J1L»—..1.»n.B|! <11 五、参考代码 MODULEMainMoudle PERStooldatatGrip: =[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 PERSloaddataLoadEmpty: =[0.01,[0,0,1],[1,0,0,0],0,0,0]; PERSloaddataLoadFull: =[40,[0,0,50],[1,0,0,0],0,0,0]; ! 有效载荷数据 PERSrobtarget 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 PERSrobtarget 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 PERSrobtarget 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 PERSrobtargetpPlace1: =[[-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 PERSrobtarget 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 PERSrobtargetpBase1_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 PERSrobtargetpPick2: =[[1488.013130905,-358.406014736,476.965039287],[0,0.707106307,0.707107256,0],[-1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; PERSrobtargetpPlace2: =[[-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]]; PERSrobtargetpBase2_0: =[[-317.378137718,-1857.993871961,55.448967354],[0,0.707107745,0.707105817,0],[-2,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; PERSrobtargetpBase2_90: =[[-407.525988074,-1755.902485322,55.449282402],[0,1,-0.000031217,0],[-2,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; PERSspeeddataMinSpeed: =[1000,300,5000,1000]; PERSspeeddataMidSpeed: =[2500,400,5000,1000]; PERSspeeddataMaxSpeed: =[4000,500,5000,1000]; ! 搬运速度定义 PERSboolbPalletFull1: =FALSE; PERSboolbPalletFull2: =FALSE; ! 逻辑布尔量,拾取后为UE,放置后为FALSE PERSnumnCount1: =1; PERSnumnCount2: =1; ! 输送链计数 PROCMain() rInitAll; WHILETRUEDO IFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSETHENrPick1; rPlace1; ENDIF IFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2=FALSETHENrPick2; rPlace2; ENDIF WaitTime0.1; ENDWHILE ENDPROC PROCrInitAll() ResetdoGrip; pActualPos: =CRobT(\tool: =tGrip); pActualPos.trans.z: =pHome.trans.z; MoveLpActualPos,MinSpeed,fine,tGrip\WObj: =wobj0; MoveJpHome,MidSpeed,fine,tGrip\WObj: =wobj0; bPalletFull1: =FALSE; nCount1: =1; bPalletFull2: =FALSE; nCount2: =1; ENDPROC PROCrPick1() MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj: =wobj0; MoveLpPick1,MinSpeed,fine,tGrip\WObj: =wobj0; SetdoGrip; WaitTime0.3; GripLoadLoadFull; MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGrip\WObj: =wobj0; ENDPROC PROCrPick2() MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj: =wobj0; MoveLpPick2,MinSpeed,fine,tGrip\WObj: =wobj0; SetdoGrip; WaitTime0.3; GripLoadLoadFull; MoveLOffs(pPick2,0,0,400),MinSpeed,z50,tGrip\WObj: =wobj0; ENDPROC PROCrPlace1() rPosition1; MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj: =wobj0; MoveLpPlace1,MinSpeed,fine,tGrip\WObj: =wobj0; ResetdoGrip; WaitTime0.3; GripLoadLoadEmpty; MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj: =wobj0; MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj: =wobj0;nCount1: =nCount1+1; IFnCount1>20THEN bPalletFull1: =TRUE; ENDIF ENDPROC PROCrPlace2() rPosition2; MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj: =wobj0; MoveLpPlace2,MinSpeed,fine,tGrip\WObj: =wobj0; ResetdoGrip; WaitTime0.3; GripLoadLoadEmpty; MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj: =wobj0; MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj: =wobj0;nCount2: =nCount2+1; IFnCount2>20THEN bPalletFull2: =TRUE; ENDIF ENDPROC PROCrPosition1() TESTnCount1 CASE1: pPlace1: =Offs(pBase1_0,0,0,0); CASE2: pPlace1: =Offs(pBase1_0,600+10,0,0); CASE3: pPlace1: =Offs(pBase1_90,0,400+10,0); CASE4: pPlace1: =Offs(pBase1_90,400+10,400+10,0); CASE5: pPlace1: =Offs(pBase1_90,800+20,400+10,0); CASE6: pPlace1: =Offs(pBase1_0,0,600+10,200); CASE7: pPlace1: =Offs(pBase1_0,600+10,600+10,200); CASE8: pPlace1: =Offs(pBase1_90,0,0,200); CASE9: pPlace1: =Offs(pBase1_90,400+10,0,200); CASE10: pPlace1: =Offs(pBase1_90,800+20,0,200); CASE11: pPlace1: =Offs(pBase1_0,0,0,400); CASE12: pPlace1: =Offs(pBase1_0,600+10,0,400); CASE13: pPlace1: =Offs(pBase1_90,0,400+10,400); CASE14: pPlace1: =Offs(pBase1_90,400+10,400+10,400); CASE15: pPlace1: =Offs(pBase1_90,800+20,400+10,400); CASE16: pPlace1: =Offs(pBase1_0,0,600+10,600); CASE17: pPlace1: =Offs(pBase1_0,600+10,600+10,600); CASE18: pPlace1: =Offs(pBase1_90,0,0,600); CASE19: pPlace1: =Offs(pBase1_90,400+10,0,600); CASE20: pPlace1: =Offs(pBase1_90,800+20,0,600); DEFAULT: TPErase; TPWriteheCounterofline1iserror,pleasecheckit! ;Stop; ENDTEST ENDPROC PROCrPosition2() TESTnCount2 CASE1: pPlace2: =Offs(pBase2_0,0,0,0); CASE2: pPlace2: =Offs(pBase2_0,600+10,0,0); CASE3: pPlace2: =Offs(pBase2_90,0,400+10,0); CASE4: pPlace2: =Offs(pBase2_90,400+10,400+10,0); CASE5: pPlace2: =Offs(pBase2_90,800+20,400+10,0); CASE6: pPlace2: =Offs(pBase2_0,0,600+10,200); CASE7: pPlace2: =Offs(pBase2_0,600+10,600+10,200); CASE8: pPlace2: =Offs(pBase2_90,0,0,200); CASE9: pPlace2: =Offs(pBase2_90,400+10,0,200); CASE10: pPlace2: =Offs(pBase2_90,800+20,0,200); CASE11: pPlace2: =Offs(pBase2_0,0,0,400); CASE12: pPlace2: =Offs(pBase2_0,600+10,0,400); CASE13: pPlace2: =Offs(pBase2_90,0,400+10,400); CASE14: pPlace2: =Offs(pBase2_90,400+10,400+10,400); CASE15: pPlace2: =Offs(pBase2_90,800+20,400+10,400); CASE16: pPlace2: =Offs(pBase2_0,0,600+10,600); CASE17: pPlace2: =Offs(pBase2_0,600+10,600+10,600); CASE18: pPlace2: =Offs(pBase2_90,0,0,600); CASE19: pPlace2: =Offs(pBase2_90,400+10,0,600); CASE20: pPlace2: =Offs(pBase2_90,800+20,0,600); DEFAULT: TPErase; TPWriteheCounterofline1iserror,pleasecheckit! 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